Abstract: Aiming at the dilemma of lotus root harvesting equipment operating in soft silt lotus root ponds where the track crushes the lotus root and gets stuck in the silt, the design scheme of buoyant box lifting and lowering chassis of ‘wide rubber tracks + buoyant box + fourpoint linkage lifting mechanism’ is put forward. The fourpoint linkage lifting mechanism connects the buoyant box and the wide rubber tracks to lift the box to meet the needs of different operating depths, and lift the whole machine to achieve extrication when the box is bottomed out; the buoyancy of the box reduces the weight of the whole machine, and the grounding pressure of the tracks is reduced to avoid crushing the lotus roots. Complete the prototype design and manufacture, simulation analysis to verify the reasonableness of the design, the box buoyancy with the increase in operating depth is approximately linear relationship between the increase in operating depth, in 0.62 m of water operating depth of the maximum weight reduction of 66%, the grounding ratio pressure reduced by 66%. The prototype is tested under various working conditions: the prototype is flexible in travelling and turning, no crawling at low speeds, has the ability to climb slopes at a large angle of 60°, and operates efficiently without crushing the lotus roots. The buoyant box lifting chassis is not only suitable for the soft silt working environment of lotus root ponds, but also has a reference role in the design of walking chassis for other muddy water environment.

Key words: adjustable chassis, lotus root, harvesting equipment, floating box, four point linkage lifting mechanism

摘要： 针对莲藕采收作业装备在松软淤泥藕塘环境中作业存在履带压坏莲藕和陷入淤泥的困境，提出“宽幅橡胶履带+浮力箱体+四点联动升降机构”的浮力箱体升降底盘设计方案。四点联动升降机构连接浮力箱体和宽幅橡胶履带，实现箱体整体升降，满足不同作业水深需求，在箱体托底情况下升起实现整机脱困；箱体浮力减轻整机重量，减小履带接地比压，避免压坏莲藕。完成底盘关键部件详细设计，仿真分析验证设计合理性，箱体浮力随作业水深增加呈近似线性关系增大，在0.62 m作业水深时整机最大减重66%，接地比压减小66%。对样机多种工况进行试验测试，结果表明，样机行走和转弯灵活，低速无爬行，具备60°大角度爬坡能力，作业高效，无压坏莲藕情况。浮力箱体升降底盘不仅适合藕塘松软淤泥作业环境，还对其他泥水环境行走底盘设计有参考作用。

关键词: 升降可调底盘, 莲藕, 采收作业装备, 浮力箱体, 四点联动升降机构