履带式除草机器人高地隙移动平台机构优化设计

Mechanism Optimization Design of Crawler Weeding Robot with High Clearance Moving Platform

针对田间除草机械化水平低导致生产效率低下的问题,设计了一种履带式除草机器人移动平台。此移动平台可以实现一机多用、多行作业、灵活机动。结合田间种植模式和农艺要求,确定了适合高秆作物田间管理作业需求的高地隙移动平台总体方案。对传动机构、履带机构、车架结构进行了设计。以理论计算、运动仿真的方法分析了移动平台的稳定性,2种方法结果基本一致,得出移动平台上、下坡与横向倾覆角分别为43.62°、43.02°、42.3°。在农田实际工况下对样机进行了性能试验,结果表明移动平台行进速度范围为0.4~6 km/h,远程摇控距离>450 m,可承载150 kg负载并稳定移动,能顺利实现原地转向,满足除草装置的运载与作业需求。

In this paper,aiming at the problem of low production efficiency caused by low mechanization level of weeding in field,a crawler weeding robot mobile platform is designed in this paper.The mobile platform can realize multi-purpose,multi-line operation and flexibility.Combined with the planting pattern of field plants and agronomic requirements,the overall scheme of gap moving platform suitable for field management of tall crop is determined.The transmission mechanism,crawler mechanism and frame struc‐ture are designed.The stability of the mobile platform is analyzed by theoretical calculation and motion simulation.The results of the two methods are basically consistent,and the upslope and lateral overturning angles of the mobile platform are 43.62°,43.02°and 42.3°.The experimental results show that the moving speed of the platform ranges from 0.4~6 km/h,the remote remote control distance is more than 450 m,and the platform can carry 150 kg load and move stably.The platform can smoothly realize in-situ steer‐ing and meet the requirements of carrying and operation of weeding device.