Research On The Design Of Field Robot Walking Chassis

With the improvement of people's living standards and the progress of science and technology,intelligent robots have emerged in various industries to replace people's work forms,the development of intelligent robots is also getting more and more attention,in the agricultural production industry also needs intelligent robots to replace people for agricultural production,in the emergence of field robots are mostly model sheets.Firstly,only one kind of agriculture can work,in order to make the field robot work more efficiently,this paper studies a kind of multi-purpose robot platform,this paper chooses the wheeled mobile robot,the robot platform is good also depends on the robot's walking chassis system,this paper mainly focuses on the field robot's chassis walking system.The design of the robot adopts four-wheel independent drive electric chassis device,and can automatically adjust the wheel spacing.The main contents of this paper are:1.Introduced as well as the development trend and existing problems of agricultural robot.The main development problems of agricultural robot are poor safety and reliability,single function of existing agricultural robot,high production cost,low production efficiency,agronomy and so on.Agricultural robots are not closely integrated and so on,and the research methods and routes are determined.2.The field robot walking is mainly analyzed.The power consumption of the robot is lower when walking in a straight line,but higher when turning.The centralized steering structure,Ackerman steering,synthetic shaft steering and slip steering are introduced.The kinematics of two slip steering forms,i.e.the same speed on the same side and independent driving,are divided.The relationship between the slip turning radius and the angular velocity of the two steering modes and the speed of the four wheels is obtained.Finally,the chassis system of the robot is determined to be a four-wheel independent driving and slip steering mode for walking operation.3.The design of chassis mainly includes the overall structure layout of chassis,the selection of power supply and motor,and how to realize the automatic change of wheel spacing.The overall structure of field robot chassis design,the selection basis of main components and calculation results,the important is the choice of driving motor,the calculation and selection of lifting mechanism,hydraulic cylinder and hydraulic pump.Selection,and described how the chassis device to change the wheel spacing,the working principle of the hydraulic system,introduced how the hydraulic system to drive the lifting platform work.At the same time,the main components of the hydraulic system were designed and calculated.4.finally,the electric chassis design was verified,and its traction force was tested.Through the further test of the electric chassis,the kinematics analysis and power optimization method of the slip steering are verified.It has important reference value for the further design and improvement of the four-wheel independent drive electric chassis.