Abstract: Aiming at the problems of poor copying effect, low stubble quality and fast feed speed of traditional stubble trimmer in complex terrain environment, a self-propelled sand willow stubble trimmer is designed. Firstly, a 5-degree-of-freedom copying cutting table which can adapt to complex terrain is designed by using floating four-link, rotating locking shaft and cutter with sliding palm. Secondly, based on the three-minute transfer box, the transmission mode and route of the whole machine are designed to ensure that the sawing, copying and walking systems have sufficient power supply and do not interfere with each other. Through ADAMS multi-body dynamic simulation test, the motion track of saw blade in the process of stubble trimming machine is analyzed, and the original length of the selected tension spring is 624 mm and the working tension is 840 N. The length of the connecting rod is 500 mm, and the upper and lower copying quantity is 342 mm. The driving speed of the machine is 0.36 km/h, and the swing Angle of the cutting table is 45°. Finally, three representative landforms with different gradients are selected to carry out the stubble leveling test of outdoor prototype. The results show that the designed stubble trimmer can achieve 0-10 km/h stepless speed regulation, and the stubble breaking rates are 1.2%, 1.9% and 3.6%, respectively, and the stubble height unqualified rates are 0.7%, 1.9% and 3.2%, respectively, which are lower than 5%, and meet the quality requirements of stubble operation.

Key words: salix, self-propelled stubble machine, copying cutting table, dynamic simulation

摘要： 针对传统平茬机具在复杂地形环境工作时出现的仿形效果差、平茬质量低和进给速度快等问题，设计一种自走式沙柳平茬机。首先，采用浮动四连杆、旋转锁止轴及带有滑掌的切割器等机构，设计一种可适应复杂地形的五自由度仿形割台。其次，基于一分三分动箱，设计整机传动方式及路线，确保锯切、仿形和行走系统具备充足的动力供应且互不干扰。通过ADAMS多体动力学仿真试验，分析平茬机具仿形过程中锯片的运动轨迹，确定所选拉簧原始长度为624 mm，工作拉力为840 N；连杆长度为500 mm，上下仿形量为342 mm；机具行驶速度为0.36 km/h，割台摆动角度为45°。最后，选取三种不同坡度的代表性地形，进行户外样机平茬试验。结果表明，所设计的平茬机具可实现0~10 km/h无级调速，且三种地形破茬率分别为1.2%、1.9%和3.6%，茬高不合格率分别为0.7%、1.9%和3.2%，均低于5%，满足平茬作业质量要求。

关键词: 沙柳, 自走式平茬机, 仿形割台, 动力学仿真