履带自走式水果采摘作业平台的设计与试验  

Design and test of the self-propelled crawler work platform for fruit picking

作　　者：席远军 高旭宏 刘洪峰 王春吉 高鹏 

机构地区：[1]天津华尚思坦德汽车技术有限公司,天津市300384 [2]航天新长征电动汽车技术有限公司,北京市100176

出　　处：《中国农机化学报》2017年第11期17-23,共7页Journal of Chinese Agricultural Mechanization

基　　金：航天技术应用产业"高端农牧设备"资助项目(030415000)

摘　　要：为解决水果采摘高度超过5m时作业难度大、安全性差、效率低的突出问题,研制一款新型履带自走式水果采摘作业平台,最大作业高度可达到12m。通过建立整车行走系统的数学模型,进行动力匹配计算;使用ADAMS对臂架的作业性能进行动态仿真分析;最后在柿子果园内进行场地试验测试。结果表明:整车具有不低于40%的爬坡能力且原地转向灵活自如;在300kg承载的条件下,作业过程中各油缸承载力的测试数据与仿真计算结果的最大值误差均不超过10%;整车的动力性能和作业性能满足果园高空采摘的使用要求。To solve the difficulty of safe operation and low efficiency at heights more than 5 min the process of fruit picking,the selfpropelled crawler work platform（SCWP）was designed,the maximum working height of which is up to 12 m.By establishing a mathematical model of the vehicle＇s walking system,the power match of the hydraulic driving system of the SCWP was calculated.Then the dynamic operation performance of the articulating booms of the SCWP was analyzed by software ADAMS.Last,the field tests were carried out in the persimmon orchard.The test results show that climbing ability exceeds 40%,pivot steering ability is flexible,and the maximum values error of the different cylinders force between test results and simulation calculation data are less than 10%under the conditions of 300 kg.The dynamic performance and operation performance of the SCWP are satisfied for fruit picking at heights.

关 键 词：履带自走式 水果采摘 平台 仿真分析 ADAMS 

分 类 号：S225.59[农业科学—农业机械化工程]