农业机械学报2025，Vol.56Issue(1)：474-483,10.DOI:10.6041/j.issn.1000-1298.2025.01.045
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
摘要
Abstract
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Key words
tea picking machine/crawler self-propelled type/passing ability/overcoming obstacles分类
机械制造引用本文复制引用
吴正敏,陈乐,汪义勇,罗坤,赖筱杰,张雪晨,曹成茂..履带自走式采茶机行走底盘通过性设计与试验[J].农业机械学报,2025,56(1):474-483,10.基金项目
国家重点研发计划项目(2021YFD1601102)和国家自然科学基金项目(52105239) （2021YFD1601102）
