Venlo型温室机器人路轨通用底盘减震装置设计  

Design of a Universal Chassis Damping Device for Road and Track for Venlo-type Greenhouse Robots

作　　者：刘晓雪 倪志永 LIU Xiaoxue;NI Zhiyong(Shandong Huayu University of Technology,Dezhou 253000,China;Tianjin University of Science and Technology,Tianjin 300457,China)

机构地区：[1]山东华宇工学院,山东德州253000 [2]天津科技大学,天津300457

出　　处：《农机使用与维修》2024年第11期11-14,19,共5页Agricultural Machinery Using & Maintenance

基　　金：山东华宇工学院校级科研计划项目(2023KZ04)。

摘　　要：针对Venlo型温室机器人路轨通用底盘抓地性、越障性较差,易打滑,对地面平整度要求较高的问题,设计了一种底盘减震装置。在两驱动轮上分别添加减震装置,适应温室凹坑与凸起为10 mm路面环境,可通过减震杆上的调节螺母控制减震装置初始弹力的大小。基于理论分析进行减震结构设计,并通过越障试验,验证了底盘减震装置结构的合理性,可顺利通过10 mm的凹坑与凸起,越障过程中底盘运行平稳,无打滑出现,单障碍物越障时底盘中心线最大偏移量为0.72°。该研究可为Venlo型温室机器人底盘设计提供参考。A chassis damping device is proposed for the Venlo type greenhouse robot road track universal chassis with poor grip,obstacle crossing,easy to slip,and high requirements for ground level.Shock absorbing mechanism is added to the two driving wheels respectively,adapting to the greenhouse pit bump for 10 mm road environment,and the size of the initial elasticity of the shock absorbing device can be controlled by the adjusting nut on the shock absorbing rod.Based on the theoretical analysis,the damping structure is designed,and the barrier-crossing performance of the damping device is analysed by ADAMS dynamics simulation.Finally,through the obstacle-crossing test,the rationality of the chassis damping device structure was verified,and it could pass through 10 mm pits and bumps smoothly,and the chassis operated smoothly during the obstacle-crossing process,with no slippage,and the maximum chassis centreline offset was 0.72°during the obstacle-crossing of a single obstacle.This study can provide a reference for the design of Venlo greenhouse robot chassis.

关 键 词：路轨通用底盘 减震机构 越障性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]