南方丘陵山地自走式苗木移栽机关键装置参数优化与试验

doi:10.11707/j.1001-7488.LYKX20250545

林业科学 ›› 2026, Vol. 62 ›› Issue (7): 208-220.doi: 10.11707/j.1001-7488.LYKX20250545

• 研究论文 • 上一篇

南方丘陵山地自走式苗木移栽机关键装置参数优化与试验

温俊豪^1,^2,³,姚黎文^1,^2,³,陈烨新^1,^2,³,杨自栋^1,^2,³,胡忠强⁴,姚立健^1,^2,^3,*()

1. 浙江农林大学光机电工程学院　杭州 311300
2. 国家林业草原丘陵山地林草机械工程技术研究中心　杭州 311300
3. 农业农村部东南丘陵山地农业装备重点实验室　杭州 311300
4. 浙江四方集团有限公司　金华 321300

收稿日期:2025-09-04 修回日期:2025-10-17 出版日期:2026-07-10 发布日期:2026-07-14
通讯作者: 姚立健 E-mail:ljyao@zafu.edu.cn
基金资助:
国家自然科学基金项目（32572211）；国家林草装备科技创新园研发攻关项目（2023YG03）

Optimization and Testing of Key Device Parameters for Self-Propelled Tree Transplanting Machine in Southern Hilly and Mountainous Areas

Junhao Wen^1,^2,³,Liwen Yao^1,^2,³,Yexin Chen^1,^2,³,Zidong Yang^1,^2,³,Zhongqiang Hu⁴,Lijian Yao^1,^2,^3,*()

1. College of Optical, Mechanical and Electrical Engineering, Zhejiang A&F University　Hangzhou 311300
2. National Engineering Technology Research Center of National Forestry and Grassland Administration on Forestry and Grassland Machinery for Hilly and Mountainous Areas　Hangzhou 311300
3. Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China， Ministry of Agriculture and Rural Affairs　Hangzhou 311300
4. Zhejiang Sifang Group　Jinhua 321300

Received:2025-09-04 Revised:2025-10-17 Online:2026-07-10 Published:2026-07-14
Contact: Lijian Yao E-mail:ljyao@zafu.edu.cn

摘要/Abstract

摘要：

目的: 应用有限元仿真与多体动力学分析相结合的方法，探析结构参数对传统移栽机稳定性、安全性和作业性能的关系，以进一步提升传统苗木移栽机在南方丘陵山地环境中的行驶性能和挖树性能。方法: 利用RecurDyn多体动力学仿真软件对履带行走底盘进行动力学分析，确定轨距可调范围，确保苗木移栽机在丘陵山区行驶时的稳定性；在起吊装置方面利用ADAMS动力学软件对移栽机起吊大臂的各铰点受力进行分析，从而为静力学分析提供参数；利用ANSYS静力学软件确定起吊大臂在最大受力情况下的最优设计参数，确保苗木起吊作业时起吊装置的可靠性与起吊能力；在扭振挖掘装置方面，利用ABAQUS仿真软件对铲刀切削土壤进行动力学分析，确定了苗木扭振挖掘装置的3个最优工作参数，即振动频率(d₁)为30 Hz、振动幅度(d₂)为7 mm、切削速度(d₃)为0.3 rad·s^–1。结果: 仿真结果表明，添加变轨履带底盘的移栽机的极限倾翻角比原移栽机样机提升了16.7%，提升了移栽机在林地环境的横向行驶稳定性和灵活性；移栽机挖掘装置采用最优切削参数后，其切削阻力较初始参数的工况降低24.41%；结构参数优化后的起吊大臂，其最大等效应力降低9.2%，在提高结构强度的同时降低了设计冗余。林间行驶性能试验结果表明，移栽机在θ≤20 °的坡面行驶时稳定性良好，无倾翻、侧滑现象，且变轨后在θ=30 °时未发生倾翻，与仿真结果基本一致。采用仿真求得的最优参数进行林间作业性能试验，移栽机起挖单株胸径5~10 cm的苗木用时为64.1 s，10~20 cm的苗木用时为126.4 s，且苗木土球经过移栽机起吊捆绑后能进行短途运输。结论: 各项试验结果均满足预期移栽机性能指标，能满足丘陵山地的苗木移栽需求，为南方丘陵山区机械化作业装备开发提供参考。

关键词: 自走式苗木移栽机, 丘陵山地, 静力学仿真, 动力学仿真, 关键装置

Abstract:

Objective: This paper aims to explore the relationship between structural parameters and the stability, safety, and operational performance of traditional transplanting machines by combining finite element simulation and multibody dynamics analysis, so as to further enhance the performance of traditional tree transplanting machines in southern hilly and mountainous environments. Method: The RecurDyn multibody dynamics simulation software was used to dynamically analyze the tracked walking chassis, determine the adjustable track width range, and ensure the stability of the transplanting machine when operating in hilly and mountainous areas. In terms of the lifting device, the ADAMS dynamics software was employed to analyze the forces at various hinge points of the lifting boom, providing parameters for static analysis. The ANSYS static software was used to determine the optimal design parameters for the lifting boom under maximum stress conditions, ensuring the reliability and lifting capacity of the transplanting machine during lifting operations. For the torsional vibration excavation device, the ABAQUS simulation software was used to analyze the cutting soil dynamics of the shovel. The three optimal working parameters of the seedling torsional vibration digging device were determined, namely a vibration frequency (d₁) of 30 Hz, a vibration amplitude (d₂) of 7 mm, and a cutting speed (d₃) of 0.3 rad·s^-1. Result: Simulation results showed that the transplanting machine with an adjustable track width increased the maximum overturning angle of 16.7% compared to the original prototype, improving the lateral stability and flexibility of the transplanting machine in forest environments. After adopting the optimal cutting parameters for the excavation device, the cutting resistance was reduced by 24.41% compared to the initial parameters. The maximum equivalent stress of the lifting boom after structural parameter optimization decreased by 9.2%, improving the structural strength and reducing design redundancy. Field tests on driving performance showed that the transplanting machine exhibited good stability on slopes with θ ≤ 20° without tipping or slipping, and with the adjustable track width, no tipping occurred on a slope of θ = 30°, which was consistent with the simulation results. Field operation performance tests using the optimal parameters obtained from simulations showed that the transplanting machine took 64.1 seconds to dig up trees with a diameter at breast height (DBH) of 5–10 cm and 126.4 seconds for trees with a DBH of 10–20 cm. Additionally, the soil balls of the seedlings, after being lifted and bundled by the transplanting machine, were suitable for short-distance transportation. Conclusion: The experimental results confirm that the transplanter meets all performance requirements and is capable of fulfilling tree transplantation needs in hilly and mountainous terrain, providing a practical reference for tree-digging operations in southern hilly and mountainous areas.

Key words: self-propelled tree transplanter, hilly and mountainous terrain, static simulation, dynamic simulation, key device

中图分类号:

温俊豪,姚黎文,陈烨新,杨自栋,胡忠强,姚立健. 南方丘陵山地自走式苗木移栽机关键装置参数优化与试验[J]. 林业科学, 2026, 62(7): 208-220.

Junhao Wen,Liwen Yao,Yexin Chen,Zidong Yang,Zhongqiang Hu,Lijian Yao. Optimization and Testing of Key Device Parameters for Self-Propelled Tree Transplanting Machine in Southern Hilly and Mountainous Areas[J]. Scientia Silvae Sinicae, 2026, 62(7): 208-220.

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参数Parameter	数值 Value
土壤变形指数Soil deformation exponent(n)	0.5
剪切变形模量Shear deformation modulus/m	5
剪切内阻力Internal friction angle/（°）	20
粘聚变形模量Cohesive deformation modulus/（kN·m^?n?1）	4.127
摩擦变形模量Frictional deformation modulus/（kN·m^?n?2）	0.433
内聚力Cohesion/Pa	0.069

部件 Component	密度Density/ （kg·cm^–3）	弹性模量 Elastic modulus/MPa	泊松比 Poisson’s ratio	失效准则 Failure criterion
刀具（合金钢）Blade (alloy steel)	7.85	2.05e5	0.288	/
土壤Soil	0.0027	60	0.27	剪切失效 1.0 Shear failure 1.0

水平 Level	因素Factors
水平 Level	频率 Frequency/Hz	振幅 Amplitude/mm	切削速度 Cutting speed/(rad·s^?1)
1	10	3	0.15
2	20	5	0.3
3	30	7	0.45

编号 Test number	频率 Frequency/ Hz	振幅 Amplitude/ mm	切削速度 Cutting speed/(rad·s^?1)	切削阻力 Cutting resistance/kN
1	10	3	0.15	46.27
2	10	5	0.3	24.45
3	10	7	0.45	26.08
4	20	3	0.3	39.30
5	20	5	0.45	21.47
6	20	7	0.15	19.52
7	30	3	0.45	30.70
8	30	5	0.15	18.02
9	30	7	0.3	16.23
Ⅰ	96.8	116.27	83.81	—
Ⅱ	80.29	63.94	79.98	—
Ⅲ	64.95	61.83	78.25	—
R	31.85	54.44	5.56	—

项目 Item	SS	df	MS	F	P
频率Frequency(d₁)/Hz	169.146	2	84.573	9.338	0.097
振幅Amplitude(d₂)/mm	634.066	2	317.033	35.004	0.028
切削速度Cuttingspeed (d₃)/(rad·s^?1)	5.397	2	2.699	0.298	0.770

南方丘陵山地自走式苗木移栽机关键装置参数优化与试验

Optimization and Testing of Key Device Parameters for Self-Propelled Tree Transplanting Machine in Southern Hilly and Mountainous Areas

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试验序号 Test number	高度 Height （c）/mm	宽度 Width （b）/mm	侧板厚度 Side plate thickness （m）/mm	盖板厚度 Cover plate thickness (n）/mm	最大等效应力试验值 Maximum equivalent stress test value(δ)/MPa
1	108	120	16	10	137.07
2	108	140	18	12	126.37
3	108	160	20	14	131.76
4	128	120	18	14	140.03
5	128	140	20	10	135.41
6	128	160	16	12	154.62
7	148	120	20	12	124.52
8	148	140	16	14	221.19
9	148	160	18	10	161.05

水平 Test number	高度 Height (c)/mm	宽度 Width (b)/mm	侧板厚度 Side plate thickness(m)/mm	盖板厚度 Cover plate thickness(n)/mm
1	108	120	16	10
2	138	150	18	12
3	168	180	20	14
I	395.2	401.62	512.88	433.53
II	430.06	482.97	427.45	405.51
III	506.76	447.43	391.69	492.98
R	111.56	81.35	121.19	87.47

指标 Indicator	轨距Track width	10°	15°	20°	25°	30°	35°
结果 Results	1151 mm	通过Through	通过Through	通过Through	剧烈侧滑Severe sideslip	剧烈侧滑Severe sideslip	—
	1224 mm	通过Through	通过Through	通过Through	发生侧滑Sideslip occurs	剧烈侧滑Severe sideslip	—
	1378 mm	通过Through	通过Through	通过Through	发生侧滑Sideslip occurs	发生侧滑Sideslip occurs	发生侧滑Sideslip occurs

编号 Test number	胸径 Diameter at breast height/cm	起挖土球直径 Initial excavation root ball diameter/cm	平均土球直径 Average root ball diameter/ cm	起挖时间 Excavation time/min	作业效率 Work efficiency/ （tree·d^?1）
1	7.32	66	69.7	1.07	179
2	12.41	69.5		1.60	119
3	15.28	73.6		2.61	73

编号 Test number	苗木土球直径 Tree root ball diameter/cm	苗木土球质量 Tree root ball weight/kg	土球破损率 Root ball damage rate(%)	运输时间 Transport time/s
1	66	105.6	0.94	106.38
2			1.21	105.47
3			1.46	100.32
4	69.5	126.3	1.32	103.20
5			1.43	97.32
6			0.79	104.25
7	73.6	159.4	1.81	112.23
8			1.11	107.83
9			1.03	100.69

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