Design Of Agricultural Variable-track Electric Mobile Platform

With the development of agricultural mechanization and robot technology,agricultural robot has become a hot topic.Because of the terrain difference between the north and the south of China,the development of agricultural robots in the northern plain area is far more than that in the southern area.In order to promote the comprehensive development of modern agriculture,it is necessary to accelerate the research of agricultural robots in southern hilly areas.The characteristics of agriculture in Hilly and mountainous areas of South China are small plot planting,which has special requirements for agricultural robot mobile platform,such as small size,simple structure,convenient adjustment,low price and high cost performance.Therefore,it is of great significance to develop the agricultural mobile platform suitable for the southern region.In this paper,an agricultural variable track electric mobile platform with gap adjustment and track adjustment is designed,which makes some attempts for the development of agricultural robots in southern China.In the design of agricultural mobile platform,it is considered that the spraying,fertilization,weeding,picking and other operations will be realized in the later stage in combination with other agricultural machinery and equipment mounted,and it has the ability of adjusting the wheel spacing and the ground gap to meet the needs of cross crop operation.In this paper,the relative parameters and adjustment range of the electric mobile platform with variable wheelbase are determined according to their planting line distance and the height of agricultural land gap.On this basis,the theoretical calculation and structural design of the mobile system,the ground gap adjusting mechanism and the wheel pitch adjusting mechanism are carried out.The 3D modeling and virtual assembly are carried out by Solid Works software.Based on the analysis of the determined parameters,the paper analyzes the stress state of the moving platform when turning and driving on the slope.Through theoretical calculation,it is concluded that the maximum longitudinal climbing angle of the agricultural variable wheelbase electric mobile platform is 26.3°,the maximum longitudinal climbing angle is 38.7°,the maximum lateral climbing angle is 30.9° when driving the transverse slope road,and the adjustment of the ground gap of the mobile platform is combined The ability of the platform is to provide a one-sided compensation height movement mode,which enables the mobile platform to break through the limit of maximum lateral climbing angle within the adjustment range of ground clearance.The dynamic simulation and finite element analysis of the clearance adjusting mechanism and the wheel pitch adjusting mechanism of the agricultural variable wheelbase electric mobile platform are carried out by using ADAMS software and ANSYS software.The stress of the key components in the adjustment process of the two adjustment mechanisms is obtained.The simulation results show that the designed platform has strong adaptability and adjustment ability,and meets the design requirements.