刮刷组合式葡萄藤防寒土清土机设计与试验

doi:10.13229/j.cnki.jdxbgxb.20220298

摘要/Abstract

摘要：

针对我国北方露地葡萄藤防寒土春季清除机械化作业清土不彻底、易伤藤和机具适应差等问题，设计了一种刮刷组合式葡萄藤防寒土清土机。该机采用双翼式刮土板部件、刚性叶轮部件和柔性刷丝部件分别将葡萄藤的上方防寒土、侧边外围防寒土和根部附近防寒土一次性清除。对关键部件进行设计，搭建基于STM32F103的控制系统，实现双翼式刮土板部件的自动避障和机具的自动调平。调平性能试验表明，当调平机架向左倾斜到最大角度或向右倾斜到最大角度时，均能在1 s内完成自动调平过程，且没有明显的超调量；当拖拉机行驶在不平整的葡萄行间时，即使拖拉机车身发生较大的倾斜变化，挂接在后侧机具上的清土部件仍能保持期望的水平状态（±2°以内）进行作业；田间清土试验表明，各清土部件运行稳定，不存在相互作业干涉的情况，清土作业后的清土率约为81.96%，葡萄藤损伤率约为1.67%，满足我国北方露地葡萄藤防寒土清除作业要求。

关键词: 农业机械化, 葡萄藤防寒土, 刮刷组合式, 清土机

Abstract:

Aiming at the problems of incomplete soil cleaning， easy damage to the grapevine and poor adaptation by mechanized soil cleaning in the open-field vineyards of northern China， a grapevine cold-proof soil cleaner with combined scraping and brushing is designed. The double-winged scraper components， rigid impeller components and flexible brush wire components are adopted， which can clean the cold-proof soil above the grapevine， the cold-proof soil on the side periphery and the cold-proof soil near the root of the grapevine at one time. The key components were design and a control system based on STM32F103 was built to realize automatic obstacle avoidance of scraper components and automatic leveling of the machine. Leveling performance tests showed that when the leveling frame was tilted to the left to the maximum angle or tilted to the right to the maximum angle， the automatic leveling process can be completed within 1 s， and there is no obvious overshooting. When the tractor was driven on uneven vineyards， the three soil cleaning components maintain the desired leveling angle at all times （within±2°）， even if the tractor itself undergoes a large change in tilt. The field soil cleaning test showed that all the working components operated stably and there was no interference. After the soil cleaning operation， the soil cleaning rate was about 81.96%， and the grapevine damage rate was about 1.67%， which met the requirements of open-field grapevine cold-proof soil cleaning in northern China.

Key words: agricultural mechanization, grapevine cold-proof soil, combined scraping and brushing, soil cleaner

中图分类号:

S224.9

马帅,徐丽明,许述财,牛丛,闫成功,谭好超. 刮刷组合式葡萄藤防寒土清土机设计与试验[J]. 吉林大学学报(工学版), 2024, 54(1): 294-312.

Shuai MA,Li-ming XU,Shu-cai XU,Cong NIU,Cheng-gong YAN,Hao-chao TAN. Design and experiment of grapevine cold⁃proof soil cleaner with combined scraping and brushing[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(1): 294-312.

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参　数	数　值
整机尺寸（长×宽×高）/mm×mm×mm	2000×1830×1680
整机质量/kg	650
配套动力/kW	≥40
适应行距/m	3~4
清土高度/mm	≤350
输入转速/（r·min^-1）	540
作业速度/（km·h^-1）	1.2~1.5

编码	前进速度v₂/（m?s^-1）	油缸作业速度v₃/（mm?s^-1）	角度阈值α₀/（°）
-1.682	0.30	160	5
-1	0.32	168	6
0	0.35	180	7.5
1	0.38	192	9
1.682	0.40	200	10

序号	前进速度编码值X₁	油缸作业速度编码值X₂	角度阈值编码值X₃	有效作业率E/%
1	1	1	1	47.33
2	1	1	-1	46.67
3	1	-1	1	43.33
4	1	-1	-1	42.93
5	-1	1	1	51.07
6	-1	1	-1	50.67
7	-1	-1	1	48.50
8	-1	-1	-1	47.73
9	1.682	0	0	44.00
10	-1.682	0	0	50.67
11	0	1.682	0	49.47
12	0	-1.682	0	44.13
13	0	0	1.682	48.00
14	0	0	-1.682	46.80
15	0	0	0	46.67
16	0	0	0	46.83
17	0	0	0	47.17
18	0	0	0	47.07
19	0	0	0	46.93
20	0	0	0	48.00

方差来源	平方和	自由度	F值	P值
模型	99.91	9	79.68	<0.0001**
X₁	61.27	1	439.81	<0.0001**
X₂	36.19	1	259.75	<0.0001**
X₃	1.32	1	9.49	0.0116*
X₁X₂	0.62	1	4.46	0.0608
X₁X₃	1.513E-003	1	0.011	0.9191
X₂X₃	1.513E-003	1	0.011	0.9191
X₁²	0.14	1	1.02	0.3363
X₂²	0.12	1	0.84	0.3823
X₃²	0.22	1	1.55	0.2420
残差	1.39	10
失拟项	0.29	5	0.26	0.9146
纯误差	1.10	5
总值	101.30	19

测量参数	测量值
传感器信号值U/V	1.27	1.39	1.56	1.75	1.90	2.03
调平机架倾角σ/（°）	-20.0	-14.2	-5.6	3.8	12.4	17.5