人工速生丰产林活立木攀爬修枝机器人设计与试验
Design and experiment of automatic pruning machine for live trees in artificial fast-growing and productive forests
[目的]速生林活立木整枝是优质速生林定向抚育的重要环节。针对传统人工整枝方法危险系数高、效率低的现状,对冲击切削式速生林活立木整枝机进行优化设计与相关试验研究,以提高速生林整枝抚育工作的机械化、自动化程度。[方法]本文描述了整枝机的设计方案及其工作原理,使用 SolidWorks 构建三维模型,设计确定抱合夹紧机构、行走机构相关参数。保证良好修枝效果前提下,使用ANSYS Workbench Explicit Dynamics进行切削仿真试验,试验采用三因素三水平正交试验法探究降低枝条所受应力时的最佳设计参数组合。使用最佳参数组合设计的样机进行林间测试,验证整枝机的攀爬整枝性能。[结果]理论分析及运动学仿真验证说明了设计的可行性和合理性。切削仿真试验结果表明:当整机质量为 50.84 kg,刀具刃角为 21.00°,切削速度为 2.52 m/s时,枝条所受最大等效应力最低为 4.5586 MPa.林间测试结果表明:整枝机修剪单棵树平均作业用时不超过 30 s,最大攀爬高度可达 6.03 m,最大修枝直径可达 3.12 cm。[结论]本研究设计的整枝机可进行速生林的攀爬整枝作业,作业过程对树木损伤程度小,极大地提高速生林整枝效率,能为我国速生林活立木整枝抚育技术研究提供装备支持。
[Objective]Living tree pruning in fast-growing forests is an important part of the targeted nurturing of quality fast-growing forests.In response to the high risk and low efficiency of the traditional manual pruning method,we optimized the design and conducted experimental research on the impact cutting type fast-growing forest tree pruning machine to improve the mechanization and automation of fast-growing forest pruning and nurturing work.[Method]This paper describes the design scheme of the pruning machine and its working principle.We used SolidWorks to build a 3D model,designed and determined the parameters of the clamping mechanism and walking mechanism.On the premise of ensuring good pruning effect,ANSYS Workbench Explicit Dynamics was used for cutting simulation experiment.The experiment adopted three factor and three level orthogonal experiment to explore the best design parameter combination when reducing the stress on branches.[Result]Theoretical analysis and kinematic simulation verification showed the feasibility and rationality of the design.The cutting simulation experiment results showed that the maximum equivalent force on the branch was at least 4.5586 MPa when the mass of the whole machine was 50.84 kg,the tool edge angle was 21.00° and the cutting speed was 2.52 m/s.The results of a forest test with a prototype designed with the best combination of parameters showed that the average operating time of the pruner for a single tree does not exceed 30 s,the maximum climbing height can reach 6.03 m and the maximum pruning diameter can reach 3.12 cm.[Conclusion]The grooming machine designed in this study can be used for climbing and grooming of fast-growing forests,which can greatly improve the grooming efficiency of fast-growing forests and provide equipment support for the research of grooming and nurturing technology of fast-growing forests.
班以琛;刘洋;坝仕宏;吕坤;文剑;李文彬;
北京林业大学工学院,北京 100083##林业装备与自动化国家林业和草原局重点实验室,北京 100083;北京林业大学工学院,北京 100083##林业装备与自动化国家林业和草原局重点实验室,北京 100083;北京林业大学工学院,北京 100083##林业装备与自动化国家林业和草原局重点实验室,北京 100083;北京林业大学工学院,北京 100083##林业装备与自动化国家林业和草原局重点实验室,北京 100083;北京林业大学工学院,北京 100083##林业装备与自动化国家林业和草原局重点实验室,北京 100083;北京林业大学工学院,北京 100083##林业装备与自动化国家林业和草原局重点实验室,北京 100083;
S776.27+4
fast-growing forests forestry machinery pruning equipment optimization design experiment
1497-1511 / 15
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