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.
