履带自走式甘蓝收获机研究及称重系统开发

发布时间：2018-05-14 13:30

本文选题：甘蓝 + 收获机　；参考：《浙江大学》2017年博士论文

【摘要】：甘蓝是一种结球类蔬菜,在我国大部分地区均有广泛种植。目前,我国的甘蓝收获仍需依靠人工作业,劳动强度大、人工成本高、生产效率低等负面效益正日渐凸显。采用机械化收获是解决上述问题最切实可行的方法。本论文以我国南方江浙地区的甘蓝为研究对象,在甘蓝物理力学特性研究的基础上,结合虚拟样机技术与田间试验,设计并试制了一种履带自走式甘蓝收获机物理样机;研究了适宜于机械化收获的甘蓝种植农艺规范;开发了一套甘蓝动态称重系统。主要研究内容和结论如下:(1)甘蓝物理力学特性的研究。选取了江浙地区的主要甘蓝品种,测量了甘蓝的主要物理形态参数。统计结果表明,甘蓝品种之间、同品种甘蓝个体之间都存在着一定的差异性。基于化学分析仪器和万能试验机,进行了甘蓝根茎部的切割部位试验、切割力正交试验、切割劈裂破损试验。试验结果表明,影响甘蓝根茎部切割力指标的主要化学组成成分是粗纤维,最大切割力和平均切割力均与粗纤维含量呈线性关系,相关系数R~2分别为0.9491和0.9756,甘蓝根茎部直径为30～35 mm的区间为最佳切根区域。在甘蓝收获机切根装置的设计中,应考虑采用单点夹持方式,滑切和向下削切的切割方式,同时设置较低的切割速度;为降低单点夹持方式下的劈裂破损水平,建议切割位置在切割面直径32 mm处,滑切角和切割速度分别设置成30°和300 mm/min的参数组合。(2)履带自走式甘蓝收获机及关键部件的设计、分析与整机集成。在甘蓝物理力学特性研究的基础上,比较分析了甘蓝收获机的动力底盘行走方式、拔取方式、输送方式、切根方式、剥叶方式,确定了履带自走式甘蓝收获机的收获工艺流程和总体方案。利用三维设计软件和有限元分析软件,设计了一种引拔铲配合拨轮的铲式拔取装置,一种双横向输送带配合锯齿式输送链的输送提升装置,一种莲座切割的双圆盘刀式切根装置,一种辊式剥叶装置,以及液压动力系统,试制了甘蓝收获机物理样机。经过调试与改进,本论文的甘蓝收获机设计方案可行,各工作部件均运转正常,性能稳定,能够完成甘蓝的拔取、输送、切根、剥叶、装箱等基本作业。(3)履带自走式甘蓝收获机的田间试验与改进。提出了甘蓝收获机田间作业与性能检测的方法,进行了6轮履带自走式甘蓝收获机的田间测试试验,完成了田间检测。结合田间测试试验结果,改进了甘蓝收获机的引拔铲、防陷托板、双横向输送带、锯齿式输送链、切根装置等关键部件的结构与参数。检测结果表明,该甘蓝收获机适宜收获球径为15～25 cm的甘蓝,纯生产率为0.21 hm~2/h,拔取率为97.4%,切根合格率为89.8%,剥叶合格率为88.2%,作业损失率为4.8%。(4)适宜于机械化收获的甘蓝种植农艺规范的研究。对比传统甘蓝种植模式,提出了一种适宜于机械化收获的甘蓝种植农艺规范,进行了不同种植模式、不同甘蓝品种条件下的甘蓝收获机田间对比试验。试验结果表明,符合农艺规范的甘蓝种植有利于提高收获机的作业性能,拔取率均值提高了 5.6%,切根准确率均值提高了 3.3%,而作业损失率均值降低了 6.4%;甘蓝收获机在收获不同甘蓝品种时表现出不同的作业性能,在收获尖包形态的春丰甘蓝时,拔取率均值比在收获圆包形态的兰州包时高出将近8.3%,切根合格率均值和切根准确率均值分别下降了 6.0%和8.9%,但作业损失率相差并不大。(5)甘蓝动态称重系统的开发。为了开发出甘蓝收获机的田间测产系统,设计了一种基于动态称重技术的甘蓝称重系统试验平台,包括机械结构部分和基于LabVIEW的数据采集部分,完成了系统的设计、试制、调试、传感器的标定与校准、有效称重数据的提取。实验室试验结果表明,该系统在输送速度分别为0.1m/s、0.2m/s和0.3m/s时,称重数据与实际数据的R~2分别为0.9918、0.9874和0.9845,表现出良好的称重准确性和稳定性。本论文研制的履带自走式甘蓝收获机,采用全液压动力系统,结构紧凑、设计合理,检测结果表明该甘蓝收获机已具备甘蓝机械化收获的能力。提出的适宜于机械化收获的甘蓝种植农艺规范,有利于提高甘蓝收获机的作业性能。开发的甘蓝动态称重系统试验平台,是后续实现甘蓝收获机田间测产系统的基础。上述研究为我国甘蓝的机械化收获提供了理论与研究依据,有助于我国甘蓝的收获朝着机械化、自动化、智能化的方向发展。
[Abstract]:Cabbage is a kind of ball vegetable which is widely cultivated in most parts of China. At present, the harvest of cabbage in China still needs to rely on manual work, the labor intensity is great, the labor cost is high, and the low production efficiency is becoming more and more obvious. The most practical method to solve the above questions is to adopt mechanized harvest. On the basis of the study of physical and mechanical properties of cabbage in Zhejiang Province, a physical prototype of a crawler self walking Brassica harvester was designed and tested on the basis of the physical and mechanical characteristics of Brassica oleracea and the field experiment. The agronomic standard suitable for mechanized harvest was studied, and a dynamic weighing system for Brassica kale was developed. The following contents and conclusions are as follows: (1) the physical and mechanical properties of cabbage were studied. The main varieties of cabbage in Jiangsu and Zhejiang areas were selected and the main physical parameters of cabbage were measured. The results showed that there were certain differences between the cabbage varieties and the same species of cabbage. The experimental results show that the main chemical composition of the cutting force of the rhizome of the cabbage is crude fiber, the maximum cutting force and the average cutting force are linear with the content of the crude fiber, and the correlation coefficient R~2 is 0.9491 and 0.9756, and the rhizomes of cabbage are respectively. The section with the diameter of 30~35 mm is the best root cutting area. In the design of the cutting root device of the cabbage harvester, the single point clamping method should be taken into consideration for the cutting mode of slop and downward cutting, and the lower cutting speed is set at the same time. In order to reduce the splitting damage level of the single point clamping mode, it is suggested that the cutting position be at the cutting surface in the diameter of 32 mm, The sliding cutting angle and cutting speed are set up to 30 degrees and 300 mm/min respectively. (2) the design of the crawler self walking Brassica harvester and the key components are designed and integrated with the whole machine. On the basis of the physical and mechanical characteristics of Brassica kale, the driving mode of the power chassis, the mode of extraction, the mode of cutting, the stripping and the stripping are compared and analyzed. Ye Fangshi, determined the harvesting process and the overall plan of the crawler self walking cabbage harvester. Using the three-dimensional design software and the finite element analysis software, a shovel extraction device was designed, a double transversal conveyor belt conveyer chain with the sawtooth conveyor, a double disc cutter for the lotus seat cutting. Cutting root device, a roll type peeling device, and hydraulic power system, the physical prototype of a Brassica harvester is made. After debugging and improving, the design of the cabbage harvester is feasible, the working parts are working normally, the performance is stable, and the basic operation of the extraction, delivery, cutting, stripping and packing of the cabbage can be completed. (3) self walking of the crawler. The field test and improvement of the type cabbage harvester were put forward. The field test and performance test of the cabbage harvester were put forward, the field test of the 6 wheel crawler self walking cabbage harvester was carried out, and the field test was completed. The structure and parameters of the key components, such as the conveyor chain and the cutting root device, show that the cabbage harvester is suitable for the harvest of cabbage with a diameter of 15~25 cm, the pure productivity is 0.21 hm~2/h, the extraction rate is 97.4%, the cut root pass rate is 89.8%, the peeling rate is 88.2%, the operation loss rate is 4.8%. (4) suitable for mechanized harvested cabbage growers. Compared with the traditional planting pattern of cabbage, a kind of agronomic standard suitable for mechanized harvest was put forward, and the field comparison test of cabbage harvester under different planting patterns and Different Brassica varieties was carried out. The results showed that the planting of cabbage which was in conformity with the standard of Agronomy was beneficial to improve the workability of the harvester. The average value of the extraction rate increased by 5.6%, the mean of the cut root accuracy increased by 3.3%, while the mean value of the operation loss decreased by 6.4%, and the cabbage harvester showed different performance performance in the harvest of Different Brassica varieties. The average extraction rate was nearly 8.3% higher than that in the Lanzhou bag with the shape of the harvested round bag. The mean and the mean value of root mean and cut root accuracy decreased by 6% and 8.9% respectively, but the difference between the operation loss rate was not significant. (5) the development of the dynamic weighing system of Brassica oleracea. In order to develop the field measurement system of the cabbage harvester, a test platform based on dynamic weighing technology was designed, including the mechanical structure part and based on the dynamic weighing technology. The data acquisition part of LabVIEW has completed the system design, trial production, debugging, calibration and calibration of the sensor, and the extraction of effective weighing data. The laboratory test results show that when the transmission speed is 0.1m/s, 0.2m/s and 0.3m/s, the R~2 of the weighing data and the actual data is 0.9918,0.9874 and 0.9845 respectively, showing a good name. Heavy accuracy and stability. The crawler self walking cabbage harvester developed in this paper uses a full hydraulic power system with compact structure and reasonable design. The test results show that the cabbage harvester has the ability to mechanized the harvest of Brassica kale. The proposed agronomic specification suitable for mechanized harvest is beneficial to the improvement of the Brassica harvester. The dynamic weighing system test platform of Brassica oleracea is the basis for the subsequent implementation of the field measurement system of the cabbage harvester. The above research provides the theoretical and research basis for the mechanized harvesting of the cabbage in China, and is helpful to the development of the cabbage harvest in the direction of mechanization, automation and intelligence.

【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：S225.92

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