Design And Research Of Electric Working Platform For Fruit Picking And Transportation

Due to the complex early planning of mountainous hilly orchards in China with unreasonable topography,small spacing of saplings and poor geographical conditions,it is difficult to form a perfect transportation network by wheeled carriers,which causes difficulties in transporting agricultural materials up and down the mountains.Therefore,the development of a kind of crawler orchard machinery to meet the needs of running under the steep slope environment in mountainous areas,while having the cargo box servo leveling and ramp safety protection,is of great importance to the safe transportation of goods in mountainous areas.This topic addresses the above problems and designs an electric working platform for fruit picking and transportation,and the specific research is as follows.1.By reviewing the relevant literature of orchard operation platform and orchard leveling platform at home and abroad,summarizing its development trend,and finally determining the basic structure of fruit auxiliary picking and transportation platform,the whole machine adopts double motor drive,hydraulic lifting and lowering,and remote control mode.2.The key components of the fruit picking and transportation electric operation platform are designed,including the crawler walking system,lifting mechanism,leveling mechanism,etc.Amesim simulation software is used to analyze the mechanics of the lifting mechanism,and the hinge point is theoretically analyzed by using the method of virtual displacement,and the optimal lifting hydraulic cylinder installation position is analyzed,and the minimum thrust of the hydraulic cylinder is 25980 N.The kinematic analysis of the leveling mechanism is carried out by ADAMS simulation software,and the displacement of the leveling mechanism is verified by combining the established mathematical model,and the displacement is verified to be consistent with the actual.3.Establish the mathematical model of downhill over ramp inflection point by kinematic analysis.Using Recurdyn simulation software to establish the simulation model of fruit picking and transportation electric working platform,the simulation analysis is carried out for the state of crossing the inflection point,and the correlation between the cargo box load m₁,initial velocity v₀,slope angleθand angular velocityθ’is analyzed.And the established mathematical model of over-ramp inflection point is modified.The simulation and verification of the modified mathematical model shows that the relative error between the simulated angular velocity value and the measured angular velocity value and the measured angular velocity of the optimized model at a slope of 15°～25°is less than 10%（the average relative error is 3.01%and 4.62%,respectively）.This paper shows that the established simulation model and optimization are valid at a slope of 15°～25°.4.The performance test of the electric working platform for fruit picking and transportation,including straight-line driving performance runout amount,minimum turning radius,endurance time,noise limit,cargo box leveling,tipping stability,and ramp over turning point performance were tested to verify the reliability of the prototype.