Research On Walking Chassis Of Greenhouse Panax Notoginseng Harvester

Panax notoginseng((Burk.)F.H.Chen)is a valuable Chinese herbal medicine,which has high medicinal and economic value.In order to solve the continuous cropping problem in planting,a greenhouse bionic planting method has been used.Planting Panax notoginseng in greenhouse needs to solve the problem of mechanization in harvesting,so the research of this subject has been carried out.This research originated from the sub-project “Overcoming Panax notoginseng continuous cropping obstacle construction and application of technology system” of the “Overcoming Panax notoginseng continuous cropping obstacle system construction” project of Yunnan Major Science and Technology Plan.Based on the first generation prototype,this paper designed a walking chassis of second generation greenhouse Panax notoginseng harvester,the specific content is as follows:(1)A design scheme of the walking chassis was proposed.The walking system of the chassis adopted a rubber crawler walking system.The power system used 380 V AC power supply.The mechanical transmission was adopted.The connecting mechanism adopted a screw parallel lifting mechanism,and the carframe scheme adopted a frame type.(2)Designed and analysised of the track walking system was proposed.The parameters of the crawler walking system were determined.The theoretical analysis of the harvesting performance,turning performance,obstacle performance and chassis stability of the walking system shows that the driving resistance is 3200 N,and the working resistance of the Sanqi harvest is about 2400N;the steering resistance torque is about 1000 Nm.In the Recurdyn software,the running system was simulated and verified,the driving wheel torque was 200 Nm under the harvesting condition,and the driving wheel torque was 150 Nm under the turning condition.The simulation results shows that the walking chassis could meet the greenhouse using requirements.(3)Optimized design of the frame,using the frame design process from concept design to detailed design.In the concept design,the topology optimization method was adopted.The material distribution under the maximum frame stiffness and theinitial natural frequency maximum target was obtained in Hyperworks software,and the preliminary frame model was obtained.In the detailed design,the preliminary frame model was tested.Static and dynamic performance,according to the preliminary performance was carried out.A lightweight design of the frame has been done,using the minimum frame quality and the optimal frame performance as the goal.The frame quality function was directly calculated,the frame comprehensive performance function was carried out by the fuzzy comprehensive evaluation method.The NSGA-II multi-objective algorithm was used to obtain a set of structural parameters.After lightweight design,the frame quality is reduced from 133.88 kg to66.54 kg,which can also ensure the frame performance.(4)Performed the manufacturing and performance testing of the harvester.The virtual assembly of the harvester was completed,and a prototype was built.The straight-line walking test was carried out,and the linear deviation was 0.89%.The turning test was carried out.The Panax notoginseng harvesting operation was carried out in the greenhouse.The harvesting operation was realized in the greenhouse.The test showed that the linearity of the walking chassis was good,and the dynamic performance and steering performance met the requirements.