第21卷第1期2005年1月農業工程學報TransactionsoftheCSAEVol.21No.1Jan.2005Designprincipleandanalysesofthemotioncharacteristicsof4H-2typepeanutharvesterShangShuqi,WangJiangang,WangFangyan,LiuShuguang,JiangYuanzhi(EngineeringSchool,LaiyangAgriculturalUniversity,Laiyang,Shandong265200,China)Abstract:Thestructure,workingprincipleanddesignofmainpartsofthe4H22typepeanutharvesterweredescribedandanalyzed,andthekinematicsmodelofthemainworkpartswasfounded.Onthebasisoftheoptimizedstructure,therepresentativetracksoftheworkpartsweredescribedbymeansofVisualBasicandSPSSsoftwareandthemachinefunctioncharacteristics.Thetheoreticalfoundationhasbeenprovidedforfurtherstudyofthiskindofmachines.Keywords:Peanutharvester；designprinciple；motioncharacteristicsCLCnumber:S225.73DocumentCode:AArticleID:100226819(2005)0120087205Receiveddate:2004204219Accepteddate:2004211218Biography:ShangShuqi(1958-),borninQingzhouCity,ShandongProvince,Professor,HeadofEngineeringSchoolofLaiyangAgriculturalUniversity,ShandongProvince265200,China.Majoredindesignandperformancetestofagriculturalmachinery.Email:1IntroductionThepeanutisoneofthemainoilplantsintheworld,whichisonlyinferiortosoybeanbutranksthesecondforoilproductionandinternationaltrade1,2.Foralongtime,theplanting,harvestingandprocessingofpeanutweremostlycompletedbymanualwork.Itisapieceoflaboredworkwithlowefficiency,whichaffectsthepeanutproductionseriously.Especiallyinthelastfewyears,asthetransferringsurplusrurallaborstourbanareas,thecontradictionofeachlinkofpeanutproductionismoreintensifying,themechanizationofthepeanutproductionbecomesparticularlyimportant.Ithasbeenalongtimeforresearchinganddevelopingthepeanutharvestersindevelopedcountries,itisatypicalrepresentativethattheLP22typepeanutharvesterandpeanutcombineharvesterofCourtesylfLillistonMfg.CheUnitedStatesandPH22typepeanutharvesterofMichiganinNetherlands3.ThedevelopmentofpeanutharvesterinChinaislaterthanthatindevelopedcountries,perhapsthebeginningofthe1960s.Sincethe1970s,manyrepresentativemimicpeanutharvesterswereintroducedintoChinasuchastheDongfeng69type,4HW2800typeand4H2150typepeanutharvesteretc.4.Theseproductsbringconvenienceforharvestingpeanut,butthestructureofallcurrentharvestersadoptedthetwostepsofharvestprinciplescoopandseparatingchaincombinetogether.Thesemachineshavetomatchwiththemedium2bigpowertractors.Itisnotonlycomplexinstructure,highermanufacturingcosts,morepowerconsumption,poorreliability,butalsohigherharvestinglossrate,peanutvinesspreaddisorderly,andinconvenientformanualcollection.Itisnotsuitableforthecurrentrequirementofpeanutharvestingandresultsinthattheharvestingofpeanutisalmostcompletedbymanualworkatpresent.Themechanizationlevelofpeanutharvestingaffectedthedevelopmentofthepeanutproductionseriously.Withtheenvironmentdeterioration,atsowing2seasoninspringorautumn,thephenomenonofdryandlittlerainfallappears.Thepeanutproductionsufferedfromtheweather.Ithadledtoadoptingtechniqueofplasticfilmcovering(Figure1showsitssectionstructure).Thisnewtechniquewillplayanimportantroleinkeepingthemoistureofsoil,increasinggroundtemperature,andreducingmanagementinseedlingperiod,andthenincreasingtheoutputofpeanut.Thepeanutseeding2machinewithmanyfunctionshasalreadyappliedinlarge2scaleareas,butthequantityofthefilmremainsisincreased,whichinfluencesthefollowingwork5-9.Fig.1Profileofpeanutcoveringplasticfilmandseedingbeds8Forsolvingtheproblemsmentionedabove,anewtypeofpeanutharvesterwithnewworkingprincipleandstructurewasinvented,whichhasalreadycometothemarket.Theharvesterhasalreadyacquiredthe78pettypatentnow(patentnumber:ZL01221476.0),andpatentforinvention(patentnumber:99124518.0)hasbeeninvestigatinginsubstance.2Structuredesignofthepeanutharvester2.1Analysisofthewholemachinestructure4H22typepeanutharvestercombineswiththeadvancedmethodofplantingandagriculturalrequirement,whichcanharvesttworowsatoneworkingstroke.Itmatcheswiththe8.813.0kWsmallfour2wheeltractors.4H22typepeanutharvesteriscomposedofgagingwheel,transmissionshaft,eccentricwheel,pitman,longrocker2arm,erectaxis,harvestingparts,longpitman,rocker2arm,mountingdeviceandframeetc.Thefigure2showsitsstructure.1.gagingwheel2.jointcoupling3.transmissionshaft4.erectaxis5.longrocker2arm6.longpitman7.mountingdevice8.rocker2arm9.erectaxis10.harvesterpart11.eccentricwheel12.pitman13.harvestpart14.frameFig.2DiagramofpeanutharvesterThedrivingpowerneededoftheworkpartsof4H22typepeanutharvestercomesfromthePTOoftractor.Whenthemachinewithtractorgoesforward,thePTOdriveseccentricwheel11passthroughjointcoupling2andtransmissionshaft3.Theneccentricwheel11driveslongrocker2arm5tomovepassthroughpitman12.Aserectaxis4andharvestparts13aremadetogether,rocker8withlongpitman6andlongrocker2arm5constituteaninverseparallelogrammechanism,thereforeharvestparts10and13swingwitherectaxis4and9withthesamefrequencyandanglebutcontrarydirection.Theworkingprocessis:thescoops10and13diggingthepeanutoutandmovingthepeanutbackward,whilethelengthwaysgridscontinuouslymakethefanlikeswing,andthenbreaktheadmixtureofsoilandpeanuts.Bythismovementtheheavysoilsinksdownviathegrids,andthelighterpeanutmovesup,sothatpeanutisseparatedfromsoilwell.Thepeanutismovingrearwardcontinuously,finallyevenlayingontheexcavatedground,soitisconvenientformanualcollection.2.2MaintechniqueparametersThetable1showsthemaintechniqueparametersof4H22typepeanutharvester.Table1MaintechniqueparametersPowerrequirement8.813.0kWsmallfour2wheeledtractorProductivityhm2h-10.100.13Losingrateofnuts2%Containingrateofsoilinpeanut(byquantitycalculation)5%Brokenrateofnuts1%Pickedrateofnutsbymechanisms3.5%Overallsize(LWHmm)mm31280l180780Netweightkg1583Designofmainworkingparts3.1DesignofthetransmissionpartsForovercomingtheweaknessofthetraditionalpeanutharvestersmentionedinthispaper,the4H22typepeanutharvesterhasbeeninventedwithanewstructureandprinciple.Itsscoopsandseparatingpartshavebeencombinedtogetherthatcanreducethepowerconsumption,thesizeofthemachineandharvestingloss.Thetransmissionandcontroldevicesaredesignedfortransmittingpowerefficientlyandadjustconveniently.Inordertomatchthetractorof8.8kW,thepowerinputshaft1of4H22typepeanutharvesterislocatedinflankofleft.Theinverseparallelogrammechanismistheremarkablecharacteristicsofthismachine.Itswingsbothscoopswiththesameanglebutoppositedirection.Thesideforcesactedontwoscoopframesarebalancedeachother.Thestabilityofthemachineisensuredandtheinvestmentofmanufacturingisreducedgreatly,whichisbenefitedtolarge2scaleproductionandpopularizationoftheharvesters.3.2DesignofscoopframesWhentheharvesterworkinginfieldwithdensepeanutstalks,theflowingchannelofthepeanutiseasilyjammed,resultinginthattheworkingresistan2ceisincreasing,andpeanutseparatingisineffective,eventheharvestercannotcontinuetowork.Forresolvingthisproblem,thestructureofhalfopenarmhasbeencreatedforthescoopframe(showinthefigure3)andthebottomisthescoop.Astherearetowscoops,theformrespectivelyisand,towofthemformingthechannel,whichmakesthepeanutstalkseasilytopassit.88農業工程學報2005年Fig.3Diagramofscoopframes3.3DesignofthetransmissionwithV-beltAccordingtothedifferentcircumstancesofthefields,theswingfrequencyofharvestingpartsshouldbeadjustedandchanged.Forthisreason,theonestepV2belttransmissionhasbeenadoptedforchangingtheswingfrequencybyreplacingtheV2beltpulleys.Afteroptimizingthefour2barlinkageandthesizeofthebeltpulleys,thefrequenciesandtherangeofswingaremorereasonable.3.4DesignofthegridshapeIfthesectionalshapeofgridisround,theconnectionpointofgridswithscoopwillbebrokeneasilyafterworking.Inordertoincreaseitsanti2bentintensity,theflatrectanglesectionalgridshavebeenselectedoutandapplicationaftermakingtheoreticaldesignandexperimentalanalysis(thefigure4showsitsstructure).Fig.4Diagramofgridshape4Equationofkinematics4.1TheoreticalanalysisofthemainpartsFigure5showsthestructureoftransmissionpartsof4H22typepeanutharvesters.Inthisfigure,No.3istransmissionshaftandNo.11iseccentricwheel,theAEandBDrespectivelyindicatetherocker2arm5Fig.5Diagramoftransmissionpartsstructureand8,theCDandEFindicatepitman6and12respectively,theAandBisrespectivelyerectaxes4and9(referenceFigure2).Fig.6Simplificationdiagramofmovement9,10When4H22typepeanutharvesterworking,transmissionshaft3driveseccentricwheel11running.AsthetrackofpointEisaspacearc,butitslengthisfarshorterthanAErockersinXOYcoordinateplane(10%),sothatEpointtrackmayapproximatelybethestraightlinemovementwhichisintheXOYcoordinateplane.Thefigure6showsthemovementform.OFstandsforeccentricityandEFstandsforpitman12.AsOF=R,EF=L,thenthetrackofEpointmayapproximatebeconsideredastraightlineOE.Sotherectangularsystemofaxiscanbeestablishedtofindthekinematicsequation.TurnOtobetheoriginofcoordinates,thedirectionofOOisthepositivedirectionofXaxes.Accordingtotheknowncondition,atbeginningt=0,FisintheplaceforF,EisintheplaceforO.ObviouslyOF+OF=L+R.AtanytimeEpointcoordinatesis:x=OE=OO-(EG+GO)=(R+L)-L2-(RsinU)2+RcosU=R(1-cosU)+L(1-1-(RL)2sin2U)CauseRL=KU=Xt,thenx=R(1-cosXt)+L(1-1-K2sin2Xt)Accordingtothecrankrockerstructure,Kisusuallyamong1614.Bythebinomialequation,then1-K2sin2Xt=1-12K2sin2Xt-18K4sin4Xt-Astheothernumbersaremuchsmallfromthethirdnumber,soallofthemareignored.Videlicet:1-K2sin2Xt1-12K2sin2Xt,thenEpointkinematicsequationapproximatelyis:x=R(1-cosXt+12Ksin2Xt)v=xa=RX(sinXt+12Ksin2Xt)ThemotioncharacteristicsofinverseparallelogrammechanismABCDdependsonthetrackofpointE.Thefigure7showsthestructure.AandBstandforerectaxes4and9respectively,AEandBDarerespectivelyrocker5and8,CDispitman6.IfAisatzero(0,0).ThedirectionofAXisthepositivedirectionofpolaraxes.AE=L1.ThenA(erectaxis)98第1期尚書旗等:4H22型花生收獲機的設計原理及運動特性分析angularvelocityequationapproximateis:H=RL1(1-cosXt+12Ksin2Xt)X=Ha=RXL1(sinXt+12Ksin2Xt)Fig.7Schematicofinverseparallelogrammechanism4.2KinematicsequationoftheharvestpartsAsthefigure8shows,when4H22typepeanutharvesterisstatictothegroundrelatively,anypointofswinggridAHmotionashorizontalandfan2shapereciprocatingmovement,arounditserectaxis.Whenworking,themovementofanypointofswinggridAHiscomposedoftheswingmotionoferectaxisandmovingoftractor.Becauseoftheswingvelocityoferectaxisisdifferent,themotiontrackisnotthesame,butthereiscertainregulation.TakethefarthestpointHofswinggrid,itsrelativelystaticequationis:v_s=v_2=L2X=RL2L1X(sinXt+12Ksin2Xt)sinH+iRL2L1X(sinXt+12Ksin2Xt)cosHx_s=x_2=t0RL1X(sinXt+12Ksin2Xt)L2dtsinH+it0RL1X(sinXt+12Ksin2Xt)L2dtcosH=RL1L2(-cosXt-14Kcos2Xt+1+14K)sinH+iRL1L2(-cosXt-14Kcos2Xt+1+14K)cosHItsrelativelykinematicsequationis:v_=v_1+v_2=v1+L2X=v1+RL2L1X(sinXt+12Ksin2Xt)sinH+iRL2L1X(sinXt+12Ksin2Xt)cosHx_=x_1+x_2=v1t+t0RL1X(sinXt+12Ksin2Xt)L2dtsinH+it0RL1X(sinXt+12Ksin2Xt)L2dtcosH=v1t+RL1L2(-cosXt-14Kcos2Xt+1+14K)sinH+iRL1L2(-cosXt-14Kcos2Xt+1+14K)cosHOnthebasisofoptimumparameter,thetrackofthefarthestpointHofswinggridhasbeengottenbymakinguseoftheVisualBasicandSPSSsoftware(Showsinthefigure9).Fig.8Diagramofvelo