电动遥控履带式果园喷药车的设计

Design of Electric Radio-controlled Caterpillar Spraying Vehicle for Orchard

为提高果园施药自动化水平,采用汽油发电机作为动力源,直流无刷伺服电机作为运动执行器,设计了电动遥控履带式喷药车。与传统差速转向履带式车相比较,电动履带式喷药车速度控制更精准,遥控作业更灵活。试验结果表明:所设计的电动履带式喷药车可完成30°斜坡爬坡及30m直线行进,直线偏差在1°以内,空旷地块遥控距离可达8km,树林内遥控可达1km,具有较高的实用性,具备应用推广价值。

To improve the automation level of orchard spraying vehicle,an electric radio-controlled caterpillar spraying vehicle was designed for orchard plant protection.The vehicle use gasoline generator as power source and BLDC(brushless DC motor)to drive the vehicle.Compared with traditional caterpillar vehicle which using differential gear to control the vehicle’s steering,the electric caterpillar spraying vehicle has precise speed and can be radio-controlled more flexible.The experiments results illustrate that the designed spraying vehicle can climb over 30°slope,the bias angle is less than 1°if the vehicle straight ahead 30 m,the remote control distance can reach 8 km at open space and 1 km in the woods.The proposed intelligent spraying vehicle is highly practical and has the value to popularize.