苗圃田间自走式电动双轨运输机设计与试验
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广东省科技计划重点研发项目(2019B020223001;2020B090926004); 广东省现代农业产业技术体系创新团队(2020KJ120-CJXG)


Design and test of a self-propelled electric double-track transporter for nursery field
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    摘要:

    为实现苗圃田间果树钵苗的快速搬运,研制了一种适用于苗圃田间的自走式电动双轨运输机。针对运输机的应用环境、果树钵苗质量大小等需求,分析提出运输机应具备的装载量、电机功率、运输速度等设计参数;并根据技术参数要求,提出运输机的总体结构并对关键部件进行设计;最后,对运输机进行了实验室与田间试验。试验结果显示,运输机载重能力为750 kg,空载每百米能耗为9.16 W·h,满载每百米能耗为27.6 W·h,运行速度为0.564~0.718 m/s,运输机从起步到匀速行驶所用时间小于2.5 s,紧急制动距离小于0.05 m,振动加速度振幅总体小于0.4 g。以上结果表明,研制的运输机可以满足实现苗圃田间作业需求,可以有效提高作业效率、降低劳动强度。

    Abstract:

    In order to realize the rapid transportation of the pot seedlings of fruit trees in the nursery fields,a self-propelled electric double-track transporter for the nursery fields was developed. According to the application environment of the transporter,the quality of pot seeding of fruit trees and other requirements,the main technical parameters including the the loading capacity,operating speed,remote control distance,and motor battery was proposed. According to the requirements of technical parameters. The overall structure of the transporter was determined and the key components such as vibration damping,leveling and limit mechanism were designed. Among them,the overall structure of the transporter was mainly composed of a cargo trolley and a traction head used for traction of the cargo trolley,and which had the functions of obstacle avoidance,remote control and automatic walking. This transporter chooses a customized lithium iron phosphate battery as its power supply. The battery dimensions were 440,235,and 230 mm in length,width and height respectively. The voltage was 24 V,the battery mass was 22.4 kg,and the battery capacity was 220 A·h. The driving mode of the transporter was a four-wheel drive direct-drive traction head to pull the cargo trolley to slide on the track through the traction component. The circuit based on PLC control was designed,which includes wiring module,insurance module,travel switch circuit module,motor controller module,remote control module,indicator light module,obstacle avoidance module and encoder control. The vibration damping and leveling mechanism of the transporter was fixed between the support leg and the bracket. Each leveling mechanism was composed of 4 springs,a perforated splint fixed on the frame,4 sleeve shafts,4 positioning and 4 screw nuts. The limit mechanism of the transporter includes a universal bearing to prevent rail collision,an anti-rollover wheel to prevent rollover,a load-bearing pulley or a driving friction wheel,and its function was to limit the transporter to travel along the track. After the design was completed,tests in both lab and nursery fields were carried out. The results of test showed that the transporter can adapt to the muddy working environment of the nursery fields,with a load capacity of 750 kg. According to the outdoor test,every 100 m of the transporter forward,the energy consumption of no-load was 9.16 W·h,while the full-load was 27.6 W·h,and the running speed of the transporter was 0.564-0.718 m/s. It took less than 2.5 s for the transporter from starting to a uniform speed,less than 2.2 m for the brake glide distance of the transporter and less than 0.05 m for the emergency brake distance. Additionally,the vibration acceleration amplitude of the transporter was less than 0.4 g in general. In conclusion,the transporter was designed and manufactured,which can improve the efficiency of transportation,reduce labor intensity,and ensure safety during transportation.

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张建莉,岳丹丹,吴伟斌,洪添胜,杨晓彬,陈明,郑泽锋.苗圃田间自走式电动双轨运输机设计与试验[J].华中农业大学学报,2020,39(6):113-120

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  • 收稿日期:2020-08-03
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  • 在线发布日期: 2020-12-01
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