Design Of Electric Remote Controlled Crawler Work Platform For Greenhouse

Greenhouse planting as an important part of facility agriculture,it’s mechanization level and green production will affect crop quality and production cost.But now,greenhouse planting mechanization and intelligence level are not high,and the existing operating machinery has high pollution and can’t adaptate environmental,emissions affect the quality of crops.Therefore,it is important to solve the problem of greenhouse working machinery emissions,improve the greenhouse working machinery adaptability of environmental and the level of greenhouse working mechanization.Based on the research goals,an electric remote controlled crawler work platform for greenhouses was designed and it’s performance was studied.The specific research content is as follows:(1)Whole scheme design.Summarizing and analyzing the current research status and shortcomings at home and abroad,combined with the working environment and using requirements.The whole machine design scheme of the electric remote controlled crawler work platform for greenhouses is proposed:The platform is miniaturized,and it is more flexible to use in the greenhouse.At the same time,it can be equipped with a variety of work tools to achieve multi-function operations.Double motor drive,walking motor drive walking,PTO motor drive operation,two motors do not interfere with each other,ensuring the quality of operation.The crawler walking device has better passability in the greenhouse;the control mode of the combination of the on-board button and the remote control can realize the remote control operation to reduce the operation intensity,and at the same time improve the battery life.(2)Design of control system.Based on the control requirements and the characteristics of use in the greenhouse,a remote control system based on PLC and industrial remote control modules was designed.The system can realize remote control and on-board button control within the range of 0-100m.At the same time,the current,voltage and speed signals of each motor can be read in real time through the Human–Computer Interaction.To prevent personal injury caused by improper operation,multiple safety protection programs were designed,such as power-on reset,steering protection,walking protection,and lifting protection.(3)Basic performance test of platform.According to design requirements,use requirements and China’s agricultural tractor test regulations,the main performance parameters of the platform were tested and analyzed.Include:length,width and height,maximum forward speed,maximum reverse speed,maximum acceleration,minimum turning radius on cement roads,minimum turning radius on mud roads,deviation rate of the platform under no-load condition,deviation rate after being equipped with rotary tillage machinery,rotary tillage test parameters,ridge test parameters,battery life.The platform can complete the work in the greenhouse,and the basic performance meets the design and use requirements.(4)Research on the stability control of tillage depth and the matching of working parameters.Through orthogonal experiment research,the influence of forward speed,cutter roll speed and tillage depth on energy consumption per unit area of operation was analyzed.Adopt the method of multiple nonlinear regression analysis,through the method of directly constructing the model and indirectly constructing the model.A number of regression models between the energy consumption per unit area S_Ⅰof rotary tillage operation,the energy consumption per unit area S_Ⅱof the whole machine operation with forward speed,cutter roll speed and tillage depth was established;Using methods such as correlation test,significance test,and experimental verification,the optimal model was selected;Based on the model,the tillage depth prediction model and the working parameter matching model were established;Through the working parameter matching model,the minimum energy consumption working parameter matching under the condition of ensuring the quality of the working is realized;Through the tillage depth prediction model,the tillage depth prediction was realized,and the related control program was written,the feasibility of the control program and the accuracy of the model were verified through experiments.