新型弓腰式移动底盘的设计及通过性分析  

Design and trafficability analysis of new bow waist mobile chassis

作　　者：聂建军[1] 闫修鹏 马宗正 解晓琳 郭家杰 吕亚磊 NIE Jian-jun;YAN Xiu-peng;MA Zong-zheng;XIE Xiao-lin;GUO Jia-jie;LYU Ya-lei(School of Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou 451191,China;School of Mechanical Engineering,Henan University of Engineering,Zhengzhou 451191,China;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471000,China)

机构地区：[1]中原工学院机电学院,郑州451191 [2]河南工程学院机械工程学院,郑州451191 [3]河南科技大学农业装备工程学院,河南洛阳471000

出　　处：《吉林大学学报（工学版）》2022年第3期515-524,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金青年科学基金项目(51905154).

摘　　要：针对狭窄的丘陵山地耕作环境,设计了一种新型弓腰式移动底盘。该底盘的履带驱动装置能够被动自适应地形变化,亦能主动调整履带与地面的接触角度,提高履带的附着性能。首先,阐述了该移动底盘的机构设计和传动原理。其次,探究了履带在松软路面上行驶时土壤阻力和附着力大小的影响因素,分析了姿态变化与越障高度的关系,得到了该底盘在弓腰姿态时能够达到的最大越障垂直高度为241.53 mm。再次,通过纵向爬坡稳定性分析和折腰转向过程的几何分析,计算出最大爬坡度为41.23°、最小转向半径为1.297 m。最后,通过越障和机动性能试验验证了理论分析的可靠性。结果表明,所设计的底盘改变姿态后越障性能提高,具有较好的纵坡稳定性和灵活的机动性,能够满足复杂耕作环境中的作业需求,在农业、林业等领域具有广阔的应用前景。Aiming at the narrow hilly farming environment,a new type of bow waist intelligent mobile chassis was designed. The crawler driving device of the intelligent chassis can passively adapt to the terrain change,and can actively adjust the contact angle between the track and the ground to improve the adhesion performance of the track. The mechanism design and transmission principle of the mobile chassis are described in detail. On this basis,the influence factors of soil resistance and adhesion were explored when the track was driving on soft road and the relationship between the attitude change and obstacle crossing height is analyzed. The maximum vertical height of obstacle crossing that the chassis can reach in the bowed posture is 241.53 mm. Through the analysis of longitudinal climbing stability and geometric analysis of the turning process,the maximum climbing degree is 41.23° and the minimum turning radius is 1.297 m.Finally,the reliability of the theoretical analysis is verified through obstacle crossing and maneuverability tests. The results show that the designed chassis improves obstacle crossing performance after changing its attitude,and has good longitudinal slope stability and flexible maneuverability. It can meet the operation requirements in complex farming environment,and has broad application prospects in agriculture,forestry and other fields.

关 键 词：行走底盘 折腰转向 爬坡 最小转向半径 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]