山地果园履带底盘坡地通过性能分析与优化设计  

Analysis of Slope Trafficability and Optimized Design of Crawler Chassis in Hillside Orchard

作　　者：韩振浩 朱立成[2] 苑严伟[2] 赵博[2] 方宪法 张天赋[2] HAN Zhenhao;ZHU Licheng;YUAN Yanwei;ZHAO Bo;FANG Xianfa;ZHANG Tianfu(College of Engineering,China Agricultural University,Beijing 100083,China;State Key Laboratory of Soil Plant Machine System Technology,Chinese Academy of Agricultural Mechanization Sciences Group Co.,Ltd.,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]中国农业机械化科学研究院集团有限公司土壤植物机器系统技术国家重点实验室,北京100083

出　　处：《农业机械学报》2022年第5期413-421,448,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：广东省重点领域研发计划项目(2019B090922001)。

摘　　要：履带底盘作为农机通用底盘的一种优选方案,在山地果园环境中的应用仍然存在较大优化空间。为了进一步提高履带底盘在复杂行驶路况下的地形适应性,结合山地果园的地形地貌特征,开展了履带底盘的坡地通过性能分析,并基于多体动力学分析软件RecurDyn的仿真结果,进行样机优化和试验验证。首先,以果园通用履带底盘为研究对象,通过理论分析探讨影响履带底盘斜坡平地通过性、斜坡越障通过性的关键结构参数,然后搭建RecurDyn虚拟仿真样机,分析关键结构参数对坡地通过性能的影响规律,进而以提高现有底盘坡地通过性能为优化目标,根据仿真分析结果提出了一种重心调节系统,最终进行样机试制与室内土槽试验。试验结果表明,在坡度为10°的试验路面下,优化后样机在偏航45°时最大牵引力均值为1926 N,相比调控前增加了14.03%。优化后样机最大翻越台阶高度为230 mm,相比优化前增加了27.78%。优化后样机最大跨越壕沟宽度为640 mm,相比优化前增加了28%。研究结果可为山地果园履带底盘的坡地行驶性能优化提供参考。It is a preferred scheme to use the crawler chassis as an available chassis for agricultural machinery.There is ample space for optimization in applying this scheme in the hillside orchard environment.To further improve the adaptability of the crawler chassis under complex driving road conditions,the topographic and geomorphological characteristics of the hillside orchard were referred to to carry out the slope trafficability analysis of the crawler chassis.And based on the simulation results of the multi-body dynamics analysis software RecurDyn,the prototype was improved,and experimental verification was carried out.Firstly,the critical structural parameters that affected straight-line driving,overcoming obstacles of the tracked chassis were discussed through theoretical analysis based on the available chassis.Then,a virtual machine prototype was constructed to analyze the impact of critical parameters on trafficability.According to the simulation analysis results,a center of gravity adjustment system to improve the slope trafficability of the crawler chassis was proposed.Finally,the indoor soil tank test was carried out.The test results showed that on the test road with slope of 10°,the average maximum traction force of the improved prototype at yaw of 45°was 1926 N,which was an increase of 14.03%compared with that before improvement.After the improvement,the maximum obstacle height of the prototype was 230 mm,which was an increase of 27.78%compared with that before improvement.The maximum trench width of the prototype was 640 mm,which was increased by 28%compared with that before improvement.The research result could provide a practical reference for improving the slope driving performance of the crawler chassis in hillside orchards.

关 键 词：山地果园 履带底盘 坡地通过性能 重心调节系统 

分 类 号：S219.2[农业科学—农业机械化工程]