| China is a big country of citrus production, but 90% of citrus is planted on the hillsides, which has bring great inconvenience to the handling of orchard management, agricultural supplies, fruit picking and transport and increase the production cost of citrus. In addition, due to the increasingly serious aging of China's population, the lack of young people in rural areas, people who can engage in manual labor in orchard will be less and less. Therefore, the transport mechanization in citrus orchard has become more and more urgent.Due to the small space of citrus planting in the orchards, moreover, the poor road conditions, there is an urgent need to a small size, light weight, excellent off-road performance transport machinery to achieve agricultural point to point of short distance transport. At present, there are some transport machines which have been put into use in citrus orchards, such as wheeled, crawler, cable type, track type and so on, and the last three types of the above are mainly used for the greater slope of the orchard transport. Compared with wheeled transport machinery, crawler transport machinery in the upland soil way has better off-road performance, so walking crawler transporters were concerned gradually. Due to the walking crawler transporter in current market is not specifically design for the mountainous terrain of orchard, most of them are only applicable to the situation where the terrain is good. Therefore, this paper developed a walking miniature crawler transporter for Mountain Orchards, which is driven by battery.In the paper, by the development of the walking battery-driven miniature crawler transporter for mountain orchards, and the test of its performance, such as terrain through test, climbing load test, deviation test, the maximum speed test, steering and energy consumption test etc, we can analysis its performance and provide reference for the follow-up study. The main contents are as follows:(1) A kind of crawler transporter for mountain orchards, through the demonstration of the plan of each system, driven by double motors independently, powered by a 48 V lead-acid battery, adopting a disc type brake, has been developed.(2) A hub motor with a rated power of 1500 W was selected according to the mechanical analysis of the crawler transporter. The outer characteristic curve of this type of hub motor was obtained, through the bench test. According to the characteristics of the curve and the buck speed regulation of the brushless DC motor, the main reduction ratio is 1.86.(3) Due to the use of dual motor independently driving mode, a control system was designed to achieve a straight line forward, steering, reverse and other movements.(4) A series of tests were carried out on the crawler transporter. Experimental data show that:1. The crawler transporter size was controlled in the design goals.2. The weight-bearing climbing ability meets the design requirements.3. Deviation is 11 m/km.4. Left minimal turning radius is 0.70 m, right minimum steering radius is 0.71 m.5. Maximum speed is 5.865 km/h.6. The machine in a full charge, load 250 kg, in the case of flat road, can work about 5 hours(battery capacity for 48V40Ah). |
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