丘陵山地履带运输底盘旋转式重心调控系统设计与试验

Design and Testing of Rotary Center of Gravity Adjustment System for Crawler Chassis in Hilly Terrain

摘要:

为提高小型履带运输底盘在热区丘陵山地坡陡、沟深、地块零散工况下的稳定性与越障能力，设计了一种通过旋转方式主动调节重心的履带运输底盘。根据丘陵作业环境特点，构建考虑偏航角的坡地准静态通过性模型，在此基础上提出旋转式重心调节机构，并完成关键参数选型与质心偏移解析计算。对配重径向位移与回转角度进行参数遍历数值计算，定量求解最优配重组合，基于 RecurDyn 搭建虚拟样机，开展连续爬坡和斜向跨台阶、壕沟动力学仿真，并通过实物样机测试系统功能。结果表明，在数值计算、动力学仿真和样机试验中，整机重心位置经调控后，底盘的倾覆临界坡角相比调控前分别提升约 6.7%、13.0% 和 12.5%, 最大可跨台阶高度在 10° 坡度下相比调控前分别提升约 23.6%、20.5% 和 21.2%, 最大可跨壕沟宽度在 10° 坡度下相比调控前分别提升约 17.9%、16.7% 和 17.5%。提出的旋转式重心调控结构能够显著改善丘陵山地履带运输底盘的稳定性与越障能力。

Abstract:

Aiming to improve the stability and obstacle-crossing capability of small tracked transport equipment operating in tropical region hilly areas, a tracked chassis with a rotary center-of-gravity (CG) adjustment mechanism was developed. Based on the operating environment and requirements, a quasistatic slope passability model incorporating yaw angle was established. A rotary center of gravity adjustment mechanism was proposed, and the selection of key parameters and the analytical calculation of the center of mass offset were completed. A parametric numerical study was conducted with respect to the counterweight radial displacement and rotation angle to identify the optimal counterweight configuration. Subsequently, a multibody dynamics prototype was built in RecurDyn, and dynamic simulations of continuous slope climbing as well as oblique step and trench crossing were performed. Functional validation was further carried out on a physical prototype. Results from numerical analysis, multibody dynamics simulations, and prototype tests consistently showed that, compared with the non-adjusted condition, the optimal counterweight adjustment increased the critical rollover slope angle by approximately 6.7%, 13.0%, and 12.5%; at a 10° slope, the maximum step-crossing height was improved by about 23. 6%, 20. 5% and 21. 2% ; and at a 10° slope, the maximum trench -crossing width was enhanced by approximately 17.9%, 16.7%, and 17.5%. The proposed rotary CG adjustment mechanism significantly enhanced chassis stability and obstacle-surmounting performance in hilly terrain, providing design-oriented analytical and experimental evidence for stability improvement of small tracked agricultural platforms in complex orchard and forest environments in tropical regions.