Design of a Harvesting Machine for Panax notoginseng Stems and Leaves Under the Forest and Simulation Experiment of a Reciprocating Cutting Blade

doi:10.13304/j.nykjdb.2024.0176

Abstract

Abstract:

Panax notoginseng belongs to the long stemmed crop， and the harvesting of its stems and leaves is one of the important processes. Aming at the problems of high labor intensity and lack of mature harvesting equipment， based on the agronomic requirements of Panax notoginseng cultivation and the mechanical parameters of Panax notoginseng stems， a harvesting device for Panax notoginseng stems and leaves under the forest was designed， which mainly consisted of a control box， a frame， and a leaf cutting device. The overall size， cutting stroke， forward speed and cutting pair width of the device were determined， and the device structure was compacted， which met the requirement of harvesting. The design of key structural parameters for reciprocating cutters mainly included moving blade， fixed blade， crank connecting rod mechanism， blade protector， etc. The reciprocating cutter could meet the technical requirements while didn’t damage seedlings and miss cutting Panax notoginseng stems and leaves. A kinematic analysis was conducted on the cutter， and it was determined that the cutting speed was 0.4~0.8 m $?$ s^?1， which ensured the cutting effect while also ensuring the stability and safety of the entire machine. A rigid flexible coupling simulation model of Panax notoginseng stem and cutting blade was constructed， and cutting blade simulation analysis was carried out with the maximum cutting force as evaluation index. Based on three factors and three levels test results， it was found that the factors affecting cutting from large to small were cutting angle， cutting speed and tool configuration. The reduction effect of blade shape on Panax notoginseng stem cutting force was determined， with triangular blade>trapezoidal blade>rectangular blade， The optimal parameter combination for the stem cutting blade of Panax notoginseng was cutting angle of 90.5°?， triangular blade shape， and cutting speed of 0.52 m·s^?1. At this condition， the maximum cutting force was 7.46 N， which met cutting requirements.

Key words: Panax notoginseng, stems and leaves harvesting device, reciprocating, simulation analysis, ANSYS

摘要：

三七属于长茎秆类作物，茎叶采收是三七收获的重要环节之一。针对林下三七茎叶采收劳动强度大、缺乏成熟的采收装置等问题，结合林下三七农艺要求和茎秆力学参数，设计了一种林下三七茎叶采收装置，主要由控制箱、机架和剪叶装置组成，确定了整机尺寸、切割行程、前进速度和割幅宽度等参数。对往复式切割器关键结构参数的设计主要包括动刀片、定刀片、曲柄连杆机构、护刃器等，能够满足三七茎叶不伤苗、不漏割的技术要求。对切割器进行了运动学分析，在切割速度为0. 4~0. 8 m $?$ s^?1时，能够在保证切割效果的同时，还保证整机的稳定性及安全性。构建了三七茎秆和切割刀片的刚柔耦合仿真模型，开展切割刀片仿真分析，将最大切割力作为评价指标，通过三因素三水平试验可知，影响切割的因素由大到小依次为切割倾角、切割速度、刀具构型，确定了刀型对三七茎秆切割力的降低效果为三角形刀片>梯形刀片>矩形刀片，三七茎秆-切割刀片的最优参数组合为切割倾角为90.5°、刀型为三角形刀片和切割速度为0.52 m $?$ s^?1，此时最大切割力为7.46 N，满足切割要求。

关键词: 三七, 茎叶采收装置, 往复式, 仿真分析, ANSYS

CLC Number:

S225

Jiaxin ZHENG, Shishun WANG, Fan TANG, Longtu ZHU, Ji LUO, Wenchai YANG. Design of a Harvesting Machine for Panax notoginseng Stems and Leaves Under the Forest and Simulation Experiment of a Reciprocating Cutting Blade[J]. Journal of Agricultural Science and Technology, 2024, 26(9): 72-82.

郑嘉鑫, 王世顺, 汤凡, 朱龙图, 罗骥, 杨文彩. 林下三七茎叶采收机设计及往复式割刀仿真试验[J]. 中国农业科技导报, 2024, 26(9): 72-82.

Figures/Tables 17

Table 1 Planting parameter for Panax notoginseng under the forest

参数Parameter	数值Value
垄高 Ridge height/cm	27~30
垄底宽度 Ridge bottom width/cm	143~145
垄顶宽度 Ridge top width/cm	128~130
垄与树干的距离 Distance between ridge and trunk/cm	28~35
垄面距硬碰支架最高处距离 Distance between the ridge surface and the highest point of the hard collision bracket/cm	163~170
荫棚支架垄底之间距离 Distance between the bottom of the shade shed support ridge/cm	165~168
荫棚支架垄顶之间距离 Distance between the ridge tops of the shade shed brackets/cm	153~155

Table 2 Basic physical parameters of Panax notoginseng stem

参数Parameter	数值Value
剪切处茎秆直径 Stem diameter at cutting point/mm	3.1~4.5
根部到叶脉高度 Root to vein height/mm	7.6~16
花高 Flower height/cm	8.2~18
茎秆-茎秆之间的滚动摩擦 Rolling friction between stems	0.697~0.782
茎秆-茎秆之间的滑动摩擦 Sliding friction between stems	0.286~0.352

Fig. 1 Panax notoginseng stem and leaf harvester underNote：1—Rice rotation； 2—Hydraulic transmission device； 3—Steering motor； 4—Lithium ion batteries； 5—Handrails； 6—Pulling collection box； 7—Walking motor； 8—With wheels； 9—Belt； 10—Conveyor belt guard plate； 11—Reel reel； 12—Reciprocating cutter； 13—Gear assembly box； 14—Push rod motor； 15—Blade cutting motor； 16—Belt； 17—Pulley； 18—Bearing seat； 19—Differential； 20—Plum key； 21—Control box； 22—Rack.the forest

Table 3 Device design parameters

参数Parameter

数值Value

整体尺寸

Overall size/cm

240×130 ×100

割幅宽度

Cutting width/cm

130

底轮间距

Bottom wheel spacing/cm

145

前进速度

Forward speed/（m·s^‒1）

0~2

输送带转速

Conveyor belt speed/（r·min^‒1）

0~100

推杆电机行程

Push rod motor stroke/cm

0~10

割刀往复行程

Cutting blade reciprocating stroke/cm

动力类型

Power type

锂电

Lithium battery

控制方式

Control mode

遥控

remote control

Fig. 2 Reciprocating cutterNote：1—Crank connecting rod mechanism； 2—Fixed frame for the header； 3—Blade protector； 4—Fixed blade； 5—Moving the knife.

Fig. 3 Gear structure transmission

Fig. 4 Cutting reciprocating motion

Table 4 Basic parameters of Panax notoginseng stem tensile test

编号 Code	三七茎秆纵向位移 Longitudinal displacement of Panax notoginseng stem			三七茎秆横向位移 Lateral displacement of Panaxnotoginseng stem			最大拉力 Maximum tensile force/N
编号 Code	$L a$ /mm	$L b$ /mm	$ε 1$	$L c$ /mm	$L d$ /mm	$ε$	最大拉力 Maximum tensile force/N
平均值 Average	50	50.11	0.11	3.04	2.76	0.28	18.35
1	50	50.11	0.11	3.3	2.96	0.34	18.42
2	50	50.15	0.15	2.47	2.28	0.19	19.89
3	50	50.17	0.17	2.73	2.53	0.2	22.27
4	50	50.07	0.07	3.85	3.58	0.27	15.58
5	50	50.06	0.06	2.86	2.44	0.42	15.58

Table 4 Basic parameters of Panax notoginseng stem tensile test

编号 Code	三七茎秆纵向位移 Longitudinal displacement of Panax notoginseng stem			三七茎秆横向位移 Lateral displacement of Panaxnotoginseng stem			最大拉力 Maximum tensile force/N
编号 Code	$L a$ /mm	$L b$ /mm	$ε 1$	$L c$ /mm	$L d$ /mm	$ε$	最大拉力 Maximum tensile force/N
平均值 Average	50	50.11	0.11	3.04	2.76	0.28	18.35
1	50	50.11	0.11	3.3	2.96	0.34	18.42
2	50	50.15	0.15	2.47	2.28	0.19	19.89
3	50	50.17	0.17	2.73	2.53	0.2	22.27
4	50	50.07	0.07	3.85	3.58	0.27	15.58
5	50	50.06	0.06	2.86	2.44	0.42	15.58

Table 5 Model material parameter

项目

Item

参数

Parameter

数值

Value

茎秆

Stem

泊松比

Poisson’s ratio

0.39

弹性模量

Elastic modulus/MPa

0.26×10³

密度

Density/（g $∙$ cm^-3）

1.01

茎秆-切割器滑动摩擦

Stem-cutter sliding friction

0.287

茎秆-切割器滚动摩擦

Stem-cutter rolling friction

0.743

茎秆含水率

Stem moisture content/%

82.34

切割器Cutter

泊松比

Poisson’s ratio

0.29

弹性模量

Elastic modulus/MPa

2.07×10⁵

密度

Density/（kg $∙$ m^‒3）

7 801

Table 5 Model material parameter

项目

Item

参数

Parameter

数值

Value

茎秆

Stem

泊松比

Poisson’s ratio

0.39

弹性模量

Elastic modulus/MPa

0.26×10³

密度

Density/（g $∙$ cm^-3）

1.01

茎秆-切割器滑动摩擦

Stem-cutter sliding friction

0.287

茎秆-切割器滚动摩擦

Stem-cutter rolling friction

0.743

茎秆含水率

Stem moisture content/%

82.34

切割器Cutter

泊松比

Poisson’s ratio

0.29

弹性模量

Elastic modulus/MPa

2.07×10⁵

密度

Density/（kg $∙$ m^‒3）

7 801

Fig. 5 Model of contact collision between Panax notoginseng stem and cutting knife

Fig. 6 3D structure of 3 types of blade

Table 6 Factor of simulation test

水平 Level	因素factor
水平 Level	X₁：切割速度 Cutting speed /（mm $∙$ s^‒1）	X₂：切割倾角 Cutting inclination angle/（°）	X₃：刀型 Knife type
-1	0.45	90	梯形刀片 Trapezoidal blade
0	0.60	92	三角形刀片 Triangle blade
1	0.75	94	矩形刀片 Rectangular blade

Table 6 Factor of simulation test

水平 Level	因素factor
水平 Level	X₁：切割速度 Cutting speed /（mm $∙$ s^‒1）	X₂：切割倾角 Cutting inclination angle/（°）	X₃：刀型 Knife type
-1	0.45	90	梯形刀片 Trapezoidal blade
0	0.60	92	三角形刀片 Triangle blade
1	0.75	94	矩形刀片 Rectangular blade

Fig. 7 Changes in cutting force of Panax notoginseng stem

Table 7 Orthogonal experimental design and result

试验编号 Test number	因素水平 Factor level			最大切割力/N Maximum cutting force/N
试验编号 Test number	X₁	X₂	X₃	最大切割力/N Maximum cutting force/N
1	0	0	0	25.6
2	-1	-1	0	12.8
3	1	-1	0	36.6
4	0	1	-1	61.3
5	0	0	0	20.4
6	1	1	0	61.1
7	0	-1	1	19.2
8	0	0	0	27.0
9	1	0	-1	71.7
10	0	1	1	54.5
11	0	0	0	19.0
12	0	-1	-1	19.6
13	-1	1	0	46.5
14	-1	0	1	57.4
15	1	0	1	62.3
16	0	0	0	28.4

Table 8 Analysis of variance results

方差来源 Source of variance	平方和 Sum of squares	自由度 Freedom	均方 Mean square	F	P
失拟项 Misfit term	269.60	3	89.87	5.22	0.072 1
模型 model	5 954.48	9	661.61	13.68	0.001 2
X₁	1 178.55	1	1 178.55	24.38	0.001 7
X₂	2 284.88	1	2 284.88	47.26	0.000 2
X₃	65.55	1	65.55	1.36	0.282 4
X₁X₂	21.16	1	21.16	0.44	0.529 4
X₁X₃	597.80	1	597.80	12.36	0.009 8
X₂X₃	10.24	1	10.24	0.21	0.659 3
X₁²	875.83	1	875.83	18.11	0.003 8
X₂²	2.35	1	2.35	0.05	0.831 7
X₃²	804.47	1	804.47	16.64	0.004 7

Fig. 8 Influence of single factor on cutting force

Fig. 9 Influence of the interaction of various factors on cutting force

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