作物表型信息获取机器人底盘设计与试验

Crop Phenotype Information Acquisition Robot Chassis Design and Experiment

为解决作物表型信息获取机器人底盘田间运行灵活性和稳定性能不佳的问题,针对小麦的种植模式和农艺要求,设计了一种作物表型信息获取机器人底盘。对底盘的整体结构、工作原理进行阐述,对关键部件进行了设计,并建立三维模型。利用ANSYS软件对车架进行静力学仿真,结果表明:底盘车架强度和刚度满足方案设计要求。对车架模态分析,结果表明:车架的固有频率与路面的激励频率不会发生重合,避免共振的产生。进行整机试制,并开展田间试验。田间性能试验结果表明:底盘的作业速度为3.6km/h,最小转弯半径为1.9m,直线行驶偏移率为1.98%,横向侧翻角伪30.15°,具有良好的转向灵活和稳定性能,能够满足作物表征信息获取的稳定高效工作要求。

In order to solve the problem of poor flexibility and stability performance of the crop phenotype information acquisition robot chassis in the field,a crop phenotype information acquisition robot chassis was designed for the cropping pattern and agronomic requirements of wheat.The overall structure and working principle of the chassis were elaborated,the design of the frame was completed,and the design and theoretical analysis of the chassis stabilization mechanism,the design and calculation of the driving and steering components were carried out,and the 3D model was established.ANSYS software simulated the frame,and the analysis results showed that the strength and stiffness of the chassis frame met the requirements of the program design.Finally,the whole machine was tested and field tests were conducted.The field performance test results show that the operating speed of the chassis is 3.6km.h,the minimum turning radius is 1.9m,the straight-line driving offset rate is 1.98%,and the lateral rollover angle is 30.15°,which has good steering flexibility and stability performance and can meet the stable and efficient working requirements of crop characterization information acquisition.