温室用小型多功能电动履带式作业平台设计
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摘要
针对温室果蔬管理、采运等作业环节人工劳动强度大、作业效率低,传统油动作业平台污染大、能源利用率低、结构尺寸与温室环境不符等问题,设计了一种温室用电动作业平台。该文阐述了其整体结构与工作原理,通过理论计算和Adams/view仿真分析等方法研究了关键部件结构及参数,并开发了一套具有双操作模式的控制系统,可实现对作业平台的远程和在线操作。通过台架试验及田间试验对作业平台不挂接拖车常规状态下的转弯性能、模拟坡面行驶倾翻性能、爬坡性能和作业续航性能等开展测试,试验结果表明:整机最小转弯半径为0.94 m,最高行驶速度2 km/h,200 kg负载下作业续航时间可达4 h电池电量下降均匀;模拟坡面行驶最大倾翻角分别为:纵向状态30.5°、横向状态20.6°、斜向状态25.6°,最大倾翻角随工作台的匀速升高、负载的均匀加重(高度随之增加)而逐渐减小,同时最大倾翻角还与作业平台和坡面的位置状态相关,纵向状态下平台作业安全系数最高,优于斜向状态和横向状态。田间试验结果表明各项指标均满足设计预期和温室结构农艺要求,该研究可为温室内果蔬管理、采摘及搬运提供参考。
At present, the tillage and seeding in the production of greenhouse fruits and vegetables have been mechanized. however, current mechanical devices are not suitable for mid-term management and transportation of viaduct cranberry fruits and vegetables. It means low efficiency and the need for more farmers, which restricts the development speed of the hole course mechanization of fruit and vegetable to produce seriously. Aiming at the problems of high labor intensity and low working efficiency in fruit and vegetable management, picking and transportation, pollution problems and so on, an electric lifting platform for greenhouse was designed based on studying and analyzing the collected data, which had the functions of walking, turning, lifting and hanging transportation. The electric lifting platform for greenhouse was mainly composed of the workbench, lifting device, chassis, battery pack and control system with dual operation mode and so on. The working principle was described, and the structure and parameters of key components were studied by theoretical calculation and simulation analysis. In particular, the control system with dual operation mode was designed to remote and online operation of the job platform, which was programmed by C language based on STC 15W4KS4 series single chip computer. In the end, the research about turning performance, slope driving and climbing performance and endurance time of the platform by the bench and field tests were carried out in the lab respectively. The test results showed that the minimum turning radius was 0.94 m, the maximum speed was 2 km/h, and the endurance time could reach to 4 h under 200 kg load. Driving on a slope, the forces analysis of platform from the slope in 3 conditions were carried out, it showed that the climbing angle was unchanged, the stability of the platform under different conditions was related to the platform weight, the loaded weight, the contact length, the lifting height, the center distance between the left and right caterpillar, and the width of caterpillar, etc. The maximum tipping angle was 30.5°, 25.6°, and 20.6° when the platform was lengthwise, crosswise and oblique to the slope respectively. The maximum tipping angle was closely related to the center of gravity of the platform. And it was gradually decreases when the height increase of workbench and loads increase. It was also closely related to the position of state platform and slope. The safety factor was the highest when the platform was lengthwise to the slope, which was better than that crosswise and oblique to the slope. When the power was above 60%, the maximum speed would always be maintained; when the remaining power was below 60%, the maximum speed would gradually decrease with the decrease of the power; when the remaining power was 40%, the endurance time was already 3.5 h; when the power was less than 40%, the power of the battery would decline rapidly; when the remaining power was 10%, the driving speed was only 0.5 km/h and the total endurance time was 3.9 h. So we could deduce that when the power was exhausted, the total duration was enough to reach 4 h. In order to evaluate the driving stability of the field slope, the cornering performance, the ground transportation performance and the lifting performance of the work table, the field experiments were carried out in Changshu, Shandong province. The results showed that all the parameters met the design expectation and the agronomic requirements of greenhouse structure. It provides a reference for fruit and vegetable management, picking and transportation in greenhouse.
At present, the tillage and seeding in the production of greenhouse fruits and vegetables have been mechanized. however, current mechanical devices are not suitable for mid-term management and transportation of viaduct cranberry fruits and vegetables. It means low efficiency and the need for more farmers, which restricts the development speed of the hole course mechanization of fruit and vegetable to produce seriously. Aiming at the problems of high labor intensity and low working efficiency in fruit and vegetable management, picking and transportation, pollution problems and so on, an electric lifting platform for greenhouse was designed based on studying and analyzing the collected data, which had the functions of walking, turning, lifting and hanging transportation. The electric lifting platform for greenhouse was mainly composed of the workbench, lifting device, chassis, battery pack and control system with dual operation mode and so on. The working principle was described, and the structure and parameters of key components were studied by theoretical calculation and simulation analysis. In particular, the control system with dual operation mode was designed to remote and online operation of the job platform, which was programmed by C language based on STC 15W4KS4 series single chip computer. In the end, the research about turning performance, slope driving and climbing performance and endurance time of the platform by the bench and field tests were carried out in the lab respectively. The test results showed that the minimum turning radius was 0.94 m, the maximum speed was 2 km/h, and the endurance time could reach to 4 h under 200 kg load. Driving on a slope, the forces analysis of platform from the slope in 3 conditions were carried out, it showed that the climbing angle was unchanged, the stability of the platform under different conditions was related to the platform weight, the loaded weight, the contact length, the lifting height, the center distance between the left and right caterpillar, and the width of caterpillar, etc. The maximum tipping angle was 30.5°, 25.6°, and 20.6° when the platform was lengthwise, crosswise and oblique to the slope respectively. The maximum tipping angle was closely related to the center of gravity of the platform. And it was gradually decreases when the height increase of workbench and loads increase. It was also closely related to the position of state platform and slope. The safety factor was the highest when the platform was lengthwise to the slope, which was better than that crosswise and oblique to the slope. When the power was above 60%, the maximum speed would always be maintained; when the remaining power was below 60%, the maximum speed would gradually decrease with the decrease of the power; when the remaining power was 40%, the endurance time was already 3.5 h; when the power was less than 40%, the power of the battery would decline rapidly; when the remaining power was 10%, the driving speed was only 0.5 km/h and the total endurance time was 3.9 h. So we could deduce that when the power was exhausted, the total duration was enough to reach 4 h. In order to evaluate the driving stability of the field slope, the cornering performance, the ground transportation performance and the lifting performance of the work table, the field experiments were carried out in Changshu, Shandong province. The results showed that all the parameters met the design expectation and the agronomic requirements of greenhouse structure. It provides a reference for fruit and vegetable management, picking and transportation in greenhouse.
引文
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[20]赵建柱,王枫辰,于斌,等.农用仿形履带式动力底盘设计与试验[J].农业机械学报,2014,45(9):20-24.Zhao Jianzhu,Wang Fengchen,Yu Bin,et al.Research on all-terrain profiling crawler power chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):20-24.(in Chinese with English abstract)
[21]吴伟斌,冯运琳,许棚搏,等.山地果园履带运输机底盘行走机构的设计与仿真[J].农机化研究,2016,38(12):112-116.Wu Weibin,Feng Yunlin,Xu Pengbo,et al.Design and simulation of running gear in hilly orchard tracked vehicle[J].Journal of Agricultural Mechanization Research,2016,38(12):112-116.(in Chinese with English abstract)
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[25]刘俊谊,杨刚,张万军,等.剪叉式提升机构受力特性分析[J].解放军理工大学学报:自然科学版,2014(2):133-138.Liu Junyi,Yang Gang,Zhang Wanjun,et al.Force analysis of scissor lift mechanisms[J].Journal of PLA University of Science and Technology:Natural Science Edition,2014(2):133-138.(in Chinese with English abstract)
[26]耿佳期,刘俊峰.果园作业升降平台设计与剪叉分析[J].农机化研究,2017,39(4):42-46.Geng Jiaqi,Liu Junfeng.Orchard lift platform design and the scissors’analysis[J].Journal of Agricultural Mechanization Research,2017,39(4):42-46.(in Chinese with English abstract)
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[32]王鹏飞,刘俊峰,钱稷,等.果园作业平台静态防侧翻系统的设计[J].农机化研究,2013,35(3):137-144.Wang Pengfei,Liu Junfeng,Qian Ji,et al.The design oforchard operations platform static anti-rollover system[J].Journal of Agricultural Mechanization Research,2013,35(3):137-144.(in Chinese with English abstract)
[2]陈永生,高庆生,管春松,等.小型农机在设施蔬菜生产中的应用前景[J].长江蔬菜,2018(18):20-22.Chen Yongsheng,Gao Qingsheng,Guan Chunsong,et al.Application prospect of small agricultural machinery for vegetable production in greenhouse[J].Journal of Changjiang Vegetables,2018(18):20-22.(in Chinese with English abstract)
[3]辜松.设施园艺装备化作业生产现状及发展建议[J].农业工程技术,2018,38(4):10-15.Gu Song.Current situation and development suggestions of horticulture production equipments[J].Agricultural Engineering Technology,2018,38(4):10-15.(in Chinese with English abstract)
[4]刘继展.温室采摘机器人技术研究进展分析[J].农业机械学报,2017,48(12):1-18.Liu Jizhan.Research progress analysis of robotic harvesting technologies in greenhouse[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(12):1-18.(in Chinese with English abstract)
[5]Yamada Y,Shichijo T,Hirose K.Labor-saving system for fruit harvesting and transporting in a sloping citrus orchard of satsuma mandarin oranges[J].Bulletin of the Fruit Tree Research Station,1982,Series B:1-22.
[6]王永振.果园多功能遥控作业平台的研制与试验[D].泰安:山东农业大学,2018.Wang Yongzhen.Design and Experiment of Multi-Function Remote Operation Platform in Orchard[D].Taian:Shandong Agricultural University,2018.(in Chinese with English abstract)
[7]PRIVA[EB/OL].[2018-12-15].http://www.priva-asia.com/.
[8]刘国均.温室多功能轨道作业车的研制[D].沈阳:沈阳农业大学,2016.Liu Guojun.Development on Greenhouse Multi-function Rail Vehicle[D].Shenyang:Shenyang Agricultural University,2016.(in Chinese with English abstract)
[9]刘大为,谢方平,李旭,等.果园采摘平台行走机构的研究现状及发展趋势[J].农机化研究,2013,35(2):249-252.Liu Dawei,Xie Fangpig,Li Xu,et al.Research status and development trend of running gear in orchard picking platform[J].Journal of Agricultural Mechanization Research,2013,35(2):249-252.(in Chinese with English abstract)
[10]程健.果园多功能轮式作业平台设计与优化[D].杨凌:西北农林科技大学,2016.Cheng Jian.Design and Optimization of Multi-Purpose Wheeled Work Platform in Orchard[D].Yangling:Northwest A&F University,2016.(in Chinese with English abstract)
[11]杨传龙.自走式多功能果园作业平台的设计与试验[D].泰安:山东农业大学,2018.Yang Chuanlong.Design and Experiment of Self-Propelled Multifunctional Orchard Operation Platform[D].Taian:Shandong Agricultural University,2018.(in Chinese with English abstract)
[12]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(Transactions of the CSAE),2015,31(3):113-121.(in Chinese with English abstract)
[13]孙振杰.履带式多功能果园作业平台的设计与研究[D].保定:河北农业大学,2012.Sun Zhenjie.Design and Research of Crawler Multifunctional Drchard Operating Platform[D].Baoding:Agricultural University of Hebei,2012.(in Chinese with English abstract)
[14]樊桂菊,王永振,张晓辉,等.果园升降平台自动调平控制系统设计与试验[J].农业工程学报,2017,33(11):38-46.Fan Guiju,Wang Yongzhen,Zhang Xiaohui,et al.Design and experiment of automatic leveling control system for orchards lifting platform[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(11):38-46.(in Chinese with English abstract)
[15]买合木江·巴吐尔李忠新,杨莉玲,等.多功能自走式果园作业平台的设计与试验[J].中国农机化学报,2016,37(11):32-35.Buy Hemujiang·Batuer,Li Zhongxin,Yang Liling,et al.Design and experiment of multi-functional self-propelled orchard operation platform[J].Chinese Journal of Agricultural Mechanization,2016,37(11):32-35.(in Chinese with English abstract)
[16]王元杰,刘永成,杨福增,等.温室微型遥控电动拖拉机的研制与试验[J].农业工程学报,2012,28(22):23-29.Wang Yuanjie,Liu Yongcheng,Yang Fuzeng,et al.Development and test of tiny remotely controlled electric tractor for greenhouses[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(22):23-29.(in Chinese with English abstract)
[17]管春松,胡桧,陈永生,等.温室用小型电动拖拉机研究[J].中国农机化学报,2015,36(2):67-69.Guan Chunsong,Hu Hui,Chen Yongsheng,et al.Study on small electric tractors for greenhouse[J].Journal of Chinese Agricultural Mechanization,2015,36(2):67-69.(in Chinese with English abstract)
[18]Konstantinos Michail Akritidis.Solar Charged Electric Farming Tractors[D].London:University of Strathclyde,2015.
[19]江苏省质量技术监督局.现代设施农业园区农业装备配套规范:DB3201/T202-2012[S].南京:南京市农业委员会农业装备处,2012.
[20]赵建柱,王枫辰,于斌,等.农用仿形履带式动力底盘设计与试验[J].农业机械学报,2014,45(9):20-24.Zhao Jianzhu,Wang Fengchen,Yu Bin,et al.Research on all-terrain profiling crawler power chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):20-24.(in Chinese with English abstract)
[21]吴伟斌,冯运琳,许棚搏,等.山地果园履带运输机底盘行走机构的设计与仿真[J].农机化研究,2016,38(12):112-116.Wu Weibin,Feng Yunlin,Xu Pengbo,et al.Design and simulation of running gear in hilly orchard tracked vehicle[J].Journal of Agricultural Mechanization Research,2016,38(12):112-116.(in Chinese with English abstract)
[22]成大先.机械设计手册[M].北京:化学工业出版社,2007.
[23]孙旭东.电机学[M].北京:清华大学出版社,2006.
[24]Tian Hongyu,Zhang Ziyi.Design and simulation based on Pro/E for a hydraulic lift platform in scissors type[J].Procedia Engineering,2011(16):772-781.(in Chinese with English abstract)
[25]刘俊谊,杨刚,张万军,等.剪叉式提升机构受力特性分析[J].解放军理工大学学报:自然科学版,2014(2):133-138.Liu Junyi,Yang Gang,Zhang Wanjun,et al.Force analysis of scissor lift mechanisms[J].Journal of PLA University of Science and Technology:Natural Science Edition,2014(2):133-138.(in Chinese with English abstract)
[26]耿佳期,刘俊峰.果园作业升降平台设计与剪叉分析[J].农机化研究,2017,39(4):42-46.Geng Jiaqi,Liu Junfeng.Orchard lift platform design and the scissors’analysis[J].Journal of Agricultural Mechanization Research,2017,39(4):42-46.(in Chinese with English abstract)
[27]陈军,等.MSC.ADAMS技术与工程分析实例[M].北京:中国水利水电出版社,2008.
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