自适应山地果园轨道运输平台结构设计与试验

doi:10.13733/j.jcam.issn.2095-5553.2024.10.023

摘要/Abstract

摘要： 缺乏高效的运输机械是目前国内南方丘陵山地地区农业发展中存在的主要问题之一，国内现有的农业运输机械大多无法适应山地多坡多弯的复杂地形，导致工作效率低下、安全性差、运输效果不佳。为解决山地农业运输问题，研制一款自适应山地轨道运输平台。在果园种植基地进行轨道应力测试试验得到真实的应力数据，结果表明，在最大载重500 kg时，轨道所受应力平均值为245.3 MPa，小于轨道材料的屈服极限值660 MPa，在极限坡度(30°)时，轨道所受应力也小于材料极限强度，轨道符合工作所需的强度要求，该运输平台可以安全的进行工作。振动测试试验结果表明，在对果品影响最大的振动频率0~10 Hz范围内，轨道运输平台的最大振幅小于0.08 cm，对运输的果品等产生的损伤小，符合工作标准。该运输平台轨道铺设简便，成本低，地形适应性强，爬坡能力强，载重量大，能满足丘陵山地农产品运输的需求，并通过设计倾角调节结构、自适应控制系统，使运输平台在山地复杂地形行驶时拖车能处于平衡状态，货物不发生倾倒，提高山地轨道运输平台的安全性和灵活性，保障运输的农产品的品相，延长运输平台的使用寿命。

关键词: 山地果园轨道运输, 有限元仿真, 倾角调节结构, 安全性能

Abstract: Lack of efficient transportation machinery is currently one of the main problems in the development of agriculture in the southern hilly and mountainous areas of China, and most of the existing agricultural transportation machinery in China can not adapt to the complex terrain of the mountainous areas with many slopes and curves, which leads to low efficiency, poor safety and poor transportation effect . In order to solve the problem of mountain agricultural transportation, an adaptive mountain rail transportation platform is developed. In the orchard planting base for track stress test to get the real stress data, the results show that, in the maximum load of 500 kg, the average value of the stress on the track is 245.3 MPa, which is less than the yield limit value of the track material 660 MPa, in the limit slope (30 °), the stress on the track is also less than the limit strength of the material (no read‑through), the track meets the strength requirements needed for the work. The transportation platform can work safely. Vibration test results show that, in the vibration frequency 0-10 Hz range which has the greatest influence on the fruits, the maximum amplitude of the rail transportation platform is less than 0.08 cm, which produces little damage to the transported fruits and so on, and conforms to the working standard. The transportation platform track laying is simple, low cost, terrain adaptability, strong climbing ability, large load capacity, which can meet the needs of hilly mountainous agricultural products transportation, and through the design of tilt angle adjustment structure and adaptive control system, the trailer can be in a balanced state when the transportation platform is driving in the mountainous complex terrain, the goods do not fall over, the safety and flexibility of the mountain track transportation platform is improved, so as to guarantees the quality of the transported agricultural products and prolongs the service life of the transportation platform.

Key words: mountain orchard rail transport, finite element simulation, tilt?adjustable structure, safety performance

中图分类号:

S233.3

杨轶锴, 欧阳玉平, 吴权立, 刘燕德. 自适应山地果园轨道运输平台结构设计与试验[J]. 中国农机化学报, 2024, 45(10): 154-161.

Yang Yikai, Ouyang Yuping, Wu Quanli, Liu Yande. Structural design and test of rail transport platform for adaptive mountain orchard[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(10): 154-161.

参考文献

[ 1 ] 洪添胜. 一种钢丝绳牵引式山地果园货运机[P]. 中国专利: CN202294798U, 2012-06-20.
[ 2 ] 郑永军, 江世界, 陈炳太, 等. 丘陵山区果园机械化技术与装备研究进展[J]. 农业机械学报, 2020, 51(11): 1-20.
Zheng Yongjun, Jiang Shijie, Chen Bingtai, et al. Review on technology and equipment of mechanization in hilly orchard [J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(11): 1-20.
[ 3 ] 郑永军, 陈炳太, 吕昊暾, 等. 中国果园植保机械化技术与装备研究进展[J]. 农业工程学报, 2020, 36(20): 110-124.
Zheng Yongjun, Chen Bingtai, Lü Haotun, et al. Research progress of orchard plant protection mechanization technology and equipment in China [J]. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(20): 110-124.
[ 4 ] 吕石磊, 魏志威, 吴奔雷, 等. 果园单轨运输机在轨状态感知系统研制[J]. 农业工程学报, 2020, 36(15): 56-64.
Lü Shilei, Wei Zhiwei, Wu Benlei, et al. Development of on‑orbit status sensing system for orchard monorail conveyer [J]. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(15): 56-64.
[ 5 ] 何勇, 蒋浩, 方慧, 等. 车辆智能障碍物检测方法及其农业应用研究进展[J]. 农业工程学报, 2018, 34(9): 21-32.
He Yong, Jiang Hao, Fang Hui, et al. Research progress of intelligent obstacle detection methods of vehicles and their application on agriculture [J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(9): 21-32.
[ 6 ] 刘大为, 谢方平, 李旭, 等. 小型果园升降作业平台的设计与试验[J]. 农业工程学报, 2015, 31(3): 113-121.
Liu Dawei, Xie Fangping, Li Xu, et al. Design and experiment of small lifting platform in orchard [J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(3): 113-121.
[ 7 ] 王新, 赵斯琪, 王力扬, 等. 果园作业车稳定性控制方法研究[J]. 农业机械学报, 2015, 46(5): 13-19.
Wang Xin, Zhao Siqi, Wang Liyang, et al. Stability control method for orchard vehicle [J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(5): 13-19.
[ 8 ] 欧阳玉平, 洪添胜, 马煜东. 山地果园双轨运输机牵引系统动力学仿真与试验[J]. 系统仿真学报, 2015, 27(7): 1502-1510.
Ouyang Yuping, Hong Tiansheng, Ma Yudong. Dynamic simulation and test of mountain orchard double‑track transport traction system [J]. Journal of System Simulation, 2015, 27(7): 1502-1510.
[ 9 ] 陈军, 蒋浩然, 刘沛, 等. 果园移动机器人曲线路径导航控制[J]. 农业机械学报, 2012, 43(4): 179-182, 187.
Chen Jun, Jiang Haoran, Liu Pei, et al. Navigation control for orchard mobile robot in curve path [J]. Transactions of the Chinese Society for Agricultural Machinery, 2012, 43(4): 179-182, 187.
[10] 郝朝会, 杨学军, 刘立晶, 等. 果园多功能动力底盘设计与试验[J]. 农业机械学报, 2018, 49(12): 66-73, 92.
Hao Zhaohui, Yang Xuejun, Liu Lijing, et al. Design and experiment of multifunctional dynamic chassis for orchard [J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(12): 66-73, 92.
[11] 吕石磊, 梁尹聪, 李震, 等. 基于超高频RFID双天线双标签对照的果园单轨运输机定位[J]. 农业工程学报, 2018, 34(4): 71-79.
Lü Shilei, Liang Yincong, Li Zhen, et al. Orchard monorail conveyer location based on ultra high frequency RFID dual antennas and dual tags [J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(4): 71-79.
[12] 姜红花, 白鹏, 刘理民, 等. 履带自走式果园自动对靶风送喷雾机研究[J]. 农业机械学报, 2016, 47(S1): 189-195.
Jiang Honghua, Bai Peng, Liu Limin, et al. Caterpillar self‑propelled and air‑assisted orchard sprayer with automatic target spray system [J]. Transactions of the Chinese Society for Agricultural Machinery, 2016, 47(S1): 189-195.
[13] 吴伟斌, 廖劲威, 洪添胜, 等. 山地果园轮式运输机车架结构分析与优化[J]. 农业工程学报, 2016, 32(11): 39-47.
Wu Weibin, Liao Jingwei, Hong Tiansheng, et al. Analysis and optimization of frame structure for wheeled transporter in hill orchard [J]. Transactions of the Chinese Society of Agricultural Engineering, 2016, 32(11): 39-47.
[14] 刘杰, 张衍林, 张闻宇, 等. 山地果园无动力运输机设计[J]. 华中农业大学学报, 2017, 36(1): 117-122.
Liu Jie, Zhang Yanling, Zhang Wengyu, et al. Design of unpowered mountainous orchard transporter [J]. Journal of Huazhong Agricultural University, 2017, 36(1): 117-122.
[15] 刘岳, 李震, 洪添胜, 等. 山地果园蓄电池驱动单轨运输机传动系统设计[J]. 农业工程学报, 2017, 33(19): 34-40.
Liu Yue, Li Zhen, Hong Tiansheng, et al. Design of drive system for battery‑drive monorail transporter for mountainous orchard [J]. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(19): 34-40.
[16] 贾闯, 李加念, 洪添胜, 等. 山地果园单轨运输机超声波避障系统的设计与试验[J]. 农业工程学报, 2015, 31(S2): 69-74.
Jia Chuang, Li Jianian, Hong Tiansheng, et al. Design and test of ultrasonic obstacle avoidance system for mountain orchard monorail conveyor [J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(S2): 69-74.
[17] Liu Y, Li Z, Hong T, et al. Design of drive system for battery‑drive monorail transporter for mountainous orchard [J]. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(19): 34-40.
[18] Li Z, Xu P, Ouyang Y P, et al. Control system for the mountainous orchard electric‑drive monorail transporter [C]. International Conference on Sensors, Measurement and Intelligent Materials, 2015.
[19] 姬丽雯, 刘永华, 高菊玲, 等. 温室草莓采摘机器人设计与试验[J]. 中国农机化学报, 2023, 44(1): 192-198.
Ji Liwen, Liu Yonghua, Gao Juling, et al. Design and experiment of strawberry picking robot in greenhouse [J]. Journal of Chinese Agricultural Mechanization, 2023, 44(1): 192-198.
[20] 李洪兵, 罗洋, 张颖, 等. 基于模糊PID控制的NB-IoT果蔬农业物联网系统设计与试验[J]. 中国农机化学报, 2023, 44(1): 162-171.
Li Hongbing, Luo Yang, Zhang Ying, et al. Design ang test of NB-IoT system of fruit‑vegetable agriculture based on fuzzy PID control [J]. Journal of Chinese Agricultural Mechanization, 2023, 44(1): 162-171.
[21] 周子涵, 尚书旗, 王东伟, 等. 甘薯秧蔓收获机专用割台设计与试验[J]. 中国农机化学报, 2022, 43(12): 26-32.
Zhou Zihan, Shang Shuqi, Wang Dongwei, et al. Design and test of special header for sweet potato vine harvester [J]. Journal of Chinese Agricultural Mechanization, 2022, 43(12): 26-32.
[22] 周艳, 潘云飞, 何磊, 等. 牵引式疏花机设计与试验[J]. 中国农机化学报, 2022, 43(11): 43-49.
Zhou Yan, Pan Yunfei, He Lei, et al. Design and experiment of traction type flower‑thinning machine [J]. Journal of Chinese Agricultural Mechanization, 2022, 43(11): 43-49.