Study on a crawler type vehicle for operating in deep water paddy rice field planted with water dropwort

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Wilfred Garrett
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XXXIV CIOSTA CIGR V Conference 29 June 1 July 2011

of National Resources and Applied Life Sciences

1 Study on a crawler type vehicle for operating in deep water paddy rice field planted with water dropwort XXXIV CIOSTA CIGR V Conference 29 June 1 July 2011 Vienna-Austria Univ. of National Resources and Applied Life Sciences Hyeon-jong Jun, Ph.D. Dept. of Agricultural Engineering National Academy of Agricultural Science Korea

2 Table of Contents Introduction - Background, Early study, Improvements in this study Material and Methods -Study process - Preliminary field test for the crawler vehicle - Design of the prototype - Field test for the Prototype Results and Discussion Conclusions

3 Introduction

4 Background Water dropwort field in winter season

5 Early study Wheel type dropwort harvester ground 0.3 m 0.9 m W: weight Sinking depth of wheel in paddy field Driving was difficult under wheel sinking depth of 0.3 m

6 Material and Methods

7 Study Process Preliminary test for the commercialized crawler vehicle Driving test Drawbar pull test Results Sinking depth Drawbar pull Driving condition Design and manufacture of a prototype crawler vehicle for water dropwort harvest Test for the Prototype Side-overturn test Driving test Drawbar pull test Results Angle of side-overturn Sinking depth Drawbar pull Driving ability

8 Paddy field for the test water-contained paddy field Soil texture : SiL (silt loam) Soft layer thickness : 0.3 m from ground surface Water Soft layer 0.2 m 0.3 m Hard layer Paddy rice field

9 Preliminary field test for the crawler vehicle Test rubber crawler vehicle Schematic diagram of the test rubber crawler vehicle

10 Structure of crawler of the test vehicle

11 Specification of the test rubber crawler vehicle Parameters Unit Value Weight of the test vehicle Power of the test vehicle Ground contact length of crawler Width of crawler Lug height of crawler Front-end inclination of crawler Rear-end radius of crawler Ground contact area of crawlers kn kw mm mm mm mm m

Test conditions 2 levels (2.55, 5.49 kn) forward, backward 0.

12 Driving test of the test crawler vehicle Parameters Weight of the test vehicle Driving direction Water depth of test field Test conditions 2 levels (2.55, 5.49 kn) forward, backward 0.05 m, 0.2 m Weight of vehicle : 2.55 kn Weight of vehicle: 5.49 kn

Drawbar pull test of the test crawler vehicle

condition of the rubber crawler Ground contact area of

13 Drawbar pull test of the test crawler vehicle Parameters Weight of the test vehicle Ground contact condition of the rubber crawler Ground contact area of the rubber crawlers Test conditions 4 levels (2.55, 3.53, 4.51, 5.49 kn) 3 types (paddy field, dry field, concrete pavement) ( kn/m 2 ) Paddy field Dry field Concrete

14 Design of the prototype crawler vehicle Harvesting device attached 0.6 m Rubber crawler Supporting disk Schematic diagram of prototype crawler vehicle

15 Inclined shape of Front-end and Rear-end of rubber crawler with 45 Prototype crawler vehicle

16 Specification of the prototype crawler vehicle Parameters Unit Value Sizes of the prototype (LxWxH) Weight of the prototype(depending on harvesting device) Power of the prototype Ground contact length of rubber crawler Width of rubber crawler Lug height of rubber crawler Front-end inclination of rubber crawler Rear-end inclination of rubber crawler Ground contact area of rubber crawlers Driving speed of the prototype mm 2800 x 1040 x 1460 kn 5.59 ~ 9.21 kw 5.1 mm 900 mm 180 mm m m/s 0.1 ~ 0.3

17 Field test for the Prototype crawler vehicle Side-overturn test for the prototype crawler vehicle Side-overturn angle measuring device

18 Driving and Crawler slip test for the prototype Parameters Test conditions Driving test - Weight of the test vehicle - Water depth of test field Crawler slip test - Ground condition - Driving speed - Weight of the test vehicle - Water depth of test field -Testdrivingdistance 3 levels (5.59, 7.64, 9.21 kn) 0.5 m 2 types (Concrete, Paddy) 3 levels (Ⅰ,Ⅱ, Ⅲ gear-shift) kn 0.5 m 10 m

19 Prototype crawler slip test by driving speeds

20 Coefficient of road adhesion of crawler F=µW where F : Drawbar pull, N W : Weight of the vehicle, N µ : Coefficient of road adhesion

21 Drawbar pull test for the prototype Load cell(allowable load 4.9 kn) Weight of Prototype vehicle : 8.53 kn Data acquisition(dewe-2010)

22 Results and Discussion

Preliminary field test for the test rubber crawler vehicle Sinking depth and driving condition for the test crawler vehicle Weight of the test vehicle (kn) Sinking depth of

23 Preliminary field test for the test rubber crawler vehicle Sinking depth and driving condition for the test crawler vehicle Weight of the test vehicle (kn) Sinking depth of crawler (m) Driving condition backward forward ~0.06 good good ~0.1 bad good Crawler sinking condition under backward driving (weight of the vehicle : 5.49 kn)

24 Rolling resistance of semi-circular shape crawler in paddy field W (5.49 N) Rear sprocket diameter Ø 240 mm Sinking depth 90~100 m m 75~83% of radius of sprocket Rear sprocket diameter Ø 240 mm Digging into ground (backward) W (2.55 N) Ground Driving (forward) Sinking depth 50~60 mm 42~50% of radius of sprocket Driving (backward) Ground Driving (forward)

25 The drawbar pull Weight of the test vehicle (kn) Bearing capacity of the ground contact rubber crawlers (kn/m 2 ) Paddy field Drawbar pull and Coefficient road adhesion Dry field Concrete pavement kn µ kn µ kn µ µ : Coefficient of road adhesion

26 dry field concreat pavement paddy field Drawbar pull ( kn ) Bearing capacity of test rubber crawler ( kn/m 2 ) The drawbar pull by the bearing capacity of test rubber crawler under the field condition

27 dry field concreat pavement paddy field Coefficient of road adhesion Bearing capacity of test rubber crawler ( kn/m 2 ) The coefficient road adhesion by the bearing capacity of test rubber crawler under the field condition

28 Field test for Prototype crawler vehicle Side-overturn angle of Prototype vehicle Prototype Side-overturn angle : mm

Driving condition of Prototype vehicle Level of

by weight 5.56 kn 7.64 kn 9.21 kn Ⅰ~ Ⅲ 0.070 ~ 0.

Ⅱ(middle speed), Ⅲ(high speed) Crawler sinking

29 Driving condition of Prototype vehicle Level of shift gear 1 Driving speed (m/s) Driving condition by weight 5.56 kn 7.64 kn 9.21 kn Ⅰ~ Ⅲ ~ Good Good Good 1 Foot Note: Ⅰ(low speed), Ⅱ(middle speed), Ⅲ(high speed) Crawler sinking depth : 0.13 m Water depth : 0.35 m Vehicle weight : 7.64 kn

30 Ratio of the crawler slip of the prototype vehicle Level of shift gear 1 Driving speed (m/s) Water Concrete paddy field pavement (a) (b) Ratio of crawler slip (%) [(b-a)/b]*100 Ⅰ Ⅱ Ⅲ Foot Note: Ⅰ(low speed), Ⅱ(middle speed), Ⅲ(high speed)

31 Drawbar pull of the prototype vehicle Maximum drawbar pull : 3.5 kn Conditions -Weight of prototype vehicle : 8.51 kn - Rubber crawler bearing capacity of 26.3 kn/ m 2

32 Conclusions

33 Conclusions Most important factor of a driving vehicle in paddy field was the inclined shape of crawler at front-end and rear-end. A prototype crawler vehicle was designed with inclination of 45 at front-end and rear-end of crawler for reliable driving and the side-overturn angle of 26.4 for safety. The drawbar pull and the maximum sinking depth of the prototype vehicle were 3.5 kn and 0.13 m under weight of 8.51 N. The driving test performance of the prototype crawler was satisfactory having enough drawbar pull and driving ability in the deep water-contained paddy field.

34 Thank you.

Development of a Crawler Type Vehicle to Travel in Water Paddy Rice Field for Water-Dropwort Harvest

Development of a Crawler Type Vehicle to Travel in Water Paddy Rice Field for Water-Dropwort Harvest Original Article J. of Biosystems Eng. 38(4):240-247. (2013. 12) http://dx.doi.org/10.5307/jbe.2013.38.4.240 Journal of Biosystems Engineering eissn : 2234-1862 pissn : 1738-1266 Development of a Crawler