果园采摘平台行走机构的研究现状及发展趋势

Research Status and Development Trend of Running Gear in Orchard Picking Platform

果园采摘平台是果实采摘过程中运用得最多的采摘机械。我国果树多种植在丘陵山地,地面崎岖不平,采摘机械行走机构性能的好坏关系到果园采摘作业效率和作业人员的安全。为此,从目前国内外常见的果园采摘平台行走机构典型应用分析入手,结合丘陵山地果园地貌特征以及小型机器人行走机构的部分应用,提出设计一种适合丘陵山地果园行走的、具有轻质化以及高离地间隙特征的仿形履带式行走机构。该机构在我国果园采摘平台的研制和推广上具有实际应用价值。

Orchard picking platform is the most commonly used picking machinery during fruit picking process. The running gear performance of picking machinery is relate to the operating efficiency of orchard picking and the security of operating personnel, for fruit trees are planted on rough hilly and mountains terrain in China. This paper started with analysing the typical application of running gear in orchard picking platform at home and abroad, and combining with the geomorphic feature in hilly mountains and part application of running gear in minitype robot, a copying crawler-type running gear was putted forward to be designed. The mechanism was lighter and has high ground clearance appropriated for orchard in hilly mountains, which has practical application value in the research and popularization of orchard picking platform in our country.