丘陵山地四轴自调平作业平台设计与试验OA
Design and Test of Four-Axis Self-Leveling Operation Platform for Hilly and Mountainous Areas
为解决丘陵山地果园运输、采摘和信息采集作业时因坡度变化大等复杂环境使作业稳定性差、水平作业实现困难等问题,设计了一种丘陵山地果园作业自动调平系统,其兼备控制系统、调平结构和行走结构.首先,设计了自调平四点支撑调平系统,单支腿结合了双套筒保护结构,有效抵消了推杆受到的横向冲击力,确保调平的精确和电推杆的抗扭性能;其次,运用螺旋理论,建立了平台机构的运动模型并通过运动学正逆解分析其运动原理,设计了以单片机为核心的整机控制系统,融合了以直流直线推杆电机为主的电控系统和定点不动调平策略,可实现作业平台的俯仰与横滚角度 18°上下的自动调整,以提升系统在丘陵山区复杂地形下的稳定性和安全性.样机室内静态试验表明,该系统可以从不同的初始俯仰角和横滚角状态下调整至目标区间-0.5°～0.5°,得出俯仰方向平均调平速度 1.89 °/s、横滚方向平均调平速度1.97 °/s;动态试验结果表明,自动调平系统实际工作时的最大动态误差为-3°～3°.平台整体效果达到设计预期目标,证明其满足丘陵山地果园的使用要求,可为丘陵山地果园作业提供稳定可靠的设备搭载平台.
To solve the problems of poor stability of operations and difficulties in achieving horizontal operations in com-plex environments such as large slope changes during transportation,picking and orchard information collection in hilly and mountainous orchards,an automatic leveling system for operations in hilly and mountainous orchards was designed.This system integrates a control system,a leveling structure and a walking structure.Firstly,a self-leveling four-point support leveling system was designed.The single leg combined with the double sleeve protection structure effectively counterbalanced the lateral impact force on the push rod,ensuring the accuracy of leveling and the torsional resistance performance of the electric push rod.Secondly,by applying the spiral theory,the motion model of the platform mecha-nism was established and its motion principle was analyzed through the forward and reverse solutions of kinematics.A complete machine control system with the single-chip microcomputer as the core was designed,integrating the electrical control system mainly based on the DC linear push rod motor and the fixed-point stationary leveling strategy,to achieve the automatic adjustment of the 18° up and down angle changes of the pitch and roll of the working platform,to enhance stability and safety in the complex terrain of hilly and mountainous areas.The prototype trial production and tests were carried out.The indoor static tests showed that the system could be adjusted to the target range of-0.5°to 0.5°from dif-ferent initial pitch angles and roll angles.The average leveling speed in the pitch direction was 1.89 °/s and the average leveling speed in the roll direction was 1.97 °/s.The dynamic test results showed that the maximum dynamic error dur-ing actual operation was-3°to 3°.The overall results met the expected design goals,proving that this platform met the usage requirements of hilly and mountainous orchards and could provide a stable and reliable equipment loading platform for the operations of hilly and mountainous orchards.
黄伟东;杨松有;娄欢欢;李光林
西南大学 工程技术学院,重庆 400715西南大学 工程技术学院,重庆 400715西南大学 工程技术学院,重庆 400715西南大学 工程技术学院,重庆 400715
农业科技
丘陵山地自调平平台控制整机试验
hilly and mountainous areasself-leveling platformcontrolwhole machine test
《农机化研究》 2026 (9)
1-10,10
国家农业关键核心技术重大攻关项目子课题(NK2022160104)
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