四履带式甘蔗收割机越障性能仿真与试验  

Simulation and Testing of 4-track Crawler-type Sugarcane Harvester over Obstacles

作　　者：李维兴 刘庆庭[1] 张豪杰 Li Weixing;Liu Qingting;Zhang Haojie(Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,South China Agricultural University,Guangzhou 510642,China;Guangdong College of Engineering and Technology,Guangzhou 510650,China)

机构地区：[1]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州510642 [2]广东工程职业技术学院,广州510650

出　　处：《农机化研究》2025年第1期226-233,共8页Journal of Agricultural Mechanization Research

基　　金：农业农村部高效收获装备研发与产业化课题(NK20221605)。

摘　　要：目前,甘蔗主产地有广西、云南等地区,甘蔗主产区以丘陵山地为主。轮式底盘甘蔗收割机通过性差而无法在狭窄、连绵起伏等复杂坡面作业,需要一种能够适应丘陵山区的甘蔗收割机。为此,设计了一款三角履带式甘蔗收割机,底盘是由前三角履带轮和后平履带轮构成的4履带行走系统,后履带偏摆转向。同时,对该机的结构参数、履带底盘在翻越垂直壁和跨越壕沟过程中的越障性能进行分析,得出4履带式甘蔗收割机履带底盘越障性能与其结构参数的内在联系;建立了该机的多体动力学模型,在RecurDyn软件中模拟了该机在不同的参数下的动力学性能,并对样机进行越障试验验证。验证试验表明:车辆能够跨越高为18 cm的固体垂直障碍,与仿真数据相比,实际测得的俯仰角、横摆角和翻滚角的幅值变化符合预期,车辆俯仰角波动幅值超过5°,甘蔗收割机的俯仰现象明显;翻滚角变化幅值达到3°,车辆通过障碍时,需要考虑其他因素导致车辆的俯仰角变化;跨越宽为50 cm、高18 cm壕沟时,安全通过壕沟;车辆的翻滚角变化明显,幅值最大相差2°,说明此时车辆左右两边履带的颠簸较为严重,但车辆总体越障稳定性较好。研究成果可为甘蔗收割机结构设计与改进、增强作业安全性提供关键技术支持,具有重要的参考价值。At present,the main production areas of sugarcane are Guangxi Yunnan and other regions,and the main sugarcane production areas are mainly hilly and mountainous.The wheeled chassis sugarcane harvester is unable to operate on narrow,rolling and other complex slopes due to its poor passability,therefore,a sugarcane harvester that can adapt to hilly and mountainous areas is needed.For this,designed a triangular tracked sugarcane harvester.The chassis of this model is a 4-track travel system consisting of front triangular track wheels and rear flat track wheels,with rear track deflection steering.In this paper,the structural parameters of this model were theoretically analyzed,and the overrunning performance of the tracked chassis in the process of overrunning vertical walls and crossing trenches was analyzed,and the intrinsic connection between the overrunning performance of the tracked chassis of the 4-tracked sugarcane harvester and its structural parameters is derived.The multi-body dynamics model of the machine was established,and the dynamics performance of the machine under different parameters was simulated in RecurDyn software,and the prototype was verified in the overrunning test.The validation showed that the vehicle was able to cross a solid vertical obstacle of 18 cm in height.Compared with the simulation data,the actual measured changes in the amplitude of pitch angle,transverse sway angle and roll angle were as expected,and the vehicle pitch angle fluctuation amplitude exceeded 5°,and the pitch phenomenon of the sugarcane harvester was obvious;the amplitude of roll angle change reached 3°,and other factors need to be considered when the vehicle passes the obstacle to cause the pitch angle change of the vehicle.When crossing the trench with a width of 50 cm and a height of 18 cm,it passed the trench safely.The roll angle of the vehicle changes obviously,the maximum difference in amplitude was 2°,which means that the bumps on the left and right tracks of the vehicle were more serious at this time,but t

关 键 词：甘蔗收割机 RecurDyn动力学 底盘参数 车辆建模及仿真 

分 类 号：S225.53[农业科学—农业机械化工程]