【作者】 李丹；

【导师】 权龙哲； 杜之明；

【作者基本信息】 东北农业大学 ， 工程硕士（专业学位）， 2018， 硕士

【摘要】 随着人民生活水平的提高和科技的进步,在各个行业都出现了智能机器人代替人的工作形式,智能机器人的发展也越来越得到重视,在农业生产行业中也需要智能机器人代替人进行农业生产,目前的田间机器人多数是型号单一,只能针对一种农艺进行工作,为了使田间机器人的工作效率更高,需要研究一种多用途机器人平台,文章选择轮式移动机器人平台进行研究。机器人底盘的优劣取决于机器人的行走底盘系统,文章主要是针对田间机器人的底盘行走系统进行研究,设计的机器人采用四轮独立驱动电动底盘装置,并且可以自动调节左右车轮的轮距。主要做了以下几方面研究:1.介绍了田间机器人的国内外的研究现状和发展趋势,还有目前农业机器人发展趋势与存在的问题,现在农业机器人的发展问题主要有安全性与工作可靠性差、功能单一、生产成本高,生产效率偏低、农艺和农业机器人结合的不够紧密等问题,并且确定了本文的研究方法和路线等。2.主要对田间机器人行走进行了分析,在直线行走时机器人的功率消耗较低,而在转弯时功率消耗较大,并且介绍了几种转向结构,阿克曼转向、合成轴转向和滑移转向,对同侧同速和独立驱动两种滑移转向形式进行了运动学分析,通过计算得到了两种转向方式的滑移转弯半径和转弯角速度与四个车轮车速的关系,最终将本设计机器人行走底盘系统确定为四轮独立驱动和滑移转向形式进行行走作业。3.介绍底盘的设计主要包括底盘整体结构布置、电源和电机的选择和如何实现自动改变轮距的,田间机器人底盘设计的总体结构,主要部件选择依据和计算结果,驱动电机的选择,举升机构、液压缸和液压泵的计算与选择,并且描述了底盘装置是如何改变轮距的,通过液压系统的工作原理,设计了液压驱动的升降平台,并且对液压系统进行了计算。4.设计完成后,本文对电动底盘设计进行了实验,主要对牵引力等数据做了试验,试验证明本文设计的电动底盘及四轮独立驱动符合本文设计要求。更多还原

【Abstract】 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.更多还原