自行升降式林木采种机的研制
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摘要
目前,由于林木种子采收作业的随意性以及山地、林地环境的复杂性,种子采收作业还是以地面手工采集和人工爬树采集为主,机械设备使用较少,效率低下,危险性大。根据当前及今后的林业发展趋势,迫切需要大量的优良种苗,但是落后的林木种子采收方式已经远远不能满足需求,制约了林业的发展。因此,结合林业发展要求和趋势,有针对性的研制能够在山地、林地环境下使用的采种设备,有效提高采种作业的效率,改善作业的安全性,为优良种苗培育提供充足的种子支持,具有十分重要的意义。
为此,在黑龙江省科技攻关项目(GA09B204-03)支持下,完成了自行升降式林木采种机的研制,本文主要对以下几方面展开研究：
分析我国林业和林木良种基地的现状与发展趋势,归纳国内外采种技术与设备的研究概况,总结机械设备在山地、林地环境下的使用特点。
基于虚拟样机技术,使用三维设计软件Unigraphics NX4.0对采种机结构进行设计。依照模块化的思想设计出3个各具特点与性能侧重不同的结构方案,详细分析各组成模块的结构特点,并对相关理论进行研究。
对其中的动平台和升降机构进行运动学分析,建立运动学模型和运动学方程并求解,得到了机构末端执行器位姿与各关节变量之间的关系。
在详细论述运动仿真模块UG/Motion的功能、使用方法和运动函数基础上,对采种机3个设计方案中的最终实施方案进行运动/动力学仿真,并根据仿真结果对该设计进行改进与优化。
论述自行升降式林木采种机液压系统的设计思想与原则,阐述该液压系统的系统组成,对其工作原理以及各回路的功能、特点进行分析。
按照优化后的采种机设计方案生产出实体样机,并对该样机进行系统的性能测试研究。分别从普通性能参数、山地环境与极端工况性能、实际工作能力三方面验证了设计的合理性,得到了实际的性能参数。经测试,结果表明该采种机性能满足实际采种作业要求,达到了预期目标。
At present, due to the arbitrariness of tree seeds harvesting and the complexity environment of the mountain and forest land, the seed harvesting is basically by hands on the ground and climb the trees of artificial, use less machinery and equipment, inefficient and dangerous. According to current and future trends of forestry development, urgently requires a lot of good seed, but the underdeveloped methods of tree seed collection have been far from meeting demand, constrained the development of forestry. Therefore, according to the requirements and trends of forestry development, development the forest seed collection equipment that can be used on the mountains, improve the efficiency of seed operations and job security, provision adequate excellent seed for seedling cultivation is great significance.
Therefore, with the support of scientific and technological projects in Heilongjiang Province(GA09B204-03), completed the study of self-elevating tree seed collecting machine. In this paper, study mainly on the following aspects:
Analysis the current situation and development trend of our forestry and tree seed production base, introduce the equipment and technology of domestic and foreign, summed up the use characteristics of machinery and equipment on mountains and forestry lands.
Based on virtual prototype technology, design the structure of seed collecting machine by the three-dimensional design software of Unigraphics NX4.0. According to the idea of modular, designed 3 different characteristics and different performance emphasis on structure program, described the structural characteristics of each component in detail,and the relevant theoretical analysis carried out.
Moving platform and lifting mechanism have been kinematic analyzed, kinematic model and motion equation are established and solved, the relationships of end actuator agency and joint variables obtained.
Based on discuss the function and usage and motor function of motion simulation module of UG/Motion, movement and dynamics simulation for the final implementation of the design, and design improvement and optimization according to the simulation result.
Discusses the design ideas and principles of hydraulic system of seed collecting machine, describes the system components, and analysis its working principle and circuit functions and characteristics.
In accordance with the optimization design to produce physical prototypes, and the performance test based on the physical prototypes. From three areas of the common performance parameters and mountain environment and extreme conditions performance to confirmation the reasonable of the design, obtained actual performance parameters. By testing, the results show that the performance of seed collecting machines meet the operational requirements, achieve the expected goals.
为此,在黑龙江省科技攻关项目(GA09B204-03)支持下,完成了自行升降式林木采种机的研制,本文主要对以下几方面展开研究：
分析我国林业和林木良种基地的现状与发展趋势,归纳国内外采种技术与设备的研究概况,总结机械设备在山地、林地环境下的使用特点。
基于虚拟样机技术,使用三维设计软件Unigraphics NX4.0对采种机结构进行设计。依照模块化的思想设计出3个各具特点与性能侧重不同的结构方案,详细分析各组成模块的结构特点,并对相关理论进行研究。
对其中的动平台和升降机构进行运动学分析,建立运动学模型和运动学方程并求解,得到了机构末端执行器位姿与各关节变量之间的关系。
在详细论述运动仿真模块UG/Motion的功能、使用方法和运动函数基础上,对采种机3个设计方案中的最终实施方案进行运动/动力学仿真,并根据仿真结果对该设计进行改进与优化。
论述自行升降式林木采种机液压系统的设计思想与原则,阐述该液压系统的系统组成,对其工作原理以及各回路的功能、特点进行分析。
按照优化后的采种机设计方案生产出实体样机,并对该样机进行系统的性能测试研究。分别从普通性能参数、山地环境与极端工况性能、实际工作能力三方面验证了设计的合理性,得到了实际的性能参数。经测试,结果表明该采种机性能满足实际采种作业要求,达到了预期目标。
At present, due to the arbitrariness of tree seeds harvesting and the complexity environment of the mountain and forest land, the seed harvesting is basically by hands on the ground and climb the trees of artificial, use less machinery and equipment, inefficient and dangerous. According to current and future trends of forestry development, urgently requires a lot of good seed, but the underdeveloped methods of tree seed collection have been far from meeting demand, constrained the development of forestry. Therefore, according to the requirements and trends of forestry development, development the forest seed collection equipment that can be used on the mountains, improve the efficiency of seed operations and job security, provision adequate excellent seed for seedling cultivation is great significance.
Therefore, with the support of scientific and technological projects in Heilongjiang Province(GA09B204-03), completed the study of self-elevating tree seed collecting machine. In this paper, study mainly on the following aspects:
Analysis the current situation and development trend of our forestry and tree seed production base, introduce the equipment and technology of domestic and foreign, summed up the use characteristics of machinery and equipment on mountains and forestry lands.
Based on virtual prototype technology, design the structure of seed collecting machine by the three-dimensional design software of Unigraphics NX4.0. According to the idea of modular, designed 3 different characteristics and different performance emphasis on structure program, described the structural characteristics of each component in detail,and the relevant theoretical analysis carried out.
Moving platform and lifting mechanism have been kinematic analyzed, kinematic model and motion equation are established and solved, the relationships of end actuator agency and joint variables obtained.
Based on discuss the function and usage and motor function of motion simulation module of UG/Motion, movement and dynamics simulation for the final implementation of the design, and design improvement and optimization according to the simulation result.
Discusses the design ideas and principles of hydraulic system of seed collecting machine, describes the system components, and analysis its working principle and circuit functions and characteristics.
In accordance with the optimization design to produce physical prototypes, and the performance test based on the physical prototypes. From three areas of the common performance parameters and mountain environment and extreme conditions performance to confirmation the reasonable of the design, obtained actual performance parameters. By testing, the results show that the performance of seed collecting machines meet the operational requirements, achieve the expected goals.
引文
[1]王丽娜.我国林木良种与良种基地发展建设的政策与机制性研究.东北林业大学硕士论文.2007
[2]雷加富.论中国的森林资源经营.林业经济,2007(6)：4-9
[3]王喜平.林木种子机械采收技术分析.北京林业大学学报,1994,16(2)：89-92
[4]Helmut E. Harvest cone by helicopter. J Forest,1986,84(11):18-19
[5]R L Willan. A Guide to Forest Seed Handling. F A O Forestry Paper.1985,20(2):47-77
[6]单立忠,田秋明,赵雪岭等.CJ—1型落叶松立木采种工具的研制.林业机械,1992(5)：4-6
[7]李朝维,聂淑萍.CJ—50高空作业采种机的研制.林业科技,1994,19(4)：58-60
[8]孔庆华,陆怀民,王守忠.RBT14型林木球果采集机的设计.东北林业大学学报,1997,25(6)：60-62
[9]孔庆华,葛安华,陆怀民,李正宜.林木球果采集机器人机械臂起升运动分析.东北林业大学学报,1997,25(1)：45-48
[10]陆怀民.林木球果采集机器人设计与试验.农业机械学报,2001,32(6)：52-58
[11]Klinner W E, et al. A new stripping header for combine harvesters. Agricultural Engineer, Spring,1987
[12]Lu Huaimin, Yu Zunbo, Liu Jinhao. A Study of Collecting Robot of Conifer Cone. Journal of Forestry Researeh,1997(6):125-126
[13]陈瑞贤.TD—40型抖动式林木采种装置.1990(4)：36-37
[14]张晓文.林木种子(球果)振动采集技术现状及展望.北京林业大学学报,1996,18(6)：84-88
[15]张兰,迟玉敏,洪天池,官印.便携式振动采种机的研制.森林工程,1997,13(1)：43-44
[16]苏喜庭,董希斌,吴昊.山地自行升降式采种机研究综述.森林工程,2011,27(1)：12-15
[17]C Sekimoto, Mashisa Yano. Development of Conceptual Design CAD System Proceedings of International ADAMS Users' Conference,1998
[18]Berkof RS, Lowen GG. A New Method for Completely Foree Balancing Simple Linkages. Trans ASME J. Eng. Ind,1969,91(B):21-26
[19]Sandor GN, Erdman AG. Advanced Mechanism Design:Analysis and Synthesis. New Jersey: Prentice-Hall INC,1984
[20]Carme Torras. Robot adaptivity. Roboties and Autonomous System,1995(15):11-23
[21]Ron McCoy. Virtual Prototyping:The Practical Solution. Inventor Digest, May/June 1998
[22]吴小锋.林业修剪机器人运动学、动力学仿真.南京林业大学硕士论文.2007
[23]时培成.基于虚拟样机技术的汽车整车操纵稳定性研究.合肥工业大学硕士论文.2005
[24]谢方伟,李柄文.虚拟样机技术在减速器设计中的运用.煤矿机械,2008,(1)：166-168
[25]王丹.采伐联合机伐木头的设计与研究.东北林业大学硕士论文.2006
[26]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用.机电一体化,2000(5)：17-19
[27]张云杰.UG NX 4.0基础教程.北京：清华大学出版社.2007
[28]Bloor M S, McKay A. Product and Shape Representation for Virtual Prototyping. Chapman and Hall Press,1995
[29]Shabana A. A Flexible Multibody Dynamics:Review of Past and Recent Developments. Multibody System Dynamics,1997,1(2):189-222
[30]沈锐华.产品设计的原则和技巧.工程机械,2000(11)：19-20
[31]杨文亮.苹果采摘机器人机械手结构设计与分析.江苏大学硕士学位论文.2009
[32]吴昊,董希斌,李金鹏等.基于UG的自行升降式采种机的虚拟设计[J].东北林业大学学报,2010,38(2)：96-99
[33]涂桥安,王保平,王兆伍.移动式高空作业平台的设计研究.机械设计与制造工程,2001,30(5)：15-17
[34]陆震.高等机械原理.北京：北京航空航天大学出版社.2001
[35]谢存禧,郑时雄,林怡青.空间机构设计.上海：上海科学技术出版社.1996
[36]张春林.高等机构学.北京：北京理工大学出版社.2005
[37]黄真,赵永生,赵铁石.高等空间机构学.北京：高等教育出版社.2006
[38]江继辉.折叠臂架式高空作业车侧向晃动问题研究.工程机械,1982(5)：20-21
[39]孟庆鑫,王晓东.机器人技术基础.哈尔滨：哈尔滨工业大学出版社.2006
[40]李晨霞.生物螯胸足的机械原理.哈尔滨理工大学学报,1997(4)：18-21
[41]张春林.多自由度平面机构的运动方程.北京：北京理工大学学报,1997,17(5)：11-15
[42]葛晓忠,詹葵华,钟克.基于UG的平面连杆机构的运动分析与应用.东华大学学报,2008,(6)：332-334
[43]刘丽凤,李强,杜希强.基于UG和ADAMS的SG6-UT机械手三维实体动画仿真.机械工程师,2008(1)：132-134
[44]张吴UG NX 4.0高级教程.北京：电子工业出版社.2007
[45]张晋西,张甲瑞,郭学琴.UG NX/Motion机构运动仿真基础及实例.北京：清华大学出版社.2009
[46]刘继民,刘立泽,梁伟杰.一种嵌入ADAMS解算器的UG运动分析研究.计算机仿真,2006,23(12)：289-292
[47]余三成,张家梁,杨建国.基于ADAMS的汽车焊装夹具的运动仿真.制造技术与机床,2009(4)：137-139
[48]刘锦文.大台面液压机多液压缸加压液压系统的设计.锻压机械,2000(6)：1-3
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[50]姜继海,宋锦春,高常识.液压与气压传动.北京：高等教育出版社.2002
[51]王益群,张伟.流体传动及控制技术的评述.机械工程学报,2003,39(10)：95-99
[52]陆勇星,张捷,卢菊洪.新型液压后避震结构的设计.机械设计与制造,2007(6)：38-40
[53]郭杰.自循环超细粉碎机理论及试验研究.昆明理工大学博士学位论文.2002
[54]刘晋浩.伐根清理机器人设计理论与应用技术的研究.东北林业大学博士论文.2003
[55]蔡雷.高空作业车结构分析及工作斗调平系统研究.吉林大学硕士学位论文.2004
[2]雷加富.论中国的森林资源经营.林业经济,2007(6)：4-9
[3]王喜平.林木种子机械采收技术分析.北京林业大学学报,1994,16(2)：89-92
[4]Helmut E. Harvest cone by helicopter. J Forest,1986,84(11):18-19
[5]R L Willan. A Guide to Forest Seed Handling. F A O Forestry Paper.1985,20(2):47-77
[6]单立忠,田秋明,赵雪岭等.CJ—1型落叶松立木采种工具的研制.林业机械,1992(5)：4-6
[7]李朝维,聂淑萍.CJ—50高空作业采种机的研制.林业科技,1994,19(4)：58-60
[8]孔庆华,陆怀民,王守忠.RBT14型林木球果采集机的设计.东北林业大学学报,1997,25(6)：60-62
[9]孔庆华,葛安华,陆怀民,李正宜.林木球果采集机器人机械臂起升运动分析.东北林业大学学报,1997,25(1)：45-48
[10]陆怀民.林木球果采集机器人设计与试验.农业机械学报,2001,32(6)：52-58
[11]Klinner W E, et al. A new stripping header for combine harvesters. Agricultural Engineer, Spring,1987
[12]Lu Huaimin, Yu Zunbo, Liu Jinhao. A Study of Collecting Robot of Conifer Cone. Journal of Forestry Researeh,1997(6):125-126
[13]陈瑞贤.TD—40型抖动式林木采种装置.1990(4)：36-37
[14]张晓文.林木种子(球果)振动采集技术现状及展望.北京林业大学学报,1996,18(6)：84-88
[15]张兰,迟玉敏,洪天池,官印.便携式振动采种机的研制.森林工程,1997,13(1)：43-44
[16]苏喜庭,董希斌,吴昊.山地自行升降式采种机研究综述.森林工程,2011,27(1)：12-15
[17]C Sekimoto, Mashisa Yano. Development of Conceptual Design CAD System Proceedings of International ADAMS Users' Conference,1998
[18]Berkof RS, Lowen GG. A New Method for Completely Foree Balancing Simple Linkages. Trans ASME J. Eng. Ind,1969,91(B):21-26
[19]Sandor GN, Erdman AG. Advanced Mechanism Design:Analysis and Synthesis. New Jersey: Prentice-Hall INC,1984
[20]Carme Torras. Robot adaptivity. Roboties and Autonomous System,1995(15):11-23
[21]Ron McCoy. Virtual Prototyping:The Practical Solution. Inventor Digest, May/June 1998
[22]吴小锋.林业修剪机器人运动学、动力学仿真.南京林业大学硕士论文.2007
[23]时培成.基于虚拟样机技术的汽车整车操纵稳定性研究.合肥工业大学硕士论文.2005
[24]谢方伟,李柄文.虚拟样机技术在减速器设计中的运用.煤矿机械,2008,(1)：166-168
[25]王丹.采伐联合机伐木头的设计与研究.东北林业大学硕士论文.2006
[26]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用.机电一体化,2000(5)：17-19
[27]张云杰.UG NX 4.0基础教程.北京：清华大学出版社.2007
[28]Bloor M S, McKay A. Product and Shape Representation for Virtual Prototyping. Chapman and Hall Press,1995
[29]Shabana A. A Flexible Multibody Dynamics:Review of Past and Recent Developments. Multibody System Dynamics,1997,1(2):189-222
[30]沈锐华.产品设计的原则和技巧.工程机械,2000(11)：19-20
[31]杨文亮.苹果采摘机器人机械手结构设计与分析.江苏大学硕士学位论文.2009
[32]吴昊,董希斌,李金鹏等.基于UG的自行升降式采种机的虚拟设计[J].东北林业大学学报,2010,38(2)：96-99
[33]涂桥安,王保平,王兆伍.移动式高空作业平台的设计研究.机械设计与制造工程,2001,30(5)：15-17
[34]陆震.高等机械原理.北京：北京航空航天大学出版社.2001
[35]谢存禧,郑时雄,林怡青.空间机构设计.上海：上海科学技术出版社.1996
[36]张春林.高等机构学.北京：北京理工大学出版社.2005
[37]黄真,赵永生,赵铁石.高等空间机构学.北京：高等教育出版社.2006
[38]江继辉.折叠臂架式高空作业车侧向晃动问题研究.工程机械,1982(5)：20-21
[39]孟庆鑫,王晓东.机器人技术基础.哈尔滨：哈尔滨工业大学出版社.2006
[40]李晨霞.生物螯胸足的机械原理.哈尔滨理工大学学报,1997(4)：18-21
[41]张春林.多自由度平面机构的运动方程.北京：北京理工大学学报,1997,17(5)：11-15
[42]葛晓忠,詹葵华,钟克.基于UG的平面连杆机构的运动分析与应用.东华大学学报,2008,(6)：332-334
[43]刘丽凤,李强,杜希强.基于UG和ADAMS的SG6-UT机械手三维实体动画仿真.机械工程师,2008(1)：132-134
[44]张吴UG NX 4.0高级教程.北京：电子工业出版社.2007
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