橡胶履带联合收获机仿形底盘行走系统设计与仿真  

Design and simulation analysis of the terrain adaptive chassis’s walking system of rubber track combine harvester

作　　者：姚呈祥 袁建宁[1] 潘金坤[1] Yao Chengxiang;Yuan jianning;Pan Jinkun(College of Mechanical Engineering,Nanjing Institute of Technology,Nanjing,211167,China)

机构地区：[1]南京工程学院机械工程学院,南京市211167

出　　处：《中国农机化学报》2020年第2期107-113,共7页Journal of Chinese Agricultural Mechanization

基　　金：农业部现代农业装备重点实验室开放基金项目(201602003)。

摘　　要：随着农机化的发展,橡胶履带联合收获机的使用已较为广泛,但大部分联合收获机仍在采用传统的刚性行走底盘方案,该方案无法很好地适应田间的复杂地形,进而会对作业质量、工作效率、操作舒适性、使用寿命产生不利的影响。本文提出一种能够实现仿形行走的新型橡胶履带自走式联合收获机行走底盘方案,通过Matlab/Simulink和多体运动学分析软件RecurDyn对仿形底盘在随机路面激励和典型地形情况下的运动状态进行仿真,得出车身质心在竖直方向上的位移及加速度变化。在E级随机路面激励下,联合收获机运动至14.96 s时,Y轴正向有最大值3.578 m/s^2,运动至15.51 s时,Y轴负向有最大值-3.862 m/s^2。典型地形仿真中,质心Y向四个位移峰值分别为464.28 mm、459.27 mm、536.41 mm和514.71 mm,Y向加速度始终小于两倍的重力加速度19 600 mm/s^2,较好地验证设计方案的可靠性,为后续研究提供思路。With the development of agricultural machinery, the use of rubber crawler combine harvesters has been extensive, but most combine harvesters still use the traditional rigid walking chassis scheme, which is not well adapted to the complex terrain of the field. Besides,it will affect the job quality, work efficiency, operational comfort, and service life aswell. In this paper, a new rubber crawler self-propelled combine harvester chassis scheme is proposed, which can realize the adaptation of uneven terrain. Through the simulation of random road excitation and typical terrain with Matlab/Simulink and multi-body kinematics analysis software RecurDyn. The simulation is carried out to obtain the displacement and acceleration change of the center of mass of the body in the vertical direction. Under the E-class random road surface excitation, when the combine harvester moves to 14.96 s, the Y-axis has a maximum value of 3.578 m/s^2. When moving to 15.51 s, the Y-axis has a maximum value of-3.862 m/s^2. In the typical terrain simulation, the four displacement Y-axial peaks of the center of mass are 464.28 mm, 459.27 mm, 536.41 mm and 514.71 mm, respectively, and the Y-direction acceleration is always less than twice the gravity acceleration of 19 600 mm/s^2, which provides ideas for subsequent research.

关 键 词：联合收获机 行走系统 仿形底盘 多体动力学分析 RECURDYN SIMULINK 

分 类 号：S225.31[农业科学—农业机械化工程]