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为进一步提高机耕船的牵引效率,作者从减小刺孔体积可少消耗能量这一观点出发,提出了四足步行机耕船的设想,并初步试制了一台可在水田土槽导轨上运动的二足四轮步行工作台,模拟步行机耕船在水田中的牵引性能。文中对步行工作台的运动学和动力学作了分析研究,由于它可保证叶片型步行脚完全地垂直入出土,消除了叶片的压土和挑土作用,使刺孔体积减到了最小,较大幅度地提高了行走系统效率。作者认为,在机耕船上采用四足步行机构是可行的。
In order to further improve the traction efficiency of tractors, the author proposed the idea of a quadruped walking machine from the standpoint of reducing energy consumption by reducing the puncture volume, and tentatively piloted a platform that can be moved on the soil guide of the paddy field. A two-legged and four-wheeled walking platform simulates the traction performance of a walking tractor in a paddy field. In this paper, the kinematics and dynamics of the walking platform are analyzed and researched. Because it can ensure that the leaf-type walking foot is completely perpendicular to the soil, the pressure soil and the soil-picking effect of the blade are eliminated, and the puncture volume is reduced to the minimum. Greatly improved the efficiency of the walking system. The author believes that it is feasible to use a four-legged walking mechanism on a tractor.