多连杆-滑槽组合式大白菜收获机设计与试验

刘全威; 朱永焕; 骆泽宇; 吴静; 王艳虎; 黄锦瀚; 屈哲; 曾光; 张海军; 郭家杰

刘全威,朱永焕,骆泽宇,吴静,王艳虎,黄锦瀚,屈哲,曾光,张海军,郭家杰.多连杆-滑槽组合式大白菜收获机设计与试验[J].干旱地区农业研究,2025,(4):273~283

多连杆-滑槽组合式大白菜收获机设计与试验

Design and experiment of Chinese cabbage harvester with multi\|link and chute combination

DOI：10.7606/j.issn.1000-7601.2025.04.28

英文关键词:Chinese cabbage harvester multi\|link and chute combined type clamping and transfer mechanism simulating optimization

基金项目:河南省自然科学基金面上项目（252300420069）；郑州航空工业管理学院青年科研基金支持计划专项（25ZHQN01012）；郑州航空工业管理学院实验室开放项目（ZHSK 25-18）；郑州航空工业管理学院研究生教育改革与发展研究项目（2025YJSJG20）；郑州航空工业管理学院研究生教育创新计划基金（2025CX115，2025CX107）

作者	单位
刘全威	郑州航空工业管理学院机械工程学院, 河南郑州 450046；河南农业大学机电工程学院, 河南郑州 450002
朱永焕	漯河技师学院机械工程系, 河南漯河 462000
骆泽宇	郑州航空工业管理学院机械工程学院, 河南郑州 450046
吴静	郑州航空工业管理学院实验室与设备管理处, 河南郑州 450046
王艳虎	郑州航空工业管理学院机械工程学院, 河南郑州 450046
黄锦瀚	郑州航空工业管理学院机械工程学院, 河南郑州 450046
屈哲	河南农业大学机电工程学院, 河南郑州 450002
曾光	郑州航空工业管理学院机械工程学院, 河南郑州 450046
张海军	郑州航空工业管理学院机械工程学院, 河南郑州 450046
郭家杰	郑州航空工业管理学院机械工程学院, 河南郑州 450046

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中文摘要:

针对我国北方小型大白菜收获机具缺乏、收获质量差、效率低的问题，设计一种小型多连杆滑槽组合式大白菜收获机，该收获机主要由夹持机构、切根机构、转运机构、收集箱等部件组成，可一次性完成大白菜的夹持、切根、转运与收集。为获得良好的作业性能，对关键部件进行理论计算与仿真分析，并进行田间试验。研究建立了夹持机构运动学和动力学模型，确定了电动推杆的推力与工作行程；对多连杆转运机构进行运动分析，借助MATLAB软件对转运机构杆长进行了优化；建立了转运机构运动学模型，确定转运电机的额定转矩。在ADAMS软件中对夹爪夹持大白菜的过程进行仿真分析，确定了单爪夹持力为125 N；对转运机构的运动过程进行仿真，仿真结果表明，转运机构末端轨迹为四分之一圆弧，转运机构能够实现对大白菜的顺利转运，且在6 s内完成一颗大白菜的收获。田间试验结果表明，田间生产率均值约为451颗·h^-1，切根合格率、夹持成功率、转运成功率分别为99.0%、99.2%和98.8%，满足大白菜收获作业要求。

英文摘要:

To solve the problems of the lack of small suitable machines for Chinese cabbage harvesting in North China and poor harvest quality and low efficiency, a small, multi\|link sliding channel combined Chinese cabbage harvesting machine was designed. The harvester mainly consists of a clamping mechanism, cutting mechanism, transfer mechanism, and collection box, which can complete the clamping, root cutting, transfer, and collection of Chinese cabbage at one time. In order to obtain good working performance, the theoretical calculation and simulation analysis of key components, and field tests were carried out. The kinematics and dynamics models of the clamping mechanism were established, and the thrust and working stroke of the electric push rod were determined. The motion analysis of the multi\|link transfer mechanism was carried out, and the rod length of the transfer mechanism was optimized by MATLAB software. The kinematic model of the transfer mechanism was established, and the rated torque of the transfer motor was determined. The process of gripping Chinese cabbage with a claw was simulated and analyzed in ADAMS software. According to the simulation results, the gripping force of a single claw was determined to be 125 N. The simulation results showed that the end track of the transfer mechanism was a quarter arc, and the transfer mechanism could realize the smooth transfer of Chinese cabbage and complete the harvest of a cabbage within 6 s. Field experiments were carried out on the harvester, and the results showed that the average field productivity was about 451 seeds·hour^-1, the qualified rate of root cutting, the success rate of clamping, and the success rate of transport were 99.0%, 99.2%, and 98.8%, respectively, which could meet the requirements of the cabbage harvesting operation.

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