小型烟草植保机移动平台结构设计与试验
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摘要
针对皖南山区高垄畦沟环境下小型烟草植保机田间作业易侧翻、难调头的问题,根据植保机在高垄畦沟田间行走的稳定性与转向要求,通过对传动系统与转向系统进行分析,设计了小型轮式烟草植保机。利用Recur Dyn/Track仿真软件,建立植保机与田垄结构的动力学与运动学模型,完成植保机移动平台设计和优化,并对植保机在高垄畦沟田间环境下进行试验。仿真结果表明,设计的植保机模型能够达到转向半径为0. 8 m的实际要求,且沿垄间直线行驶时移动平台侧倾角小于3°,移动平台最佳作业速度为1. 0 m/s,验证了植保机移动平台模型具有良好的转向性和稳定性。植保机样机田间试验结果表明,移动平台在烟草田头转向性满足南方烟草垄作环境需求,利用惯导装置测试垄间移动植保机作业速度为1. 0 m/s时,最大侧倾角为14. 38°,没有超过其发生侧翻的临界角,能够安全通过。
Aiming to effectively overcome the difficulty in plant protection robot operation with rollover and insufficient steering space when driving in furrows located field at the south of Anhui Province.Taking stability and steering sensitivity of the wheeled tobacco plant protection mobile platform into consideration,by analyzing and adjusting the transmission system and steering system of the mobile platform,a wheeled mobile platform for driving and operating in tobacco fields was designed. The simulation software RecurDyn/Track was used to build the dynamics and kinematics models,and the mobile platform was optimally upgraded and designed in terms of mobility and steering performance. The robot was tested in the field with high furrow to verify the simulation results. The results showed that these simulated models can turn around at the radius of 0. 8 m; the deviation was less than 3° when it was under straight-walking condition. And the optimum operating speed reached 1. 0 m/s through simulation analysis by comparing the motion stability at different moving speeds. All these numbers proved that the modelling robots were high in steering sensitivity and stability. Through the field experiment,the steering sensitivity of these modelling robots can meet the needs of tobacco fields in the south of Anhui Province.Furthermore,the inertial navigation device was used to test the deviation of the robots' walking angle and the walking stability between the ridges. The largest tilting angle was 14. 38° when the mobile plant protection machine operation speed was 1. 0 m/s. The research developed the design of mobile platforms in managing the high-ridge farmlands both in theory and technology.
Aiming to effectively overcome the difficulty in plant protection robot operation with rollover and insufficient steering space when driving in furrows located field at the south of Anhui Province.Taking stability and steering sensitivity of the wheeled tobacco plant protection mobile platform into consideration,by analyzing and adjusting the transmission system and steering system of the mobile platform,a wheeled mobile platform for driving and operating in tobacco fields was designed. The simulation software RecurDyn/Track was used to build the dynamics and kinematics models,and the mobile platform was optimally upgraded and designed in terms of mobility and steering performance. The robot was tested in the field with high furrow to verify the simulation results. The results showed that these simulated models can turn around at the radius of 0. 8 m; the deviation was less than 3° when it was under straight-walking condition. And the optimum operating speed reached 1. 0 m/s through simulation analysis by comparing the motion stability at different moving speeds. All these numbers proved that the modelling robots were high in steering sensitivity and stability. Through the field experiment,the steering sensitivity of these modelling robots can meet the needs of tobacco fields in the south of Anhui Province.Furthermore,the inertial navigation device was used to test the deviation of the robots' walking angle and the walking stability between the ridges. The largest tilting angle was 14. 38° when the mobile plant protection machine operation speed was 1. 0 m/s. The research developed the design of mobile platforms in managing the high-ridge farmlands both in theory and technology.
引文
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[12]耿长兴,张俊雄,曹峥勇,等.温室黄瓜病害对靶施药机器人设计[J].农业机械学报,2011,42(1):177-180.GENG Changxing,ZHANG Junxiong,CAO Zhengyong,et al.Design of target-to-target pesticide application robot for greenhouse cucumber diseases[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(1):177-180.(in Chinese)
[13]刘雪美,李扬,李明,等.喷杆喷雾机精确对靶施药系统设计与试验[J/OL].农业机械学报,2016,47(3):37-44.LIU Xuemei,LI Yang,LI Ming,et al.Design and test of precision spraying system for spraying rod sprayer[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):37-44.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160306&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.03.006.(in Chinese)
[14]余志生.汽车理论[M].5版.北京:机械工业出版社,2009.
[15]袁玲合.三轮高地隙中耕精量施肥机设计与试验[D].郑州:河南农业大学,2017.YUAN Linghe.Design and experiment of three-wheel high ground gap cultivating precision fertilizer machine[D].Zhengzhou:Henan Agricultural University,2017.(in Chinese)
[16]路敌,郭康权.柔性底盘的转向运动模型[J].农机化研究,2011,33(4):219-222.LU Di,GUO Kangquan.Steering motion model of flexible chassis[J].Journal of Agricultural Mechanization Research,2011,33(4):219-222.(in Chinese)
[17]曾锦锋,陈晨,杨蒙爱.基于阿克曼转向原理的四轮转向机构设计[J].轻工机械,2013,31(3):13-16,19.ZENG Jinfeng,CHEN Chen,YANG Mengai.Design of four-wheel steering mechanism based on Ackerman steering principle[J].Light Industry Machinery,2013,31(3):13-16,19.(in Chinese)
[18]张骞,李年裕,杨怀彬,等.基于Recur Dyn和Matlab/Simulink的一种小型轮式平台的联合仿真[J].计算机测量与控制,2018,26(3):112-115.ZHANG Qian,LI Nianyu,YANG Huaibin,et al.Cosimulation of a small wheeled platform based on Recur Dyn and Matlab/Simulink[J].Computer Measurement&Control,2018,26(3):112-115.(in Chinese)
[19]李波,张承宁,李军求.基于Recur Dyn和Simulink的电传动车辆转矩控制策略[J].农业机械学报,2009,40(7):1-5.LI Bo,ZHANG Chengning,LI Junqiu.The torque control strategy of electric drive vehicle based on Recur Dyn and Simulink[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):1-5.(in Chinese)
[20]宋树杰,瞿济伟,李翊宁,等.农用车底盘偏置转向轴驱动轮运动与动力特性试验[J].农业工程学报,2015,31(23):28-34.SONG Shujie,QU Jiwei,LI Yining,et al.Test on motion and dynamic characteristics of driving wheel of steering shaft with offset chassis of agricultural vehicle[J].Transactions of the CSAE,2015,31(23):28-34.(in Chinese)
[21]戴飞,赵武云,马明义,等.双垄耕作施肥喷药覆膜机工作参数优化[J/OL].农业机械学报,2016,47(1):83-90.DAI Fei,ZHAO Wuyun,MA Mingyi,et al.Parameters optimization of operation machine for tillage-fertilization and sprayingfilming on double ridges[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):83-90.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160112&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.01.012.(in Chinese)
[2]武忠明.烟草种植制度及其技术保障措施[J].农业与技术,2018,38(14):11-12.WU Zhongming.Tobacco planting system andits technical safeguards[J].Agriculture and Technology,2018,38(14):11-12.(in Chinese)
[3]陈晓红,姜肇景,陈秀斋,等.烤烟覆膜机压膜装置的研制与应用[J].农业开发与装备,2017(1):69-73.CHEN Xiaohong,JIANG Zhaojing,CHEN Xiuzhai,et al.Development and application of film-pressing device for flue-cured tobacco filmcovering machine[J].Agricultural Development&Equipments,2017(1):69-73.(in Chinese)
[4]燕亚民,王双.导苗管式烟草移栽机的设计[J].青岛农业大学学报(自然科学版),2017,34(2):147-151.YAN Yamin,WANG Shuang.Design of seedlingguiding tube tobacco transplanter[J].Journal of Qingdao Agricultural University(Natural Science Edition),2017,34(2):147-151.(in Chinese)
[5]张秀丽,仝振伟,李连豪,等.复合切削式烟草中耕培土机设计与试验[J/OL].农业机械学报,2018,49(9):73-81.ZHANG Xiuli,TONG Zhenwei,LI Lianhao,et al.Design and test of compound cutting tobacco cultivator[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):73-81.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180908&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2018.09.008.(in Chinese)
[6]赵明宇,王英姿,邱立春,等.我国植保机械的使用现状及发展趋势[J].中国农机化,2004(3):37-38.ZHAO Mingyu,WANG Yingzi,QIU Lichun,et al.The current status and development trend of plant protection machinery in China[J].Journal of Chinese Agricultural Mechanization,2004(3):37-38.(in Chinese)
[7]卢燕回,邓涛,孙菲,等.我国烟草植保机械使用现状与发展趋势[J].广西植保,2018,31(2):18-21.LU Yanhui,DENG Tao,SUN Fei,et al.Current situation and development trend of tobacco plant protection machinery in China[J].Guangxi Plant Protection,2018,31(2):18-21.(in Chinese)
[8]权龙哲,申静朝,奚德君,等.狭闭空间内苗盘物流化搬运机器人运动规划与试验[J/OL].农业机械学报,2016,47(1):51-59.QUAN Longzhe,SHEN Jingchao,XI Dejun,et al.Motion planning and test of robot for seedling tray handling in narrow space[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):51-59.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20160108&flag=1.DOI:10.6041/j.issn.1000-1298.2016.01.008.(in Chinese)
[9]苑进,赵新学,李明,等.高地隙喷杆式与隧道式一体喷雾机的设计与试验[J].农业工程学报,2015,31(增刊2):60-68.YUAN Jin,ZHAO Xinxue,LI Ming,et al.Design and experiment of highland gap sprayer and tunnel type sprayer[J].Transactions of the CSAE,2015,31(Supp.2):60-68.(in Chinese)
[10]SANCHEZ-HERMOSILLA J,GONZALEZ R,RODRIGUEZ F,et al.Mechatronic description of a laser autoguided vehicle for greenhouse operations[J].Sensors,2013,13(1):769-784.
[11]张铁民,黄翰,黄鹏焕.电动轮式移动小车控制系统设计与试验[J].农业工程学报,2014,30(19):11-18.ZHANG Tiemin,HUANG Han,HUANG Penghuan.Design and test of electric wheeled mobile car control system[J].Transactions of the CSAE,2014,30(19):11-18.(in Chinese)
[12]耿长兴,张俊雄,曹峥勇,等.温室黄瓜病害对靶施药机器人设计[J].农业机械学报,2011,42(1):177-180.GENG Changxing,ZHANG Junxiong,CAO Zhengyong,et al.Design of target-to-target pesticide application robot for greenhouse cucumber diseases[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(1):177-180.(in Chinese)
[13]刘雪美,李扬,李明,等.喷杆喷雾机精确对靶施药系统设计与试验[J/OL].农业机械学报,2016,47(3):37-44.LIU Xuemei,LI Yang,LI Ming,et al.Design and test of precision spraying system for spraying rod sprayer[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):37-44.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160306&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.03.006.(in Chinese)
[14]余志生.汽车理论[M].5版.北京:机械工业出版社,2009.
[15]袁玲合.三轮高地隙中耕精量施肥机设计与试验[D].郑州:河南农业大学,2017.YUAN Linghe.Design and experiment of three-wheel high ground gap cultivating precision fertilizer machine[D].Zhengzhou:Henan Agricultural University,2017.(in Chinese)
[16]路敌,郭康权.柔性底盘的转向运动模型[J].农机化研究,2011,33(4):219-222.LU Di,GUO Kangquan.Steering motion model of flexible chassis[J].Journal of Agricultural Mechanization Research,2011,33(4):219-222.(in Chinese)
[17]曾锦锋,陈晨,杨蒙爱.基于阿克曼转向原理的四轮转向机构设计[J].轻工机械,2013,31(3):13-16,19.ZENG Jinfeng,CHEN Chen,YANG Mengai.Design of four-wheel steering mechanism based on Ackerman steering principle[J].Light Industry Machinery,2013,31(3):13-16,19.(in Chinese)
[18]张骞,李年裕,杨怀彬,等.基于Recur Dyn和Matlab/Simulink的一种小型轮式平台的联合仿真[J].计算机测量与控制,2018,26(3):112-115.ZHANG Qian,LI Nianyu,YANG Huaibin,et al.Cosimulation of a small wheeled platform based on Recur Dyn and Matlab/Simulink[J].Computer Measurement&Control,2018,26(3):112-115.(in Chinese)
[19]李波,张承宁,李军求.基于Recur Dyn和Simulink的电传动车辆转矩控制策略[J].农业机械学报,2009,40(7):1-5.LI Bo,ZHANG Chengning,LI Junqiu.The torque control strategy of electric drive vehicle based on Recur Dyn and Simulink[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):1-5.(in Chinese)
[20]宋树杰,瞿济伟,李翊宁,等.农用车底盘偏置转向轴驱动轮运动与动力特性试验[J].农业工程学报,2015,31(23):28-34.SONG Shujie,QU Jiwei,LI Yining,et al.Test on motion and dynamic characteristics of driving wheel of steering shaft with offset chassis of agricultural vehicle[J].Transactions of the CSAE,2015,31(23):28-34.(in Chinese)
[21]戴飞,赵武云,马明义,等.双垄耕作施肥喷药覆膜机工作参数优化[J/OL].农业机械学报,2016,47(1):83-90.DAI Fei,ZHAO Wuyun,MA Mingyi,et al.Parameters optimization of operation machine for tillage-fertilization and sprayingfilming on double ridges[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):83-90.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160112&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.01.012.(in Chinese)