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基于聯(lián)合仿真的雙臂瓣形鏟移樹機性能分析與試驗
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浙江省“領(lǐng)雁”研發(fā)攻關(guān)計劃項目(2023C02053,、2022C01152)


Performance Analysis and Test of Dual Arm Petal Shaped Shovel Tree Digging Machine Based on Co-simulation
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    摘要:

    針對我國丘陵山區(qū)林木種植密集、地形復(fù)雜導(dǎo)致的移樹機適應(yīng)性差,、液壓系統(tǒng)能效低等問題,,對移樹機動臂結(jié)構(gòu)進行了設(shè)計以及液壓缸選型,建立了移樹機機-液-離散元聯(lián)合仿真模型,,對整機結(jié)構(gòu)及液壓系統(tǒng)性能進行了分析,。采用Recurdyn軟件,對移樹機行走底盤以及動臂進行了動力學(xué)仿真,,確定了移樹機最大抬升負(fù)載質(zhì)量為2t,,動臂最大應(yīng)力集中在抬升油缸孔前部,最大應(yīng)力為72.5MPa,?;谝茦錂C機-液-離散元聯(lián)合仿真模型,對移樹機抬升工況,、鏟刀切削土壤工況,、土球擺動工況進行了模擬計算,分析了各執(zhí)行元件油缸內(nèi)壓力變化曲線以及鏟刀切削土壤阻力變化曲線,,仿真結(jié)果表明:機臂在抬升過程中,,抬升油缸壓力穩(wěn)定,壓力為5.2MPa,;鏟刀在切削土壤過程中,,阻力逐漸增大,最大阻力為28900N,;土球擺動工況下翻板油缸內(nèi)壓力隨傾斜角度增大而增大,,最大壓力為8MPa。開展了移樹機林地液壓系統(tǒng)測試試驗,,測試結(jié)果表明:機臂抬升過程中抬升油缸壓力穩(wěn)定在5.5MPa,;切削土壤工況下,鏟刀油缸壓力差為10MPa,間接計算得出切削阻力為28260N,;土球擺動工況下,,翻板油缸壓力隨傾斜角度增大而增大,最大壓力為7.7MPa,。通過移樹機仿真試驗與液壓測試試驗對比分析,,得到抬升、切削土壤,、土球擺動工況下仿真值與實測值相對誤差分別為 5.5%,、2.3%、3.9%,,驗證了移樹機聯(lián)合仿真模型準(zhǔn)確性以及移樹機動臂結(jié)構(gòu)與整機液壓系統(tǒng)的穩(wěn)定性,。

    Abstract:

    In response to the problems of poor adaptability of tree digging machines and low energy efficiency of hydraulic systems caused by dense forest planting and complex terrain in hilly and mountainous areas of China,the structure of the tree digging machine arm was designed and hydraulic cylinders model was selected,,a co-simulation model of tree digging machine was established to analyze the structure and hydraulic system performance of the machine. Dynamic simulations were conducted on the chassis walking and arm of the tree digging machine using Recurdyn software. It was determined that the maximum lifting load of the tree digging machine was 2t. The maximum stress on the lifting arm was concentrated in the front of the lifting cylinder hole,,with a maximum stress of 72.5 MPa. A co-simulation model of the tree digging machine-liquiddiscrete element method was established by using Recurdyn, AMESim, and EDEM software. The lifting condition of the tree digging machine,the soil cutting condition of the shovel, and the soil swinging condition were simulated and calculated. The pressure change curves inside the oil cylinder of each actuator and the soil cutting resistance change curve of the shovel were analyzed. The simulation results showed that during the lifting process of the arm,,the pressure of the lifting oil cylinder was stable,,with a pressure of 5.2 MPa. During the process of cutting soil,the resistance of the shovel was gradually increased, with a maximum resistance of 28 900 N. Under the condition of soil swing, the pressure inside the flap oil cylinder was increased with the increase of tilt angle, and the maximum pressure was 8 MPa. Testing on the hydraulic system of the tree digging machine in woodland was conducted, and the test results showed that the pressure of the lifting cylinder remained stable at 5.5 MPa during the lifting process of the arm. Under the condition of cutting soil,,the pressure difference of the shovel cylinder was 10 MPa, and the indirectly calculated cutting resistance was 28 260 N. Under the swing condition of the soil, the pressure of the flap oil cylinder was increased with the increase of the tilt angle, and the maximum pressure was 7.7 MPa. Through comparative analysis of tree digging machine simulation experiments and hydraulic testing, the relative errors between simulation values and measured values under lifting, cutting soil, and soil swing conditions were found to be 5.5%,,2.3%, and 3.9%, respectively. The accuracy of the cosimulation model of the tree digging machine and the stability of the tree digging machine arm structure and the hydraulic system was verified.

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寧晨,張建,張文福,吳紀(jì)元,杜小強,賈江鳴,童衛(wèi)忠.基于聯(lián)合仿真的雙臂瓣形鏟移樹機性能分析與試驗[J].農(nóng)業(yè)機械學(xué)報,2024,55(s2):1-9. NING Chen, ZHANG Jian, ZHANG Wenfu, WU Jiyuan, DU Xiaoqiang, JIA Jiangming, TONG Weizhong. Performance Analysis and Test of Dual Arm Petal Shaped Shovel Tree Digging Machine Based on Co-simulation[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(s2):1-9.

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  • 收稿日期:2024-08-20
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  • 在線發(fā)布日期: 2024-12-10
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