DOI: https://doi.org/10.32515/2414-3820.2019.49.92-104
Kinematic and Power Analysis of a Key Straw Walker of a Grain Harvester
About the Authors
Dmitri Doubovik, Associate Professor, Doctor in Technics (Doctor of Technics Sciences), State Scientific Institution “Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus”, Minsk, Belarus
Volha Baran, assistant, State Scientific Institution “Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus”, Minsk, Belarus
Siarhei Chapialevich, assistant, State Scientific Institution “Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus”, Minsk, Belarus
Aliaksandr Shantyka, assistant, Scientific and Technical Center for Combine-Building of Joint Stock Company «Gomselmash», Gomel, Belarus;
Aliaksei Vyrskii, assistant, Scientific and Technical Center for Combine-Building of Joint Stock Company «Gomselmash», Gomel, Belarus;
Taisa Boyka, Associate Professor, PhD in Technics (Candidate of Technics Sciences), Educational Institution “Belarusian State Agrarian Technical University”, Minsk, Belarus
Abstract
The aim of this work is to determine the magnitude of the force impact on the frame of grain harvesters from the imbalance of key straw walkers. To achieve this goal, a structural, kinematic and power analysis of a five-key straw walker was carried out.
Based on the performed structural analysis of the key straw walker, a design scheme with a combination of five similar articulated four-link mechanisms for the five-key straw walker of the grain harvester is presented. A mathematical model of a five-key straw walker of a grain harvester driven by a crankshaft with radial cranks has been developed, which allows calculating the reactions in the hinges and the parameters of its static imbalance. Using the method of closed vector contours, analytical dependences of coordinates, velocities and accelerations of characteristic points of links on the angle of rotation of the leading link are obtained. Using kinetostatic method, the dependences of the loads of the straw walker links on the action of forces and force moments of inertia are determined. The alternating character of the force action of each key separately on the bearings of the driving and driven straw walker crankshafts is established. The numerical values of the force action of the individual keys on the frame of the grain harvester, as well as the loads acting in the movable hinges of the straw walker, are determined.
It is shown that the force action on the frame of harvesters from the straw walker can be balanced by the inertia of its keys. Static balance of the straw walker is achieved with a radial arrangement of cranks with placement of necks for fastening keys at the vertices of a regular polygon (for the five-key straw walker – the pentagon). One of the main conditions for the absence of the impact of the straw walker on the harvester frame is the manufacture of crankshafts with cranks radially directed to the vertices of the regular polygon and the exact implementation of design decisions in the production of harvesters.
Keywords
grain harvester, key straw walker, design scheme, method of closed vector contours, kinematic analysis, kinetostatic method, force analysis, inertia force, support reaction, static imbalance
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References
1. Trubilin, E. I., & Alikov, V. A. (2010). Mashiny dlia uborki selskohozyaistvennyh kultur (konstruktsii, teoriya i raschet) [Machines for harvesting crops (design, theory and calculation)]. Krasnodar: KubSAU [in Russian].
2. Chernovolov, V. A., Nesmiyan, A.Yu., & Arzhenovskii A.G. (2013). Selskohozyaistvennye mashiny: obosnovanie parametrov rabochih organov zernouborochnogo kombaina : uchebnoe posobie po kursovomu i diplomnomu proektirovaniiu [Agricultural machines: justification of the parameters of the working bodies of the grain harvester: a textbook on course and diploma design]. Zernograd: FGBOU VPO ACHGAA [in Russian].
3. Lariushin, N.P. (2011). Selskohozyaistvennye mashiny (razdel «Zernouborochnye kombainy»): uchebnoe posobie [Agricultural machines (section "Grain harvesters"): tutorial]. Penza: RIO PGSKHA [in Russian].
4. Lektsia 9. Zernouborochnye kombainy / Nauchnaia elektronnaia biblioteka [Lecture 9. Grain harvesters / Scientific electronic library]. monographies.ru. Retrieved from https://monographies.ru/en/book/section?id=12148 [in Russian].
5. Dubovik, D. A., Elovoi O.M., & Bakalova, L.Yu. (2014). Osnovnye napravleniia razvitiia avtotraktorokombainostroeniia [The main directions of development agricultural machinery engineering]. Minsk: Joint Institute of mechanical engineering of the National Academy of Sciences of Belarus [in Russian].
6. Gomselmash. Kombainy i selhoztekhnika PALESSE [Gomselmash. Harvesters and agricultural machinery PALESSE]. gomselmash.by. Retrieved from https://www.gomselmash.by/produktsiya/zernouborochnye-kombainy/ [in Russian].
7. Ofitsialnyi sait kompanii John Deere v Rossii [Official site John Deere in Russia]. deere.ru. Retrieved from https://www.deere.ru/ru/зерноуборочные-комбайны/ [in Russian].
8. Zernouborochnye kombainy Claas [Claas combine harvesters]. claas.ru. Retrieved from https://www.claas.ru/produktsiya/zyernouborochnyye-kombajny/ [in Russian].
9. New Holland [New Holland]. newholland.su. Retrieved from http://www.newholland.su/ [in Russian].
10. Vereshchagin, N. I., Skorohodov, A. N., & Levshin, A.P. (2003). Organizatsiia i tekhnologiia mekhanizirovannyh rabot v rastenievodstve [Organization and technology of mechanized works in crop production]. Moskow: Akademiya [in Russian].
11. Tarasenko, A.P., Solntsev, V.N., & Grebnev, V.P. (2004). Mekhanizatsiia i elektrifikatsiia selskohozyaistvennogo proizvodstva [Mechanization and electrification of agricultural production]. Moskow: KolosS [in Russian].
12. Khalanskii, V. M., & Gorbachev, I. V. (2004). Selskohoziaistvennye mashiny [Agricultural vehicles]. Moskow: KolosS [in Russian].
13. Dubovik, D.A. (2012). Snizhenie energozatrat mnogoprivodnyh kolesnyh mashin putem sovershenstvovaniia mekhanicheskih privodov vedushchih koles [Reduction of energy consumption of multi-wheel drive machines by improving the mechanical drives of the driving wheels]. Extended abstract of Doctor’s thesis. Mogilev [in Russian].
14. Dubovik, D.A., & Pribylskii, V. I. (2016). Gidroobemno-mekhanicheskie transmissii mobilnyh mashin. Kinematicheskii i silovoi raschet [Hydraulic-mechanical transmissions of mobile machines. Kinematic and power calculation]. Vestsi Natsyianalnai akademii navuk Belarusi. Seryia fizika-tekhnichnyh navuk, 4, 61-72 [in Russian].
15. Dubovik, D.A., Pribylskii, V.I., Novikov, A.A. & Vyrskii, A.N. (2019). Kinematicheskii i silovoi analiz dvuhstannoi ochistki zernouborochnogo kombaina [Kinematic and power analysis of two-sieve grain cleaning system of a combain harvester]. Problemy mashinostroenija i nadezhnosti mashin. – Problems of mechanical engineering and machine reliability, 6, 78-90 [in Russian].
16. Artobolevskii, I.I. (2016). Teoriia mekhanizmov i mashin [Theory of mechanisms and machines]. Moskow: Transportnaia kompaniia [in Russian].
GOST Style Citations
- Трубилин Е.И., Абликов В.А. Машины для уборки сельскохозяйственных культур (конструкции, теория и расчет) . КГАУ, Краснодар, 2010. 325 с.
- Черноволов В.А., Несмиян А.Ю., Арженовский А.Г. Сельскохозяйственные машины: обоснование параметров рабочих органов зерноуборочного комбайна : учебн. пособ. по курс. и дипл. проект. Зерноград: ФГБОУ ВПО АЧГАА, 2013. 145 с.
- Ларюшин, Н.П. Сельскохозяйственные машины (раздел «Зерноуборочные комбайны»): учебное пособие . Пенза: РИО ПГСХА, 2011. 243 с.
- Лекция 9. Зерноуборочные комбайны. / Научная электронная библиотека. URL: https://monographies.ru/en/book/section?id=12148 (дата доступа: 18.10.2019).
- Дубовик Д.А., Еловой О.М., Бакалова Л.Ю. Основные направления развития автотракторокомбайностроения. Минск: Объединённый институт машиностроения Национальной академии наук Беларуси, 2014. 176 с.
- Гомсельмаш. Комбайны и сельхозтехника ПАЛЕССЕ. URL: https://www.gomselmash.by/produktsiya/zernouborochnye-kombainy/ (дата доступа: 18.10.2019).
- Официальный сайт компании John Deere в России. URL: https://www.deere.ru/ru/зерноуборочные-комбайны/ (дата доступа: 18.10.2019).
- Зерноуборочные комбайны Claas. URL: https://www.claas.ru/produktsiya/zyernouborochnyye-kombajny/ (дата доступа: 18.10.2019).
- New Holland URL: http://www.newholland.su/ (дата доступа: 18.10.2019).
- Верещагин Н. И., Скороходов А. Н., Левшин А.П. Организация и технология механизированных работ в растениеводстве. Москва: Академия, 2003 416 с.
- Тарасенко, А.П., Солнцев В.Н., Гребнев В.П. Механизация и электрификация сельскохозяйственного производства . Москва: КолосС, 2004. 552 с.
- Халанский В. М., Горбачев И. В. Сельскохозяйственные машины . Москва: КолосС, 2004. 624 с.
- Дубовик Д.А. Снижение энергозатрат многоприводных колесных машин путем совершенствования механических приводов ведущих колес: автореф. дис. на соискание уч. степени д-ра техн. наук: 05.05.03. Могилев, 2012. 44 с.
- Дубовик Д.А., Прибыльский В. И. Гидрообъемно-механические трансмиссии мобильных машин. Кинематический и силовой расчет. Весцi Нацыянальнай акадэмii навук Беларусi. Серыя фiзiка-тэхнiчных навук. 2016. № 4. С. 61–72.
- Кинематический и силовой анализ двухстанной очистки зерноуборочного комбайна / Д.А. Дубовик, В.И. Прибыльский, А.А. Новиков, А.Н. Вырский. Проблемы машиностроения и надёжности машин. 2019. № 6. С. 78-90.
- Артоболевский, И.И. Теория механизмов и машин. Москва: Транспортная компания, 2016. 639 с.
Copyright (c) 2019 Dmitri Doubovik, Volha Baran, Siarhei Chapialevich, Aliaksandr Shantyka, Aliaksei Vyrskii, Taisa Boyka
Kinematic and Power Analysis of a Key Straw Walker of a Grain Harvester
About the Authors
Dmitri Doubovik, Associate Professor, Doctor in Technics (Doctor of Technics Sciences), State Scientific Institution “Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus”, Minsk, Belarus
Volha Baran, assistant, State Scientific Institution “Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus”, Minsk, Belarus
Siarhei Chapialevich, assistant, State Scientific Institution “Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus”, Minsk, Belarus
Aliaksandr Shantyka, assistant, Scientific and Technical Center for Combine-Building of Joint Stock Company «Gomselmash», Gomel, Belarus;
Aliaksei Vyrskii, assistant, Scientific and Technical Center for Combine-Building of Joint Stock Company «Gomselmash», Gomel, Belarus;
Taisa Boyka, Associate Professor, PhD in Technics (Candidate of Technics Sciences), Educational Institution “Belarusian State Agrarian Technical University”, Minsk, Belarus
Abstract
The aim of this work is to determine the magnitude of the force impact on the frame of grain harvesters from the imbalance of key straw walkers. To achieve this goal, a structural, kinematic and power analysis of a five-key straw walker was carried out. Based on the performed structural analysis of the key straw walker, a design scheme with a combination of five similar articulated four-link mechanisms for the five-key straw walker of the grain harvester is presented. A mathematical model of a five-key straw walker of a grain harvester driven by a crankshaft with radial cranks has been developed, which allows calculating the reactions in the hinges and the parameters of its static imbalance. Using the method of closed vector contours, analytical dependences of coordinates, velocities and accelerations of characteristic points of links on the angle of rotation of the leading link are obtained. Using kinetostatic method, the dependences of the loads of the straw walker links on the action of forces and force moments of inertia are determined. The alternating character of the force action of each key separately on the bearings of the driving and driven straw walker crankshafts is established. The numerical values of the force action of the individual keys on the frame of the grain harvester, as well as the loads acting in the movable hinges of the straw walker, are determined. It is shown that the force action on the frame of harvesters from the straw walker can be balanced by the inertia of its keys. Static balance of the straw walker is achieved with a radial arrangement of cranks with placement of necks for fastening keys at the vertices of a regular polygon (for the five-key straw walker – the pentagon). One of the main conditions for the absence of the impact of the straw walker on the harvester frame is the manufacture of crankshafts with cranks radially directed to the vertices of the regular polygon and the exact implementation of design decisions in the production of harvesters.Keywords
Full Text:
PDFReferences
1. Trubilin, E. I., & Alikov, V. A. (2010). Mashiny dlia uborki selskohozyaistvennyh kultur (konstruktsii, teoriya i raschet) [Machines for harvesting crops (design, theory and calculation)]. Krasnodar: KubSAU [in Russian].
2. Chernovolov, V. A., Nesmiyan, A.Yu., & Arzhenovskii A.G. (2013). Selskohozyaistvennye mashiny: obosnovanie parametrov rabochih organov zernouborochnogo kombaina : uchebnoe posobie po kursovomu i diplomnomu proektirovaniiu [Agricultural machines: justification of the parameters of the working bodies of the grain harvester: a textbook on course and diploma design]. Zernograd: FGBOU VPO ACHGAA [in Russian].
3. Lariushin, N.P. (2011). Selskohozyaistvennye mashiny (razdel «Zernouborochnye kombainy»): uchebnoe posobie [Agricultural machines (section "Grain harvesters"): tutorial]. Penza: RIO PGSKHA [in Russian].
4. Lektsia 9. Zernouborochnye kombainy / Nauchnaia elektronnaia biblioteka [Lecture 9. Grain harvesters / Scientific electronic library]. monographies.ru. Retrieved from https://monographies.ru/en/book/section?id=12148 [in Russian].
5. Dubovik, D. A., Elovoi O.M., & Bakalova, L.Yu. (2014). Osnovnye napravleniia razvitiia avtotraktorokombainostroeniia [The main directions of development agricultural machinery engineering]. Minsk: Joint Institute of mechanical engineering of the National Academy of Sciences of Belarus [in Russian].
6. Gomselmash. Kombainy i selhoztekhnika PALESSE [Gomselmash. Harvesters and agricultural machinery PALESSE]. gomselmash.by. Retrieved from https://www.gomselmash.by/produktsiya/zernouborochnye-kombainy/ [in Russian].
7. Ofitsialnyi sait kompanii John Deere v Rossii [Official site John Deere in Russia]. deere.ru. Retrieved from https://www.deere.ru/ru/зерноуборочные-комбайны/ [in Russian].
8. Zernouborochnye kombainy Claas [Claas combine harvesters]. claas.ru. Retrieved from https://www.claas.ru/produktsiya/zyernouborochnyye-kombajny/ [in Russian].
9. New Holland [New Holland]. newholland.su. Retrieved from http://www.newholland.su/ [in Russian].
10. Vereshchagin, N. I., Skorohodov, A. N., & Levshin, A.P. (2003). Organizatsiia i tekhnologiia mekhanizirovannyh rabot v rastenievodstve [Organization and technology of mechanized works in crop production]. Moskow: Akademiya [in Russian].
11. Tarasenko, A.P., Solntsev, V.N., & Grebnev, V.P. (2004). Mekhanizatsiia i elektrifikatsiia selskohozyaistvennogo proizvodstva [Mechanization and electrification of agricultural production]. Moskow: KolosS [in Russian].
12. Khalanskii, V. M., & Gorbachev, I. V. (2004). Selskohoziaistvennye mashiny [Agricultural vehicles]. Moskow: KolosS [in Russian].
13. Dubovik, D.A. (2012). Snizhenie energozatrat mnogoprivodnyh kolesnyh mashin putem sovershenstvovaniia mekhanicheskih privodov vedushchih koles [Reduction of energy consumption of multi-wheel drive machines by improving the mechanical drives of the driving wheels]. Extended abstract of Doctor’s thesis. Mogilev [in Russian].
14. Dubovik, D.A., & Pribylskii, V. I. (2016). Gidroobemno-mekhanicheskie transmissii mobilnyh mashin. Kinematicheskii i silovoi raschet [Hydraulic-mechanical transmissions of mobile machines. Kinematic and power calculation]. Vestsi Natsyianalnai akademii navuk Belarusi. Seryia fizika-tekhnichnyh navuk, 4, 61-72 [in Russian].
15. Dubovik, D.A., Pribylskii, V.I., Novikov, A.A. & Vyrskii, A.N. (2019). Kinematicheskii i silovoi analiz dvuhstannoi ochistki zernouborochnogo kombaina [Kinematic and power analysis of two-sieve grain cleaning system of a combain harvester]. Problemy mashinostroenija i nadezhnosti mashin. – Problems of mechanical engineering and machine reliability, 6, 78-90 [in Russian].
16. Artobolevskii, I.I. (2016). Teoriia mekhanizmov i mashin [Theory of mechanisms and machines]. Moskow: Transportnaia kompaniia [in Russian].
GOST Style Citations
- Трубилин Е.И., Абликов В.А. Машины для уборки сельскохозяйственных культур (конструкции, теория и расчет) . КГАУ, Краснодар, 2010. 325 с.
- Черноволов В.А., Несмиян А.Ю., Арженовский А.Г. Сельскохозяйственные машины: обоснование параметров рабочих органов зерноуборочного комбайна : учебн. пособ. по курс. и дипл. проект. Зерноград: ФГБОУ ВПО АЧГАА, 2013. 145 с.
- Ларюшин, Н.П. Сельскохозяйственные машины (раздел «Зерноуборочные комбайны»): учебное пособие . Пенза: РИО ПГСХА, 2011. 243 с.
- Лекция 9. Зерноуборочные комбайны. / Научная электронная библиотека. URL: https://monographies.ru/en/book/section?id=12148 (дата доступа: 18.10.2019).
- Дубовик Д.А., Еловой О.М., Бакалова Л.Ю. Основные направления развития автотракторокомбайностроения. Минск: Объединённый институт машиностроения Национальной академии наук Беларуси, 2014. 176 с.
- Гомсельмаш. Комбайны и сельхозтехника ПАЛЕССЕ. URL: https://www.gomselmash.by/produktsiya/zernouborochnye-kombainy/ (дата доступа: 18.10.2019).
- Официальный сайт компании John Deere в России. URL: https://www.deere.ru/ru/зерноуборочные-комбайны/ (дата доступа: 18.10.2019).
- Зерноуборочные комбайны Claas. URL: https://www.claas.ru/produktsiya/zyernouborochnyye-kombajny/ (дата доступа: 18.10.2019).
- New Holland URL: http://www.newholland.su/ (дата доступа: 18.10.2019).
- Верещагин Н. И., Скороходов А. Н., Левшин А.П. Организация и технология механизированных работ в растениеводстве. Москва: Академия, 2003 416 с.
- Тарасенко, А.П., Солнцев В.Н., Гребнев В.П. Механизация и электрификация сельскохозяйственного производства . Москва: КолосС, 2004. 552 с.
- Халанский В. М., Горбачев И. В. Сельскохозяйственные машины . Москва: КолосС, 2004. 624 с.
- Дубовик Д.А. Снижение энергозатрат многоприводных колесных машин путем совершенствования механических приводов ведущих колес: автореф. дис. на соискание уч. степени д-ра техн. наук: 05.05.03. Могилев, 2012. 44 с.
- Дубовик Д.А., Прибыльский В. И. Гидрообъемно-механические трансмиссии мобильных машин. Кинематический и силовой расчет. Весцi Нацыянальнай акадэмii навук Беларусi. Серыя фiзiка-тэхнiчных навук. 2016. № 4. С. 61–72.
- Кинематический и силовой анализ двухстанной очистки зерноуборочного комбайна / Д.А. Дубовик, В.И. Прибыльский, А.А. Новиков, А.Н. Вырский. Проблемы машиностроения и надёжности машин. 2019. № 6. С. 78-90.
- Артоболевский, И.И. Теория механизмов и машин. Москва: Транспортная компания, 2016. 639 с.