前后双驱双转向玉米播种机器人底盘设计与试验  

Design and experiment of the maize sowing robot chassis with front and rear dual drive and dual steering

作　　者：王泉玉 何进[1,2] 卢彩云 王超[1,2] 杨翰瑜 李航 谭露 WANG Quanyu;HE Jin;LU Caiyun;WANG Chao;YANG Hanyu;LI Hang;TAN Lu(College of Engineering,China Agricultural University,Beijing 100083,China;Scientific Observing and Experiment Station of Arable Land Conservation(North Hebei),Ministry of Agricultural and Rural Affairs,Zhuozhou 072750,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]农业农村部河北北部耕地保育科学观测实验站,涿州072750

出　　处：《农业工程学报》2025年第4期10-20,共11页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家现代农业产业技术体系建设项目(CARS-03)。

摘　　要：在无人化、智能化农机装备快速发展背景下,结合玉米根茬地玉米种植模式和实际需求,该研究提出了一种基于无线遥控技术的前后双驱双转向玉米播种机器人底盘,可搭载玉米播种作业部件实现无人化玉米播种。结合实际作业场景特点和玉米种植要求,确定了底盘整体结构与布局,并对车架、驱动转向系统、拱形调平机构和控制系统等关键部件进行了设计。基于ANSYS对车架进行静态和动态特性分析,结果表明车架结构设计合理,不会产生共振,在匀速满载弯曲和匀速满载扭转工况条件下,结构强度均能满足田间播种作业的设计要求。通过理论分析和样机试验相结合的方法,验证了玉米播种机器人底盘的各项工作性能,结果表明,底盘采用前后轮同步转向方式时转弯半径最小,田间最大行驶速度为1.461 m/s,直线行驶平均偏移率为4.42%;底盘能平稳地通过8°~15°斜坡和6~15 cm的凸起和凹陷障碍,具备良好的复杂地形通过性能;在不同试验条件下进行播种,底盘的播深合格率均大于86%,无重播漏播,行距最大偏差不大于4 cm,符合玉米精密播种作业要求。This study aims to promote the intelligent development of field crop sowing for low labor intensity.A front and rear dual-drive and dual-steering robot chassis was designed for maize sowing using a wireless remote control system.Some components were equipped to realize the unmanned maize sowing.The overall structure and layout of the chassis were also determined to fully meet the requirements of maize sowing in the maize stubble fields.The key components were designed as well,such as the frame,drive steering system,arch leveling mechanism,and control system.According to theoretical calculation,two AC asynchronous motors of 2.2 kW were used to provide the driving force for the chassis.A column-type electric power steering was used to obtain the front and rear wheel steering.A wire-controlled brake was used for the remote braking during sowing.The vehicle control system was constructed with the VCU(vehicle control unit)as the core controller.Radio signals were also transmitted between the remote control and VCU.CAN bus communication was adopted between VCU and the rest subsystems.The static and modal analysis was performed on the frame using the finite element method,in order to verify the structural design and material strength of the frame.As such,the maximum equivalent stress of the frame was 98.2 MPa at the constant speed under full load bending.The maximum deformation was 1.84 mm.In terms of full load torsion,the maximum equivalent stress of the frame was 106.65 MPa at the constant speed,and the maximum deformation was 2.05 mm.The stress at each position of the frame was less than the standard stress of the material.The constrained modal analysis showed that the first-order natural frequency of the frame was 34.442 Hz,and the maximum deformation was 6.4159 mm.While the vibration frequencies caused by terrain undulations and ditching were generally less than 20 and 10 Hz,respectively.Therefore,the influence of resonance on the performance of the sowing components was effectively avoided after optimization.The f

关 键 词：玉米 底盘 有限元分析 播种机器人 性能试验 

分 类 号：S224.2[农业科学—农业机械化工程]