履带自走式采茶机行走底盘通过性设计与试验  

Design and Experiment on Traversibility of Traveling Chassis of Crawler Self-propelled Tea Picker

作　　者：吴正敏 陈乐 汪义勇 罗坤 赖筱杰 张雪晨 曹成茂[3] WU Zhengmin;CHEN Le;WANG Yiyong;LUO Kun;LAI Xiaojie;ZHANG Xuechen;CAO Chengmao(School of Tea and Food Science and Technology,Anhui Agricultural University,Hefei 230036,China;State Key Laboratory of Tea Plant Biology and Utilization,Hefei 230036,China;College of Technology,Anhui Agricultural University,Hefei 230036,China;College of Mechanical Engineering,Tongling University,Tongling 244061,China)

机构地区：[1]安徽农业大学茶与食品科技学院,合肥230036 [2]茶树生物学与资源利用国家重点实验室,合肥230036 [3]安徽农业大学工学院,合肥230036 [4]铜陵学院机械工程学院,铜陵244061

出　　处：《农业机械学报》2025年第1期474-483,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2021YFD1601102);国家自然科学基金项目(52105239)。

摘　　要：针对复杂茶园环境下自走式采茶机行驶稳定性较弱等问题,开展了履带自走式采茶机行走底盘通过性能研究。采用UGNX 12.0对整车机构进行三维虚拟建模,通过RecurDyn开展多体动力学仿真,表明了在空载和带负载状态下三角履带底盘可以满足设计需求,并对采茶机横向、纵向稳定性以及越障进行了理论分析,求解出最大爬坡角度及越障高度。通过无线控制系统设计,建立了蓝牙APP通信实现对底盘无线控制;在此基础上,设计了4条三角履带跨行自走式采茶机整机,该采茶机可以在田间自主行走,并对采茶机行走底盘进行了田间试验,试验结果表明,采茶机在试验场地满载时最大爬坡角度达30°,最大越障高度为340 mm,能够满足现阶段茶园行走通过性需求。Aiming to address the challenges of weak driving stability in complex tea garden environments for self-propelled tea-picking machines,a study was conducted on the traversing performance of the crawler chassis of such machines.Utilizing UGNX 12.0,a three-dimensional virtual model of the entire vehicle mechanism was established,and multi-body dynamics simulations were performed using RecurDyn.These simulations demonstrated that the triangular crawler chassis designed can meet design requirements under both no-load and loaded conditions.Theoretical analyses were also conducted on the lateral and longitudinal stability of the tea-picking machine,as well as its obstacle-crossing capabilities.These analyses yielded solutions for the maximum climbing angle and obstacle-crossing height.Through the design of a wireless control system,Bluetooth APP communication was established to enable wireless control of the chassis.Based on this,a four-crawler,self-propelled,cross-row tea-picking machine was designed,capable of autonomous navigation in the field.Field tests were conducted on the traversing chassis of this machine,and the results indicated that when fully loaded,the tea-picking machine can climb angles up to 30°and cross obstacles with a maximum height of 340 mm,satisfying the current traversability requirements in tea gardens.This research can provide a theoretical basis and reference for the design of autonomous track chassis in hilly and mountainous areas.

关 键 词：采茶机 履带自走式 通过性 越障 

分 类 号：TH113.2[机械工程—机械设计及理论]