农业机械学报2026，Vol.57Issue(16)：96-106,11.DOI:10.6041/j.issn.1000-1298.2026.16.009
单行自走式电动采茶机履带底盘设计与行驶性能试验
Design and Travel Performance Test of Crawler Chassis for Single-row Self-propelled Electric Tea Picker
摘要
Abstract
Aiming at the characteristics of narrow row spacing and large terrain slope of hilly tea gardens,as well as the poor adaptability of existing picking equipment,a single-row self-propelled electric tea picker was designed.Firstly,combined with the actual conditions of hilly and mountainous tea gardens and the agricultural status of tea tree planting,the design parameters of the tea picker were determined systematically.Solidworks software was adopted for three-dimensional(3D)simulation modeling of the whole machine structure,and the linear driving speed model and steering dynamics model of the crawler chassis were established.On this basis,the resistance characteristics of three steering conditions,namely,co-directional differential speed,single-side braking and reverse differential speed,were analyzed in detail.In order to ensure the operational safety of tea picker in complex hilly terrain,the transverse stability,longitudinal stability and obstacle surmounting performance of the tea picker were theoretically analyzed,and the maximum transverse tipping angle was 19.3° and maximum climbing angle was 31.0°.Subsequently,multi-body dynamics simulation was carried out by using RecurDyn software.The simulation results showed that when the ground coefficient was set to 0.67 and the driving speed of the prototype was 0.4 m/s,the maximum transverse tipping angle of the whole machine was 18° and the maximum longitudinal climbing angle was 31.0°,indicating that both the transverse stability and longitudinal climbing performance of the whole machine can meet the pre-designed requirements.Finally,field tests were conducted to verify the performance of the crawler chassis.The test results showed that the linear driving deviation of the crawler chassis on a 15-meter cement ground was 248.4 mm,with a deviation rate of 1.67％;the actual maximum transverse tipping angle was 15°;the tea picker can smoothly pass through longitudinal slopes ranging from 15° to 33.5°;the in-situ steering diameter was 1 318 mm,and the center offset was 81.2 mm.The test results were roughly consistent with the simulation results,which verified the rationality of the design.The research results can lay a theoretical and experimental foundation for the research and parameter optimization of picking equipment in hilly and mountainous tea gardens.关键词
采茶机/履带底盘/通过性/RecurDyn仿真Key words
tea picking machine/crawler chassis/throughput/RecurDyn simulation分类
机械制造引用本文复制引用
吴正敏,张祖德,汪义勇,储思佳,李涛,高童,刘宇,罗坤,秦宽,曹成茂..单行自走式电动采茶机履带底盘设计与行驶性能试验[J].农业机械学报,2026,57(16):96-106,11.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）
