Study On Trafficability Of Self-propelled Orchard Sprayer

China is a big country for planting fruit tress.Plant diseases and insect pests occurs frequently and the yield and the quality of fruit tress is greatly affected because of the relatively late development of our orchard plant protection machinery, the low level of mechanism and the limits of planting pattern and pesticide application technology.In recent years, more and more colleges, universities and scientific research units start to study self-propelled orchard sprayer on the basis of advanced technology of foreign orchard plant protection machinery.The self-propelled orchard sprayers developed by parts of the colleges, universities and scientific research units are operated and experimented in the orchard, which are made excellent effects.The self-propelled orchard sprayer solves problems such as the hard orchard-entering of traditional spraying machinery and high rate of injury of fruit and is provided with high efficiency and good spraying quality.In addition, it also saves water and pesticides, which needs to be promoted.The road in the orchard is not flat.There are steep slopes, side slopes, horizontal trenches, vertical steps and water barriers, etc, which bring great inconvenience when the sprayer is operated in the orchard.Therefore, it is very necessary to study trafficability of self-propelled sprayer.If the trafficability is improved, on one hand, the sprayer can enhance its ability of passing through a variety of obstacles at a certain and steady rate.On the other hand, the efficiency of the operation is greatly improved for reducing the wasteful operating time and pesticide in case the sprayer do not cross the barrier.This thesis mainly study the trafficability on the basis of project team’s researching and developing a high trafficability and low chassis self-propelled sprayer.The main parameters to be researched of crossing obstacles includes the maximum height of crossing vertical barriers, the maximum width of crossing horizontal trenches and so on. Since the amount of the pesticide in the kit greatly affect the position of center of gravity which influence the trafficability of sprayer.The position of center of gravity can be shown as distance from front axel center line to center gravity.Establish figure of stress analysis of wheels of sprayer crossing the barrier and do the force analysis by Auto CAD.Establish the equations according to the balance of force and reach the relationship and curve between the parameters of crossing obstacles and position of gravity. Arrive at the relationship and curve between the amount of the pesticide and the position of gravity by least square method andMATLAB.The relationship between the amount of the pesticide and the parameters of crossing obstacles is drown.Conduct dynamic simulation and analysis based on ADAMS.Come to the level curve of center gravity such as velocity -time, acceleration-time and friction driving force according to different parameters obstacle modals.As a result,analyse the changing situations of these parameters and judge the trafficability.Finally, take an advantage of the obstacle model and do the experiment of trafficability, explore the ability of crossing obstacles at the condition of different amount of pesticide and different obstacle parameters when the sprayer is on the standard stalls.Compare the theoretical calculation, the simulations and actual testing results. Optimize the structure of kit and conduct the experiment of trafficability.Result show its trafficability has been improved after optimization.