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摘 要
采茶机器人是基于茶园茶树的具体生长特点以及茶叶采摘的的具体情要而设计的茶叶采摘设备，其功能主要是完成茶叶的采摘工作。
本次设计的是自乘式采茶机器人，代替了传统的背负式或手提式采茶机。整个设计过程主要包括采茶机器人的总体方案设计、控制系统以及传动系统等设计。采茶机是从茶树顶梢采收新嫩茶叶的作物收获机械。根据采摘的方法不同可以分为选择性采茶机和非选择性采茶机两类。这两类采茶工作具有不一样的特点。分别适合名贵茶叶和大宗型茶叶。总的目的是完成采茶工作的要求。
采茶机器人可以实现茶叶的的机械化拆摘，不仅能够节省茶园采茶工的数量，而且可以有效地减轻采茶工的工作强度，大幅度地提高了茶园茶叶采摘效率，降低生产成本，提高综合经济效益。
关键词：采茶机器人，自行式，传动控制
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Abstract
Tea picking robot is designed for specific growth characteristics of tea plants and tea picking specific conditions should be based on the tea picking device, its main function is to complete the tea picking work.
This design is the type tea picking robot, instead of a backpack or hand-held traditional tea picking machine. The overall plan of the whole design process including picking robot design, control system and drive system design. Tea picking machine is from tree top crop harvester harvesting tender tea shoots. According to the method of picking can be divided into different selective picking machine and non selective picking machine two. These two kinds of tea is not the same. Respectively for the precious tea and bulk tea. General purpose is to complete the tea job requirements. Abstract the mechanization and picking robot can realize the tea, the quantity can not only save tea tea workers, work intensity and can effectively alleviate the tea workers, greatly improve the tea picking efficiency, reduce production costs, enhance the comprehensive economic benefits.
Key words：Tea picking robot, Self-propelled,Transmission control
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目 录
1 绪论 .............................................................................................................................................. 0
1.1设计目的及意义 ............................................................................................................... 0 1.2 采茶机综述....................................................................................................................... 0 1.3 国内发展现状 .................................................................................................................. 1 1.4 国外发展现状 .................................................................................................................. 2 1.5 设计的主要技术指标 .................................................................................................... 3
2 整体方案设计 ......................................................................................................................... 4
2.1 设计步骤 ........................................................................................................................... 4 2.2 机器的结构构思 ............................................................................................................. 4 2.3 拟定传动方案 .................................................................................................................. 5
3 零部件的选型和设计 ......................................................................... 错误!未定义书签。
3.1 履带式行走装置的特点 ................................................................ 错误!未定义书签。 3.2 履带式行走装置的功能与组成 .................................................. 错误!未定义书签。 3.3 传动方式的选择 ............................................................................. 错误!未定义书签。 3.4 履带式行走装置的设计 ................................................................ 错误!未定义书签。 3.5 传动方案的分析 ............................................................................. 错误!未定义书签。 3.6 液压马达的选型 ............................................................................. 错误!未定义书签。 3.7 液压泵的选型 .................................................................................. 错误!未定义书签。 3.8 内燃机的选型 .................................................................................. 错误!未定义书签。 3.9 离心通风机的选型 ......................................................................... 错误!未定义书签。 3.10 普通V带传动的设计 .................................................................. 错误!未定义书签。 3.11 升降传动及减速电机的选型 .................................................... 错误!未定义书签。 3.12 刀片的设计 .................................................................................... 错误!未定义书签。
4 机架的设计 .............................................................................................................................. 6 5 液压系统的设计 .................................................................................................................... 9
5.1 液压系统原理设计 ......................................................................................................... 9
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采茶机器人设计
