【作者】 张俊峰；

【导师】 张衍林；

【作者基本信息】 华中农业大学 ， 农业机械化工程， 2012， 博士

【摘要】 山地运输机械是我国山地农业的重要支撑环节,传统的轮式运输机械不适合山地农业运输的需要,只能依靠人力进行物品的搬运,特别是在山地果园中,果实、农药和肥料的运输成为生产中的重大难题。根据我国山地运输机械和劳动力现状,随着国家对山地农业机械化发展的日益重视,迫切要求研究开发适用于山地运输的现代农业机械与装备,自动化的山地运输机是实现山地农业节本增效的有效途径。本文是在分析国外单轨运输机的结构和行走方式的基础上,通过自主研发,设计并制造适合我国山地橘园运输需要的单轨运输机及遥控装置,本研究的重点是牵引式单轨运输机和自走式单轨运输机的遥控控制系统研究。具体的研究内容和结论如下：(1)研究山地橘园中电磁波的传播机理,建立山地橘园中UHF频段电磁波传播预测模型。根据山地运输机械的使用要求,进行无线遥控距离、三相电机正反转、电动推杆执行机构动作等的稳定性和可靠性试验研究。以逻辑控制为基础,设计单轨运输机的遥控系统。(2)设计了远程、避障遥控信号传递系统,采用信号增强方法,建立中转站,实现避障、延长遥控距离,达到遥控信号的可靠传输。通过多级中转,在山地果园遥控距离可达300m以上。(3)在对牵引式单轨运输机驱动装置和行走机构进行改进的基础上,设计了其遥控系统,实现了避障信号传递、远程遥控牵引式单轨运输机的上下运行和停止运输机的运行速度由0.3m/s提高到0.7m/s,提高了工作效率。(4)以7YGD-35型自走式单轨运输机为对象,以电动推杆为执行机构,通过远程遥控操纵油门、离合、换挡和制动机构,采用逻辑控制原理,通过单片机的实时信号处理,对软件进行了优化设计,对整个遥控系统进行系统集成与测试,达到对自走式单轨运输机的油门、离合、换挡和制动等准确控制,实现了自走式单轨运输机的自动化程度高和操作方便。更多还原

【Abstract】 Mountain transport machinery is an important support sector of mountain agriculture in China. Traditional agriculture transportation machinery is not suitable for the transportation requirement of mountain agriculture. Handling of goods have to rely on manpower, especially in the mountain orchards, the transport of fruit, pesticides and fertilizers is always a difficult problem in production. According to the actualities of Chinese mountain transport machine and labor force, our country increasingly places emphasis on the development of agricultural mechanization on the mountain. Research and development of modern agricultural machinery and equipment for the mountain transportation is an urgent demand. By the way, automated mountain transport machine is an effective way of cost reduction and profit increasing for mountain agriculture.This article base on the analysis of the structure and walk mechanism of foreign monorail transporter, according to Chinese mountain orangery status, designed and manufactured a monorail transport machine and its remote control device. The remote control system of traction monorail transporter and self-propelled monorail transporter were developed.The main contents and conclusions of this study are as follows:(1) Base on the study of electromagnetic wave communication theory, setup the mountain orangery UHF frequency electromagnetic waves diffuse forecast model. According to the mountain transportation machine requirement, the stability and reliability test was conducted such as the wireless remote control distance, three-phase motor rotating and electromotive handspike executing agency action. The remote control system of monorail transporter was designed base on logic control theory.(2) Designed the signal transmission system of long distance and obstacle avoidance, transfer station was established using the signal enhancement method to realize the obstacle avoidance and prolong the distance of remote control and achieve remote control signal’s reliable transmission. Through the multi-transit, control distance can reach more than300m in mountainous orchard.(3) Based on the improvement of driving device and walking mechanism of traction monorail transporter, its remote control system was designed and can realize the transmission of remote control signal which include obstacle avoidance, running and stop of traction monorail transporter. The moving speed of the transporter increased from0.3m/s to0.7m/s. The work efficiency improved consequently.(4) By taking self-propelled monorail transporter7YGD-35as the research object, taking electromotive handspike as the actuating mechanism, the throttle actuator, clutch actuator, shift actuator and brake actuator were manipulated by remote control, with logic control theory, through the real-time signal processing of single-chip and the optimal design of software, the remote control system was integrated and tested and can achieve precisely control of the throttle, clutch, shift and brake of self-propelled monorail transporter. The high degree of automation and easy operation were realized.更多还原