引用本文:段廷亿, 谢守勇, 张长春, 左定东.烟兜挖掘装置的运动学分析与试验[J].西南大学学报(自然科学版),2019,41(12):8~14
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烟兜挖掘装置的运动学分析与试验
段廷亿, 谢守勇, 张长春, 左定东
西南大学 工程技术学院/丘陵山区农业装备重庆市重点实验室, 重庆 400715
摘要:
针对丘陵山区烟叶收获后根系去除作业劳动强度大,机械化效率低的问题,结合液压回路设计了一种烟兜挖掘装置.以烟兜挖掘机构为研究对象,根据其结构特点,将烟兜挖掘过程分为伸出、保持、收回3个阶段,建立了运动学姿态状态空间,并对铲刀的运动状态进行了运动学理论分析,得出了液压缸活塞杆的伸出运动速度对挖掘深度的影响有显著作用.利用三维建模技术及虚拟样机仿真技术对该机构的运动状态进行了数值分析,验证了挖掘铲在微耕机前进速度以及伸出姿态时间、保持姿态时间、收回姿态时间一定的条件下,挖掘深度随活塞杆伸出速度增大而增大的关系,同时也验证了活塞杆伸出速度与挖掘铲水平位移无明显关系.为了验证理论、仿真分析的准确性和该装置的性能,在西南大学烟草种植实践基地进行了田间试验,将田间试验结果与仿真数据进行对比,挖掘深度的相对误差在7%~12%之间,表明了理论、仿真分析的正确性以及该装置能基本满足挖掘性能要求.
关键词:  烟兜  液压缸  运动学  仿真  试验
DOI:10.13718/j.cnki.xdzk.2019.12.002
分类号:S225.99
基金项目:“十三五”国家重点研发计划项目(2017YFD0701101-3).
Kinematic Analysis and Test of Tobacco Root Removal Equipment
DUAN Ting-yi, XIE Shou-yong, ZHANG Chang-chun, ZUO Ding-dong
School of Engineering&Technology, Southwest University/Chongqing Key Laboratory of Agricultural Equipment for Hilly and Mountainous Regions, Chongqing 400715, China
Abstract:
Aiming at the problems of high labor intensity and low mechanization efficiency of root removal after tobacco harvest in hilly and mountainous areas,a tobacco root removal equipment was designed,combined with hydraulic circuit,in a study report in this paper. With tobacco root removal mechanism as the research object,the kinematic state space was established based on its structural characteristics. The movement state of the hoe-knife was analyzed theoretically,and it was concluded that the depth of entering into soil and the reciprocating linear velocity of the hydraulic cylinder had significant effects. The movement of the mechanism was analyzed with 3D modeling technology and virtual prototype simulation technology. It was verified that the depth of entering into soil increased with the increase in reciprocating linear velocity,and that there was no obvious relationship between reciprocating linear velocity and horizontal displacement. In order to verify the performance of the equipment,field experiments were carried out on the tobacco planting plot of Southwest University. The experiment data were compared with the simulation data,and the relative error was between 7% and 12%,which indicated that the equipment can basically meet the requirements of excavating performance.
Key words:  tobacco root  hydraulic cylinder  kinematics  simulation  experiment
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