橡胶履带轮履带周长建模与试验  

Modeling and Testing on Track Perimeter of Conversion Rubber Track Assembly

作　　者：吕凯 穆希辉 郭浩亮 薛文斌 汪志远 许林 

机构地区：[1]军械技术研究所,石家庄050003 [2]军事交通学院国家应急交通运输装备工程技术研究中心,天津300161 [3]泸州长起特种起重设备有限公司,泸州646000

出　　处：《农业机械学报》2016年第11期329-340,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：军内科研计划项目(装司2012655号)

摘　　要：橡胶履带轮用于更换轮式车辆的轮胎,以提高其越野性能。为避免脱带和履带过度拉伸,使履带周长与轮系相匹配,提出了一种基于轮系中各轮相对位置变化的橡胶履带周长建模方法。在多种地形条件下,使用多相机视频测量系统对轮系中各轮上标记点进行追踪,利用采集到的标记点坐标重构各轮轴线,并进一步采用该方法重建履带周长。在平整钢板上的试验结果表明,由于履带弯曲刚度不均匀,构建的履带平均周长为3 791.62 mm,标准差为3.51 mm,比履带实际周长3 812 mm略小,且略有波动。根据在多种地形条件下的测量结果构建的履带周长,其标准差与平整钢板上一致,均为3.5 mm左右。平均值在3 787.78~3 794.75 mm之间,基本与平整钢板上的履带平均周长一致。因此,橡胶履带周长建模方法能够在多种地形条件下评估履带周长,为履带轮设计提供依据。Conversion rubber track assembly is used for the replacement of the wheeled vehicle tire to reduce the vehicle＇s ground pressure and improve its off-road performance. It is composed of a wheel system and a rubber track. In order to avoid de-tracking and excessive tension of the track and make the track perimeter match the wheel system, a modeling method of rubber track perimeter is developed which is based on variations in relative location of each wheel of the wheel system. In this method, the track perimeter is divided into two kinds of segments, circular arc segment that is in contact with wheels and deformation segment which does not contact with wheels. If a deformation segment does not contact with the raised obstacle, then it is a straight line, otherwise it is a circular arc. The effect of the roller wheel swing on the perimeter of the track is studied and the matching tensioning device is designed to maintain the track perimeter constant while roller wheels swing. Under multi-terrain conditions, multi-camera videogrammetric system is used to track feature points on each wheel of the wheel system and coordinates of feature points are collected to reconstruct the axis of each wheel, and then the track perimeter is modelled. Experimental results on a flat steel plate show that because of the uneven track bending stiffness, the modelled average perimeter of the track is 3 791.62 mm with standard deviation of 3.51 mm, which is slightly smaller than the actual perimeter 3 812 mm of the track. Experimental results under multi-terrain conditions are consistent with those on a fiat steel plate, the standard deviations are all about 3.5 mm and the average perimeters of the track are all in the range of 3 787. 78 mm to 3 794. 75 mm. Therefore, this modeling method of rubber track perimeter is effective, robust, free from the impact of terrain, and it also provides the basis for the design and assessment of the rubber track assembly.

关 键 词：履带车辆 橡胶履带轮 履带周长 数学模型 视频测量 

分 类 号：U469.694[机械工程—车辆工程]