梅花盘拔取双层夹持输送协同作业履带自走式甘蓝收获机设计与试验

Design and Experiment of Crawler-type Cabbage Harvester Based on Cooperative Operation of Plum-blossom Disc Uprooting and Double-layer Clamping Conveying

摘要:

针对传统的甘蓝收获主要依赖人工,劳动强度大、效率低、成本持续攀升及丘陵山区甘蓝机械化收获技术和装备缺乏等问题,提出了集甘蓝拔取、姿态调整、双层夹持输送、切根、人工辅助装箱等环节的甘蓝机械化收获工艺方案;同时为解决甘蓝收获需求及甘蓝种植位置偏差,生长倾斜、大小不一致、输送时易翻滚等问题,设计了梅花盘式拔取机构与双层夹持输送机构协同作业方式。阐述了整机结构与工作原理,开展了甘蓝拔取及姿态调整过程、夹持输送过程、切根过程的动力学分析,并确定了关键部件的结构参数和作业参数。为了满足整机在复杂作业环境下的通过性,对整机行驶稳定性和越障能力进行了分析,确定了整机的安全行驶阈值。田间试验表明,当机器前进速度为0.5 m/s,割台与地面水平夹角为28°,输送带转速为95 r/min,辅助剥叶平台转速为73 r/min,扶持轮转速稳定在47 r/min时,履带自走式甘蓝收获机的采净率为98.97%,破损率为1.59%,损伤率为1.50%,各项性能指标满足甘蓝机械化收获要求。

Abstract:

Traditional cabbage harvesting relies heavily on manual labor, resulting in high intensity, low efficiency, rising costs, and a lack of mechanized equipment for hilly and mountainous regions. To address these issues, a mechanized harvesting process was developed, integrating pulling, posture adjustment, double-layer clamping and conveying, root cutting, and manual-assisted boxing. A crawler self-propelled cabbage harvester was designed. The machine featured a plum-blossom-shaped disc pulling mechanism that operated in coordination with a double-layer clamping and conveying system. This configuration accommodated planting deviations, inclined growth, size variability, and the tendency of cabbages to roll during transport. The structure and operational principles of the harvester was described. Dynamic analyses of the pulling and posture adjustment process, clamping and conveying process, and root cutting process were conducted to determine the key structural and operational parameters. The moving stability and obstacle-crossing capability of the machine were evaluated to define safe operating thresholds under complex field conditions. Field tests were performed at a forward speed of 0.5 m/s, a header-ground angle of 28°, a conveyor belt speed of 95 r/min, an auxiliary leaf-stripping platform speed of 73 r/min, and a stabilizing wheel speed of 47 r/min. The harvester achieved a harvesting rate of 98.97%, a damage rate of 1.59%, and a bruising rate of 1.50%. The performance indicators met the requirements for mechanized cabbage harvesting.