丘陵山区履带车辆运动学与通过性能研究

Kinematics and Passing Performance of Tracked Vehicles in Hilly and Mountainous Areas

摘要:

针对丘陵山区黏重土壤环境下，履带式车辆底盘行驶不稳定、安全性能低和越障能力差等问题，结合收获作业实际需求，开展黏重土壤条件下自走式三七联合收获机车辆底盘运动学与通过性能分析。分析履带底盘整机结构及工作原理，建立履带收获机底盘动力学与运动学模型；基于质心理论，解析履带底盘直行转向、纵向爬坡、侧倾爬坡、跨越沟壑及翻越田埂等行驶工况下耦合受力情况，获取影响收获机通过性能临界参数；开展RecurDyn动力学及行驶通过性能仿真。仿真结果表明，纵向爬坡角度为30°、侧倾爬坡最大角度为25°、跨越田埂最大高度为380mm、最大跨越沟壑宽度不超过800mm。对收获机整机进行了纵向爬坡、侧倾爬坡、跨越沟壑、翻越田埂3种典型工况下行驶通过特性试验。试验结果表明，自走式联合收获机底盘直行、转向平稳，可在纵坡30°、侧倾坡25°、沟壑宽度750mm、田埂高度350mm情况下稳定行驶，与仿真结果保持一致，验证了仿真准确性。研究结果可为丘陵山区根茎类中药材履带车辆底盘设计提供理论基础与参考。

Abstract:

In view of the problems of unstable driving, low safety performance and poor obstacle crossing ability of the harvester chassis in the clayey and heavy soil environment in hilly and mountainous areas, combined with the actual needs of harvesting operations, the kinematics and passing performance of the self-propelled combine harvester under clay and heavy soil conditions were analyzed. Firstly, the structure and working principle of the crawler chassis were described, and the dynamics and kinematics models of the crawler chassis were established. Secondly, based on the centroid theory, the coupling force of the crawler chassis under driving conditions such as straight steering, longitudinal climbing, rolling climbing, crossing ravines and climbing ridges was analyzed, and the critical parameters affecting the passing performance of the harvester were obtained. At the same time, the simulation research on RecurDyn dynamics and driving performance was carried out. The simulation results showed that the longitudinal climbing angle was 30°, the maximum angle of the lateral climbing was 25°, the maximum height across the ridge was 380mm, and the maximum width of the crossing gully was not more than 800mm. Finally, the whole machine was tested for driving through three typical working conditions: longitudinal climbing, lateral climbing, crossing ravines and climbing over ridges. The test results showed that the chassis of the self-propelled combine harvester can drive stably under the conditions of longitudinal slope of 30°, side slope of 25°, gully width of 750mm, and ridge height of 350mm, which was consistent with the simulation results and verified the accuracy of the simulation. The research result can provide a theoretical basis and reference for the chassis design of the combine harvester of rhizome Chinese medicinal materials in hilly and mountainous areas.