“丘陵山地安全輸運與多功能輕型底盤研究與示范，項目編號： 2019B020223001”，廣東省科技計劃重點研發項目（智能農機裝備專項）；“基于高光譜技術的柑橘蘭花生長特性及生產管控模型研究，項目編號： 2019B020214001-1”，廣東省科技計劃重點研發項目（精細農業專項，設施園藝作物精準調控關鍵技術研究與示范項目）
針對鋼絲繩牽引式雙軌運輸機的牽引鋼絲繩在彎曲起伏軌道上作業時，易出現亂繩和擠繩所帶來的安全性問題，本文設計了一種無需鋼絲繩的自走式電動雙軌運輸機，并進行了相關試驗。運輸機主要由電驅動系統和傳動系統組成，空載質量、平地目標載重和最大斜坡目標載重設計值依次為75 kg、175kg、75kg，最大斜坡坡度為30°。對運輸機進行力學模型分析，獲得了電機和電池的參數，所選驅動電機型號為三拓GW114165，電源采用兩個相互串聯的12-LPA-24免維護鉛酸蓄電池，同時確定了一主動多從動的傳動方式；通過對橡膠輪有限元分析表明，驅動輪和支撐輪均采用氟丁橡膠符合設計要求；電流測試試驗表明，運輸機在不同載重不同爬坡度的條件下，電源電流的變化范圍為2.61~20.12 A，電機的電流變化范圍為1.305~10.06 A，所選電機和電池均滿足設計要求，并測得運輸機運行速度為0.241~0.7m/s；平地能耗試驗表明，同一載重，方差較小，說明運輸機的在相同工況下的能耗比較穩定，不同載重量，能耗維持在1.58-2.88W?h，根據電池組的容量為576W?h，計算出在運輸機平地的航程在3560m到6489.1m之間；打滑性試驗表明，盡量不要在滿載的爬坡狀態下在陡坡處停機，如需停機，可人為輔助啟動；正交試驗表明，驅動輪材料、軌道坡度和裝載質量3個因素對運輸機運行速度的影響程度各不相同，各因素對運行速度的影響依次是：B>A>C，其中坡度對運行速度的Sig值為0.049，小于0.05，影響最為顯著。因此，為了提高運輸機的運行速度，可把軌道坡度作為切入點，盡量減小坡度，以此來提高運輸機的運行速度。該研究能較好的解決鋼絲繩牽引式雙軌運輸機的牽引鋼絲繩在彎曲起伏軌道上作業時，易出現亂繩和擠繩所帶來的安全性問題，并且為山地自走式電驅動雙軌運輸機的后續發展提供參考。
Aiming at the safety problem caused by random rope and extruded rope when the rope is used on the curved and undulating track, a kind of self-propelled electric double-track conveyor without wire rope is designed. Conveyor is mainly composed of electric driving system and transmission system, light quality, the ground target load and the maximum slope load design value of 75 kg, 175 kg, 75 kg, the maximum slope gradient is 30 °.The mechanical model of the conveyor was analyzed, and the motor and battery parameters were obtained. The selected driving motor model was Santuo GW114165.Through the finite element analysis of rubber wheel, it is shown that both the driving wheel and the supporting wheel meet the design requirements. The current test shows that under the conditions of different loads and different slopes, the variation range of power supply current and motor current of the conveyor is 2.61~ 20.12a and 1.305~ 10.06a respectively. The selected motors and batteries meet the design requirements, and the running speed of the conveyor is 0.241~0.7m/s. The flat land energy consumption test shows that the same load has a small variance, indicating that the energy consumption of the transport plane is relatively stable under the same working condition. The energy consumption is maintained at 1.58-2.88w h under different loadings. According to the battery pack capacity of 576W?h, the range of the flat land of the transport plane is calculated to be between 3560m and 6489.1m.The skidding test shows that it is best not to stop the machine at the steep slope under full load climbing state. If the machine needs to stop, it can be started manually. The orthogonal test shows that the driving wheel material, the rail slope and the loading quality have different influences on the operation speed of the conveyor. The influences of each factor on the operation speed are B>A>C, and the Sig value of the slope on the operation speed is 0.049, less than 0.05, which has the most significant influence. Therefore, in order to improve the operation speed of the conveyor, the rail slope can be taken as the entry point to reduce the slope as far as possible, so as to improve the operation speed of the conveyor. Therefore, this study can better solve the safety problems caused by random rope and rope extrusion when the traction steel wire rope of the wire rope traction type double-rail transport plane works on the curved and undulating track, and provide a reference for the follow-up development of the self-propelled double-rail transport plane in the mountainous area.