植树机挖穴机构动态性能分析与试验探究

doi:10.11707/j.1001-7488.20221207

Abstract

Abstract:

Objective: China's mechanized afforestation equipment was often ignored in soil and water conservation, vegetation protection and operation energy consumption, resulting in large surface soil breaking area, simple and extensive operation and other problems. This paper proposed a series 2-DOF tree planting and digging mechanism for big seedlings, which could realize continuous dynamic driving and interrupt digging hole afforestation. Method: According to the afforestation technical regulations and the mechanism motion rules, the kinematic model of series multi closed chain mechanism was established. Taking the driving speed, the running speed of floating cylinder and the running speed of digging cylinder as independent variables and aiming at five indexes to evaluate the shape of hole, the single factor motion performance simulation test based on ADAMS software was carried out. The motion track of digging parts was analyzed by high-speed photography. Based on the simulation test results, the field experimental research was carried out. Taking the factors in the simulation test as independent variables and taking longitudinal length of the upper end of the planting hole, the front inclination angle of the upper part of the hole and the rear inclination angle of the upper part of the hole as response values. Using three dimensional optical phase measurement technology and Box-Behnken were used for central composite design, and the interaction between various factors was analyzed. The optimization solver in Design-Expert software was used to solve the problem under the optimization criterion. Result: 1) The longitudinal length of the upper part of the hole and the inclination angle of the hole increased with the increase of the driving speed. Effect of floating cylinder running speed on the front inclination angle α, the front inclination angle of upper part of the hole αㄥ, the longitudinal length of the upper part of the hole had a great influence, and had no obvious influence on the rear inclination angle. The parameters of hole shape decreased with the increase of the running speed of digging cylinder. In the experiment, the front inclination angle of the hole was significantly greater than the rear inclination angle, and the change of independent variable had little effect on the longitudinal length of the bottom of the hole. The running speed of floating cylinder had the greatest contribution to change the longitudinal length of the upper part of the hole, followed by the running speed of digging cylinder. 2) The high-speed photography analysis result showed that the motion trajectory of the digging cutter head was consistent with the simulation trajectory, the mechanism had the characteristics of deceleration digging, and the obvious soil return phenomenon occured at the rear of the hole when the inclination angle was small. 3) The regression model of the test target was established, and the interaction of various factors on the response value was consistent with the analysis of variance. The optimization solution showed that the best operating parameters were the driving speed of 108 mm·s^-1, the running speed of floating cylinder of 19 mm·s^-1 and the running speed of digging cylinder of 80 mm·s^-1. The verification test showed that the longitudinal length of the upper part of the hole L₁ was 669 mm and the rake angle of the upper part of the hole α′ was 33.1°, and the caster angle of the upper part of the hole β′ was 24.5°. Conclusion: All indexes met the relevant requirements of afforestation regulations. This study provides a new method for big seedling mechanized afforestation and a reference for the development of ecoplanter.

Key words: tree planter, digging mechanism, kinematics simulation, experiments

CLC Number:

S725.7

Jiuqing Liu,Binhai Zhu,Chunmei Yang,Hang Yu. Dynamic Performance Analysis and Experimental Investigation of Hole Digging Mechanism of Tree Planting Machine[J]. Scientia Silvae Sinicae, 2022, 58(12): 62-74.

Figures/Tables 23

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Table 1

Fig.14

Fig.15

Table 2

Table 3

Table 4

Table 5

Fig.16

Fig.17

Fig.18

References 0

	陈卫洪, 王晓伟. 西部地区森林碳汇供给可持续发展机制研究. 林业经济, 2019, 41 (3): 79- 86.
	Chen W H , Wang X W . Study on the mechanism of sustainable development of forest carbon sink supply in western China. Forestry Economics, 2019, 41 (3): 79- 86.
	侯荣国, 王湘田, 卢萍, 等. 全流程一体化植树工程车及其关键部件设计. 机械设计与制造, 2021, (10): 62- 65.
	Hou R G , Wang X T , Lu P , et al. Design of the whole process integrated tree planting engineering vehicle and its key parts. Machinery Design & Manufacture, 2021, (10): 62- 65.
	贾洪雷, 陈忠亮, 马成林, 等. 北方旱作农业区耕作体系关键技术. 农业机械学报, 2008, 39 (11): 59- 63.
	Jia H L , Chen Z L , Ma C L , et al. Key technologies for the tillage system in area of dry farming of Northern China. Transactions of the Chinese Society for Agricultural Machinery, 2008, 39 (11): 59- 63.
	姜晨龙. 2013. 高效深栽造林钻孔机的研制与试验. 北京: 北京林业大学.
	Jiang C L. 2013. Development and experiment of efficient deep planting earth auger. Beijing: Beijing Forestry University. [in Chinese]
	李波, 陆建兰, 黄利强, 等. 一种平面天线可折叠变胞机构的设计分析研究. 西北工业大学学报, 2018, 36 (S1): 33- 40.
	Li B , Lu J L , Huang L Q , et al. Design and analysis of a foldable metamorphic mechanism with flat panel antennas. Journal of Northwestern Polytechnical University, 2018, 36 (S1): 33- 40.
	李春高. 我国造林机械的现状及发展趋势. 林业机械与木工设备, 2012, 40 (10): 4- 6.4-6, 10
	Li C G . Status and development trend of China's afforestation machinery. Forestry Machinery & Woodworking Equipment, 2012, 40 (10): 4- 6.4-6, 10
	李连江. 2005. 平面连杆机构的计算机辅助分析与仿真. 天津: 天津工业大学.
	Li L J. 2005. Computer aided analysis and simulation of planar linkage mechanism. Tianjin: Tianjin Polytechnic University. [in Chinese]
	刘大为, 谢方平, 叶强, 等. 1K-50型果园开沟机开沟部件功耗影响因素分析与试验. 农业工程学报, 2019, 35 (18): 19- 28.
	Liu D W , Xie F P , Ye Q , et al. Analysis and experiment on influencing factors on power of ditching parts for 1K-50 orchard ditching. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35 (18): 19- 28.
	蒙贺伟, 李进江, 坎杂, 等. ZS-45多功能植树机的研制. 农机化研究, 2013, 35 (1): 83- 85.
	Meng H W , Li J J , Kan Z , et al. Development of ZS-45 multi-function planting trees machine. Journal of Agricultural Mechanization Research, 2013, 35 (1): 83- 85.
	彭强吉, 康建明, 荐世春, 等. 圆盘式开沟机正反转开沟运动学分析及参数优化. 中国农业大学学报, 2018, 23 (8): 151- 159.
	Peng Q J , Kang J M , Jian S C , et al. Parameter optimization and power consumption and kinematics analyses of clockwise and counterclockwise ditching. Journal of China Agricultural University, 2018, 23 (8): 151- 159.
	秦宽, 丁为民, 方志超, 等. 收获开沟埋草一体机双圆盘开沟机构设计与参数优化. 农业工程学报, 2017, 33 (18): 27- 35.
	Qin K , Ding W M , Fang Z C , et al. Design and parameter optimization of double disk opener mechanism for harvest ditch and stalk-disposing machine. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33 (18): 27- 35.
	宋代平. 2004. 生态植树机动态性能的理论研究. 哈尔滨: 东北林业大学.
	Song D P. 2004. Theoretical study on dynamic characteristic of ecoplanter. Harbin: Northeast Forestry University. [in Chinese]
	铁铮, 吴曙红. 碳达峰和碳中和: 林业发展迎来新机遇. 国土绿化, 2021, (5): 37- 39.
	Tie Z , Wu S H . Carbon peaking and carbon neutrality: new opportunities for forestry development. Land Greening, 2021, (5): 37- 39.
	吴立波. 线性直角运动机器人结构分析及优化. 现代制造工程, 2021, (9): 24- 27.24-27, 32
	Wu L B . Structure analysis and optimization of linear right angle motion robot. Modern Manufacturing Engineering, 2021, (9): 24- 27.
	杨德福. 一种沙区水冲深栽插干造林技术. 青海农林科技, 2019, (1): 81- 83.
	Yang D F . A pressurized water jetting tree deep planting technology in desertification and sandy area. Science and Technology of Qinghai Agriculture and Forestry, 2019, (1): 81- 83.
	张媛媛. 2018. 温室秸秆反应堆自走式开沟机设计与性能分析. 秦皇岛: 河北科技师范学院.
	Zhang Y Y. 2018. Design and performance analysis of self-propelled trencher for greenhouse straw reactor. Qinhuangdao: Hebei Normal University of Science & Technology. [in Chinese]
	郑慧珍, 王杰, 王滔. 平行四边形式收砟机构设计与分析. 机械, 2020, 47 (6): 68- 73.
	Zheng H Z , Wang J , Wang T . Design and analysis of parallelogram ballast recollecting mechanism. Machinery, 2020, 47 (6): 68- 73.
	周克媛, 彭善飞, 韩远飞. 自动植树机开沟器结构设计及分析. 北京工业职业技术学院学报, 2017, 16 (1): 10- 12.
	Zhou K Y , Peng S F , Han Y F . Design and analysis of machine structure of automatic planting furrow opener. Journal of Beijing Polytechnic College, 2017, 16 (1): 10- 12.
	Ersson B , Laine T , Saksa T . Mechanized tree planting in Sweden and Finland: current state and key factors for future growth. Forests, 2018, 9 (7): 370.
	Graves L R , Choi H , Zhao W C , et al. Model-free deflectometry for freeform optics measurement using an iterative reconstruction technique. Optics Letters, 2018, 43 (9): 2110- 2113.
	Jensen T , Keddy T , Sidders D . Economic impacts of short rotation woody crops in Canada. The Forestry Chronicle, 2021, 97 (3): 266- 270.
	Laine T , Rantala J . Mechanized tree planting with an excavator-mounted M-Planter planting device. International Journal of Forest Engineering, 2013, 24 (3): 183- 193.
	Marinov A K , Yordanova V . Technological research of mechanized site preparation for afforestation of forest lands. Innovation in Woodworking Industry and Engineering Design, 2017, (2): 31- 39.
	Nurunnabi A , Belton D , West G . Robust statistical approaches for local planar surface fitting in 3D laser scanning data. ISPRS Journal of Photogrammetry and Remote Sensing, 2014, 96, 106- 122.
	Sansoni G , Docchio F . Three-dimensional optical measurements and reverse engineering for automotive applications. Robotics and Computer-Integrated Manufacturing, 2004, 20 (5): 359- 367.

编码 Code	行驶速度 Driving speed (A)/ (mm·s^-1)	浮动油缸运行速度 Floating cylinder speed(B)/ (mm·s^-1)	挖穴油缸运行速度 Digging cylinder speed(C)/ (mm·s^-1)
-1	100.00	10.00	65.00
0	115.00	17.50	72.50
1	130.00	25.00	80.00

序号 No.	A	B	C	L₁/ mm	α′/ (°)	β′/ (°)
1	0	0	0	779	37.5	26.7
2	1	1	0	719	33.8	25.6
3	0	0	0	776	37.4	26.6
4	0	1	1	632	29.4	24.5
5	0	-1	-1	882	44.2	28.6
6	-1	0	1	701	33.5	25.3
7	0	0	0	765	37.2	26.1
8	0	0	0	773	37.0	26.3
9	0	1	-1	695	32.2	25.1
10	-1	-1	0	805	38.1	27.4
11	0	-1	1	731	35.1	25.9
12	-1	1	0	651	29.8	24.6
13	0	0	0	761	36.8	26.0
14	-1	0	-1	783	37.8	26.9
15	1	-1	0	903	45.5	29.2
16	1	0	1	751	36.1	26.2
17	1	0	-1	899	44.8	28.9

来源 Source	平方和 Sum of squares	自由度 df	均方 Mean square	F	P
模型Model	95 803	9	10 645	124.66	< 0.000 1
A-A	13 819	1	13 820	161.84	< 0.000 1
B-B	48 765	1	48 766	571.10	< 0.000 1
C-C	24 675	1	24 675	288.97	< 0.000 1
AB	242	1	242	2.83	0.136 3
AC	1 142	1	1 142	13.38	0.008 1
BC	1 888	1	1 888	22.11	0.002 2
A²	2 379	1	2 379	27.86	0.001 2
B²	2 643	1	2 643	30.95	0.000 8
C²	489	1	489	5.73	0.047 9
残差Residual	598	7	86
失拟项Lack of fit	373	3	124	2.21	0.229 7
纯误差Pure error	225	4	56
总和Cor total	96 401	16

来源 Source	平方和 Sum of squares	自由度 df	均方 Mean square	F	P
模型Model	344.81	9	38.310	173.53	< 0.000 1
A-A	55.13	1	55.130	249.68	< 0.000 1
B-B	177.66	1	177.660	804.68	< 0.000 1
C-C	77.50	1	77.500	351.02	< 0.000 1
AB	2.89	1	2.890	13.09	0.008 5
AC	4.84	1	4.840	21.92	0.002 3
BC	9.92	1	9.920	44.94	0.000 3
A²	6.29	1	6.290	28.50	0.001 1
B²	10.81	1	10.810	48.97	0.000 2
C²	0.52	1	0.520	2.37	0.167 6
残差Residual	1.55	7	0.220
失拟项Lack of fit	1.22	3	0.410	4.95	0.078 2
纯误差Pure error	0.33	4	0.082
总和Cor total	346.36	16

来源 Source	平方和 Sum of squares	自由度 df	均方 Mean square	F	P
模型Model	30.400	9	3.380	30.33	< 0.000 1
A-A	4.060	1	4.060	36.47	0.000 5
B-B	15.960	1	15.960	143.33	< 0.000 1
C-C	7.220	1	7.220	64.84	< 0.000 1
AB	0.160	1	0.160	1.44	0.269 7
AC	0.300	1	0.300	2.72	0.143 3
BC	1.100	1	1.100	9.90	0.016 2
A²	1.420	1	1.420	12.72	0.009 1
B²	0.200	1	0.200	1.83	0.218 2
C²	0.038	1	0.038	0.34	0.577 4
残差Residual	0.780	7	0.110
失拟项Lack of fit	0.410	3	0.140	1.46	0.351 4
纯误差Pure error	0.370	4	0.093
总和Cor total	31.180	16

Dynamic Performance Analysis and Experimental Investigation of Hole Digging Mechanism of Tree Planting Machine

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 23

References 0

Related Articles 2

Recommended Articles

Metrics

Comments

[1]	Huang Chengbiao;Cao Jizhao;Wu Qingbiao;Wei Jiaguo;Meng Yuehuan;Li Baoping. Comparative Analysis on Soil Physi-Chemical Properties and the Tree Growth in Taiwania flousiana Plantations and Successive Rotation Plantations of Cunninghamia lanceolata [J]. Scientia Silvae Sinicae, 2010, 46(4): 1-7.
[2]	Liu Yong;Liang Xiaosong;Dai Huaguo;Shi Xiaofang;Zhuang Yonglin;Chen Xudong. Study on Applying Semiochemicals of Bark Beetle in Timber Quarantine [J]. Scientia Silvae Sinicae, 2006, 42(8): 135-138.