大棚清洗机棚顶行走及检测装置的设计

Design of the Shed Cleaner Roof Walking and Testing Device

为保证大棚清洗机沿着棚顶纵向杆直线行走不偏,提出了清洗机棚顶行走及检测装置的设计方案,完成了机械结构和系统控制程序的设计,在棚顶行走装置上增加一套安装有轴转角传感器的辅助轮,传感器检测各辅助轮的转角变化率,将信号传输给控制器,控制器分析各辅助轮转角变化率是否一致来判断整个棚顶行走装置是否走偏,通过控制清洗机两侧行走履带的电机速度进行自动矫正,保证清洗机棚顶行走装置在棚顶纵向杆上正常行走,完成清洗任务。

In order to guarantee that the greenhouse cleaning machine can walk straight along the longitudinal rod on the roof, this paper tries to put forward a design plan of shed cleaner roof walking and testing device, completed the design of the mechanical structure and system con- trol program, increase a set of auxihary wheel which installed with shaft Angle sensor on the roof walking device, Sensors detect the angle changing rate of each auxiliary wheel, and send the signal to the controller, the controller analyze whether the Angle changing rate of each auxiliary wheel is consistent to each other to decide if the walking device go astray. If so, it can adjust automatically by controlling the motor speed of track on both sides of cleaning machine to ensure the walking device of cleaning machine walk straight along the longitudinM rod to accomplish cleaning task.