Multi-body dynamics simulation and experiment of pre-baling device for vertical harvesting of whole-stalk sugarcane
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摘要:目的
解决甘蔗整秆立式收获缺乏集捆装置，导致甘蔗收获机体型大、难于在复杂地形有序集捆问题。
方法设计了一种用于直立甘蔗整秆立式收获的集捆装置；基于多刚体动力学分析，采用仿真试验和台架试验分别考察了甘蔗整秆在不同控制因素(下转指高度和转速)组合模式下的作业指标与性能(甘蔗质心高度、集捆成功率)。
结果下转指高度和转速均显著影响甘蔗整秆的集捆成功率(P<0.05)，台架试验与仿真试验的结果基本一致。在18个集捆模式中，下转指高度为400 mm、转速为30 r/min模式的集捆成功率100%，集捆过程中甘蔗整秆质心高度呈V型动态，作业安全性最高，推荐作为优选模式。
结论研制的甘蔗整秆立式集捆装置空间结构紧凑、集捆成功率高，可适应广大丘陵山区复杂地形条件下的甘蔗高效收获；揭示的集捆过程机制对研制甘蔗整秆联合收获机械有广泛的参考价值。
Abstract:ObjectiveThis article aims to address the challenges of upright sugarcane harvesting, specifically the lack of bundling mechanisms, which leads to large harvester sizes and difficulties in orderly collecting sugarcane on complex terrain.
MethodA pre-baling device for vertical harvesting of whole-stalk sugarcane growing uprightly was designed. Based on multi-body dynamics analysis, simulation and bench test were used to quantify the pre-baling performance (centroid height of sugarcane and success rate of pre-baling) with different controlling factors (the height and rotational speed of the lower rotating finger).
ResultBoth the height and rotational speed of the lower rotating finger significantly affected the success rate of pre-baling (P<0.05), and the results of the bench test were basically consistent with the simulation results. Among the 18 pre-baling modes, the mode with the 400 mm height of the lower rotating finger and 300 r/min rotational speed achieved a 100% pre-baling success rate. During the pre-baling process, the centroid height of sugarcane showed a V-shaped dynamic, and the highest operational safety was achieved. This mode was recommended as the preferred mode.
ConclusionWith a compact structure and high pre-baling success rate, the vertical pre-baling device designed by this study can fill the harvesting requirement of sugarcanes growing on hillside areas with complicated terrain conditions. The pre-baling mechanism explored by this study has wide reference value for design of combined sugarcane harvester.
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图 1 甘蔗整秆立式收获−集捆装置结构简图
1：甘蔗整秆，2：剥叶辊筒，3：切梢器，4：扶蔗器， 5：根切器， 6：拨蔗轮，7：夹持通道，8：打结器，9：立式集捆装置，10：排料器；图中红色框选区域为本文研究的立式集捆装置。
Figure 1. Brief structural diagram of the vertical harvesting-pre-baling device for whole-stalk sugarcane
1: Whole-stalk sugarcane, 2: Stripping rollers, 3: Topper, 4: Pick-up device, 5: Base cutters, 6: Dividers, 7: Clamping feed-train, 8: Knotting device, 9: Vertical pre-baling device, 10: Discharging device; The red boxed area in the figure represents the vertical pre-baling device studied in this article.
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图 2 甘蔗整秆立式收获−集捆作业流程图
图中红色框区域为立式集捆作业流程。
Figure 2. Vertical harvesting-pre-baling process of whole-stalk sugarcane
The red boxed area in the figure represents the working process of vertical pre-baling.
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图 3 甘蔗整秆立式输送姿态与受力分析
1：甘蔗整秆，2：上转指，3：下转指，4：基座；A、B、C、O为外力作用于甘蔗的接触点； F1 、F2、F3、Ff、G为作用于甘蔗整秆上的外力；h1 、h2、h、s为作用于甘蔗整秆的外力与支撑点间的距离。
Figure 3. Posture and force analysis of whole-stalk sugarcane in vertical transport
1: Whole-stalk sugarcane, 2: Upper rotating finger, 3: Lower rotating finger, 4: Base; A, B, C, O: Contact points of external forces on sugarcane stalk; F1, F2, F3, Ff, G: External forces acting on the sugarcane stalk; h1, h2, h, s: Distances between external forces and support points.
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图 4 甘蔗整秆立式集捆装置的结构组成
1：上拨指；2：下拨指；3：下转指；4：基座；5：上转指；6：喂入组件；7：集料区；8：打结器；9：转运过渡区；10：压捆打结区；11：送绳机构；Ⅰ：时序控制部件；Ⅱ：转运集拢部件；Ⅲ：打结部件；Ⅳ：喂入部件。
Figure 4. Structure diagram of the vertical pre-baling device for whole-stalk sugarcane
1: Upper bundling finger; 2: Lower bundling finger; 3: Lower rotating finger; 4: Base; 5: Upper rotating finger; 6: Feeding component; 7: Collecting area; 8: Knotting device; 9: Transfer transition area; 10: Baling and knotting area; 11: Rope feeding mechanism; Ⅰ: Sequential control part; Ⅱ: Transfer and pre-baling part; Ⅲ: Knotting part; Ⅳ: Feeding part.
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图 5 不同下转指高度和转速下的甘蔗整秆质心高度动态仿真结果
Figure 5. Simulation results of the centroid height dynamic of whole-stalk sugarcane under different heights and rotational speeds of lower rotating finger
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图 6 甘蔗整秆立式集捆装置的台架试验平台
1：喂入部件；2：甘蔗整秆；3：打结器；4：转运集拢部件；5：时序控制部件； 6：液压站；7：电脑；8：电器控制箱。
Figure 6. Bench test platform of the vertical pre-baling device for whole-stalk sugarcane
1: Feeding part; 2: Whole-stalk sugarcane; 3: Knotting device; 4: Transfer and pre-baling part; 5: Sequential control part; 6: Hydraulic station; 7: Computer; 8: Electrical control box.
表 1 不同下转指高度和转速下的仿真集捆成功率
Table 1 Pre-baling success rates of simulation under different heights and rotational speeds of lower rotating finger
% 下转指高度/mm
Height of lower rotating finger15 r/min 30 r/min 45 r/min 300 100 100 100 400 100 100 100 500 100 100 100 600 100 80 93 700 73 80 93 800 53 46 53 
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表 2 台架试验不同下转指高度和转速下的集捆成功率1)
Table 2 Pre-baling success rates under different heights and rotational speeds of lower rotating finger in bench test
% 下转指高度/mm
Height of lower
rotating finger15 r/min 30 r/min 45 r/min 300 93±8aA 100±0aA 100±0aA 400 98±4aA 100±0aA 100±0aA 500 53±7bcB 55±14bB 91±4aA 600 57±10bB 48±4bcB 75±10bA 700 37±8cA 40±6cdA 37±8cA 800 37±14cA 28±4dA 26±7cA 1)同列数据后的不同小写字母表示不同下转指高度间差异显著(P<0.05, Duncan’s 法),同行数据后的不同大写字母表示不同转速间差异显著(P<0.05, Duncan’s 法)。
1)Different lowercase letters of the same column indicate significant differences among different heights of lower rotating finger (P<0.05, Duncan’s method), while different uppercase letters of the same row indicate significant differences among different rotational speeds (P<0.05, Duncan’s method).
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