河南农业大学学报2026，Vol.60Issue(2)：327-336,10.DOI:10.16445/j.cnki.1000-2340.20260226.001
履带式自动化微喷带铺设回收装置设计
Design of a crawler-type automated micro-sprinkler tape laying and retrieving device
摘要
Abstract
[Objective]This study aims to design an automated,small-scale crawler-type micro-sprinkler tape laying and retrieval device to address the current issues of low automation levels and high labor input associated with existing micro-sprinkler tape laying and retrieval equipment.[Method]By conducting an in-depth analysis of practical operational requirements,a small-scale crawler-type mobile chassis and a micro-sprinkler tape laying and retrieval mechanism were designed.Basic parameters,including ground contact pressure,track pitch,and the required power for travel and reeling,were determined.Prototypes of the load-bearing wheel system,guide wheel system,and reeling roller system were fabricated using 3D printing technology with acrylonitrile-butadiene-styrene(ABS)copolymer as the raw material.ANSYS software was employed,in conjunction with actual operational conditions,to verify the strength of the designed components.Additionally,the motion process during micro-sprinkler tape retrieval was analyzed using SolidWorks Motion.A control system integrating remote control,autonomous navigation,and real-time monitoring functions was developed using an STM32 microcontroller combined with remote control modules,ultrasonic modules,and navi-gation modules.[Result]The strength of the components met the design requirements,and the proto-type exhibited good structural integrity.It demonstrated excellent traversability over soft farmland,ridges,and gentle slopes.The maximum actual travel speed achieved was 5.334 km·h-1,with an ave-rage deviation rate of 2.984%over a 50 m distance on firm ground.The micro-sprinkler tape laying and retrieval process proceeded smoothly,and all components of the control system operated stably,with a maximum navigation error of 1.87 m.[Conclusion]The equipment integrates remote control,autono-mous navigation,and real-time monitoring functions into one unit,meeting the needs for automated laying and retrieval of micro-sprinkler tape in farmland environments.关键词
微喷带/铺设回收/橡胶履带/有限元仿真/单片机Key words
micro-sprinkler tape/laying and retrieving/rubber track/finite element simulation/microcontroller unit分类
农业科技引用本文复制引用
孙超祥,袁刘正,刘海林,赵斌,王德哲,朱晨辉,李连豪,杨绍旗,肖亚涛..履带式自动化微喷带铺设回收装置设计[J].河南农业大学学报,2026,60(2):327-336,10.基金项目
河南省自然科学基金项目(242300420603) （242300420603）
