Design on Execution Components of Remote Control System for Rotary Tillage Machine Based on STM32
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摘要:
随着农业机械技术不断发展，传统农机出现诸多不足，如操作难度较高、操作舒适性较差等，远程控制无人驾驶能有效解决以上诸多问题。以旋耕机为例，基于STM32，设计了其左右转向执行机构、行走离合执行机构、换挡执行机构、副变速挡执行机构及刀轴传动执行机构，实现对旋耕机的远程控制。
Abstract:With continuous development of agricultural machinery technology, traditional agricultural machinery has many shortcomings, such as high operational difficulty and poor comfort．Remote control and unmanned driving can effectively solve many of these problems．Taking rotary tiller as an example, its left and right steering actuator, walking clutch actuator, shift actuator, auxiliary transmission actuator, and blade shaft transmission actuator were designed to achieve remote control of rotary tiller．
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Keywords:
- rotary cultivator /
- remote control /
- executive components /
- STM32 /
- stay wire
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图 1 换向、离合拉线等控制机构示意
Figure 1. Schematic diagram of shift lever，clutch cable and other control mechanisms
图 5 副变速切换结构示意
Figure 5. Schematic diagram of secondary transmission switching structure
表 1 换向、离合拉线等数据
Table 1. Shifting，clutch cable and other related data
执行动作 拉线工作长度L/mm 转动圆心角θ/（°） 所需工作半径R/mm 保持运动拉力F/N 所需力矩T/（ N·m−1） 左右转向 40 45 51 120 6.12 行走离合 40 45 51 100 5.10 刀轴转动 20 45 26 150 3.90 
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表 2 换挡拉线工作数据
Table 2. Shift lever cable data
执行操作 转过角度n/（°） 转动半径R/mm 保持运动拉力F/N 副变速 20 80 200 换挡 37 80 200
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