货箱自适应调平果园作业平台设计与试验

Design and Testing of Adaptive Levelling Orchard Working Platform for Cargo Box

【目的】针对南方丘陵山区果园地势起伏不平,现有果园作业平台存在振动大、坡道运输货物易倾翻等问题,设计一种具有货箱伺服调平功能的电动果园作业平台。【方法】通过理论分析及Amesim仿真,试制果货箱自适应调平果园作业平台样机,并测试样机的续航里程、货箱伺服调平等性能参数。【结果】其满载续航时间为3.4 h,最高行驶速度为4 km/h,最大升降高度1.52 m,最小转弯半径为0.89 m。台架试验中空载动态调平误差平均值小于1°;满载动态调平误差平均值小于1.5°,在设计的爬坡角度以内,调平稳定时间最长为4.32 s,果园实地测试中,作业平台以1 km/h的行驶速度,测试在10°和15°纵坡、-10°和-5°横坡的调平性能,最终货箱自动调平角度均保持在-2°~2°;【结论】通过试验分析,货箱自适应调平果园作业平台性能良好,能够满足丘陵山区果园的采摘、运输等环节需要。

[Objective]In the uneven terrain of orchards in hilly and mountainous areas of southern China,the existing orchard operating platform has the shortcomings of large vibration and tippling goods when transporting on slopes.To solve the problem,this study aims to design an electric orchard operating platform with the function of cargo servo leveling.[Methods]Using theoretical analysis and Amesim simulation,the prototype of electric fruit auxiliary picking and transportation platform was designed,and the performance parameters such as range and cargo box servo leveling of the prototype were tested through experiments.[Results]The test results showed that the full-load range was 3.4 h,the maximum travel speed 3 km/h,the maximum lift height 1.52 m,the minimum turning radius 0.89 m.The average value of no-load dynamic leveling error was less than 1°in the bench test;the average value of full-load dynamic leveling error was less than 1.5°,and the maximum leveling stabilization time was 4.32 s within the designed climbing angle;In the orchard field tests,the work platforms was tested at 1 km/h on 10°and 15°longitudinal slopes and-10°and-5°transverse slopes,with the final selflevelling angle of the cargo box remaining within-2°to 2°.[Conclusion]In the tests,the adaptive levelling orchard work platform fro cargo box has good performance and can meet the needs of picking and transporting in hilly mountainous orchards.