ZTR割草机自动变割幅结构及控制系统设计

针对零转弯半径(ZTR)割草机割幅宽度固定、无法适应复杂的作业环境的问题,研发了一种可以自动变割幅的割草器,在1.2m割幅的WBZ12219K-S ZTR割草机的基础上,在主刀盘两侧分别增加一个副刀盘。副刀盘主要由割刀、连接板、伺服电动推杆及曲线槽等组成,通过伺服电动推杆的伸缩,控制副刀盘的旋转,以达到变割幅的目的。工作时,通过图像识别技术识别出前方障碍物信息,判断出障碍物间距,将该间距进行区分做出相应的对策,并经由串口通信协议传递给PLC,然后控制割幅的变化,可以实现1.2~1.8m无极自动变割幅。

Design of Automatic Changing Swath Structure and Control System for ZTR Mower

Aiming at the zero turning radius (ZTR) mower cutting width fixed, unable to adapt to the complex working environment, developed a mower can automatically change swath. On the basis of the WBZ12219K-S ZTR mower of 1.2 m swath, add an auxiliary cutter on both sides of the main cutter. The mechanical structure of the auxiliary cutter is mainly composed of blade, connecting plate, servo electric push rod, curve groove and so on. The rotation of the auxiliary cutter is controlled by the stretching of the servo electric push rod, so as to achieve the purpose of changing the swath. The obstacle information is identified by image recognition technology, the distance between obstacles is judged, it is to be distinguished and to make corresponding countermeasures ,then transmit to PLC through the serial port communication protocol, finally control the changes of cutting width, can realize stepless automatic changing swath from 1.2m to 1.8m.