平粮机器人结构设计及运动仿真  

The Structure Design and Motion Simulation of Grain Flatting Robot

作　　者：蒋林[1] 金祖飞 刘晓磊[1] 晏晚君[1] 叶维林 蔡军 张新友 

机构地区：[1]武汉科技大学机械自动化学院,武汉430081 [2]湖北叶威粮油机械有限公司,湖北荆门448124

出　　处：《农机化研究》2015年第12期78-86,共9页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(61105086);国家重点实验室开放基金项目(SKLRS-2010-MS-12)

摘　　要：目前,粮食储备库基本上采用人工进行粮面平整作业,不仅劳动强度大、效率低,而且由于粮库内粉尘多、粮食易流动性大给工作人员造成严重的安全隐患,研发一种平粮机器人代替人工进行粮面平整工作具有广阔市场前景和实用价值。为此,设计一种适用于高大平房仓的平粮机器人,建立其三维模型,并研制机器人实物样机。同时,因其工作时粮粒会进入履带和履带轮啮合区挤压履带变形,影响机器人行走,在履带上增加了履带密封避免粮粒进入履带。运用仿真软件Recurdyn对平粮机器人进行动力学仿真,对原地转向和爬坡性能进行分析,确定最大爬坡角,验证机器人结构合理性和有效性。最后,建立试验环境对机器人粮面平整性能进行试验。试验表明:机器人在一定程度上能完成粮面整理工作。At present the grain surface flatting operation of each grain storage essentially manually , not only labor inten-sive , low efficiency , but more dust in the grain storage , grain easy mobility resulting a serious security risk to staff . Therefore develop a grain flatting robot instead of manually work to operate the grain surface flatting has a broad market prospects and practical value .The dissertation designed a grain surface flatting robot for large size horizontal warehouse , establishing a three-dimensional model of the robot , and developed the robot physical prototype .When it works , grain particle will enter into the meshing area of track and track wheel deforming the track , it impacts the walking of robot . Therefore , track seal was added to the track to avoid grain particle enter into the track .Then use of simulation software Recurdyn on grain flatting robot dynamics simulation , take the analysis focused on the robot ’ s ability of pivot turning and climbing , and determine the maximum angle of climbing , the experiments verified the reasonableness and validity of the robot structure .Finally , we establish experimental environment to experiment the grain surface flatting properties of ro-bot .The experimental results show the robot can completed grain surface flatting work in a certain extent .

关 键 词：平粮机器人 结构设计 运动仿真 

分 类 号：S233.73[农业科学—农业机械化工程] TP24[农业科学—农业工程]