自走式三七联合收获机设计与行驶通过性试验

Design and Trafficability Experiment of Self-propelled Panax notoginseng Combine Harvester

摘要:

针对自走式三七联合收获机匮乏、整机通过性差、行驶稳定性弱等问题，设计了一款履带自走式三七联合收获机，并开展丘陵黏重土壤条件下的整机行驶通过性与稳定性研究。首先，对自走式三七联合收获机行走系统进行设计；其次，利用质心交集法，获取整机在多种工况下稳定行驶的质心范围，确定整体布局方案；最后，开展自走式三七联合收获机在直行、转向、爬坡及越障4种工况下的仿真试验与田间试验。仿真结果表明：联合收获机具有良好的直行与单边制动转向性能，符合稳定通过20°及以下纵坡、15°及以下横坡、高350mm田埂以及宽900mm壕沟的设计要求；田间试验结果表明：联合收获机直行偏移率为3.79%，最小转弯半径为1480mm，能够稳定通过20°及以下纵坡、15°及以下横坡、高350mm田埂以及宽900mm壕沟，其运动姿态及俯仰角、翻滚角曲线变化规律与仿真结果一致，验证了仿真结果的准确性，表明该联合收获机行驶通过性能良好，能够满足设计需求。设计的履带自走式三七联合收获机整机通过性强，能够实现在黏重土壤、缓坡地段下稳定行驶，可为丘陵山区根茎类联合收获机设计提供理论基础与参考。

Abstract:

In response to the shortage of self-propelled Panax notoginseng combine harvesters, poor overall passability, and weak driving stability, a tracked self-propelled Panax notoginseng combine harvester was designed and research on overall driving passability and stability under hilly and sticky soil conditions was conducted. Firstly, the walking system of the self-propelled Panax notoginseng combine harvester was designed. Secondly, by using the centroid intersection method, the centroid range of the entire machine for stable driving under various working conditions was obtained, and the overall layout plan was determined. Finally, simulation and field experiments were conducted on the self-propelled Panax notoginseng combine harvester under four operating conditions: straight, turning, climbing, and obstacle crossing. The simulation results showed that the combined harvester had good straight and unilateral braking steering performance, and met the design requirements for stable passage through longitudinal slopes of 20° and below, transverse slopes of 15° and below, 350mm field ridges, and 900mm trenches. The field test results showed that the straight deviation rate of the combine harvester was 3.79%, the minimum turning radius was 1480mm, and it can stably pass through longitudinal slopes of 20° and below, transverse slopes of 15° and below, 350mm field ridges, and 900mm trenches. The variation laws of its motion posture, pitch angle, and rolling angle curves were consistent with the simulation results, verifying the accuracy of the simulation results, which demonstrated that the combine harvester had good passability and can meet design requirements. The designed tracked self-propelled Panax notoginseng combine harvester had strong passability and can achieve stable driving in sticky soil and gentle slope sections, providing a theoretical basis and reference for the design and manufacturing of root and stem combine harvesters in hilly and mountainous areas.