Design And Research Of Crawler Type Long Arm Pruning Machine

Pruning trees plays an important role in tree modeling and garden care.At present,the pruning of high branches mostly relies on human tools,and sometimes requires workers to work on trees,which is difficult,inefficient and dangerous.It can be seen that it is an effective way to accelerate the forestry machinery manufacturing industry to rapidly improve the level of forestry mechanization production,save the consumption of manpower and material resources,solve the problem of labor intensity and improve the working efficiency of pruning machinery.In this case,it is of great significance to design a pruning device with efficient pruning ability and a simple and practical new high pruning equipment.The main research contents of this paper are as follows:According to the operation characteristics of fruit tree pruning and the working environment of pruning machine,the overall structure and working principle of pruning machine are determined,and a overall structure scheme of caterpillar chassis with driving wheel behind is adopted.Then,according to the overall design requirements of the equipment,determine the overall structure layout and working principle of the equipment,and carry out the overall structure design and theoretical calculation of the key components of crawler chassis,pruning mechanism and transmission mechanism,and select the relevant parts.The driving mode and the parameters of the hydraulic motor were determined by verifying the driving conditions and passing ability of the pruning machine.Then the cutting theory is analyzed to obtain the specific structural parameters of the pruning device.Finally,the chain saw is selected as the pruning tool of the pruning mechanism.Secondly,the hydraulic system design flow chart,according to the requirements of performance indicators to draw the pruning machine hydraulic schematic,and then the hydraulic system parameters are determined and the main components selection calculation.The parameters of the hydraulic circuit of the rotary device are optimized and the optimal results are obtained.Statics analysis and modal analysis were carried out on the arm of the pruning machine.The rationality of the design of key components of the pruning machine was tested through the mechanical characteristics of the arm,such as stress and strain,as well as the shape nephlogram.The key dimensions of the arm were optimized and the optimization results of the arm were analyzed and compared to verify the superiority of this design.The kinematic analysis of the manipulator arm of the pruning machine is carried out by Adams software,and the range of motion of the manipulator arm,the force of the hydraulic cylinder,the track of the end of the pruning device and the angular velocity are obtained.The simulation results show that the overall structure design of the pruning machine is reasonable,which can carry out the pruning work smoothly and meet the expected design conditions.The key components were flexible,the coupling model was established,and the rigid-flexible coupling analysis was carried out.The optimized simulation results were obtained to verify the feasibility of the optimization scheme and the stability of the manipulator.The virtual prototype model of pruning machine chassis was established by RecurDyn software,and the walking,climbing and obstacle crossing ability of pruning machine chassis were simulated and analyzed,so as to verify the reliability of the theoretical analysis results.The rotational torque required by the chassis under different working conditions is obtained to provide data support for the design of the drive system.