基于低速条件的履带板斜坡牵引力模型构建与试验  

Construction and experiment of track shoe traction model on slope based on low-speed conditions

作　　者：潘冠廷 穆龙涛 赵明威 孙景彬 PAN Guanting;MU Longtao;ZHAO Mingwei;SUN Jingbin(College of Mechanical Engineering,Shaanxi Polytechnic Institute,Xianyang Shaanxi 712000,China;Engineering Research Center of Composite Movable Robot,Universities of Shaanxi Province,Xianyang Shaanxi 712000,China;School of Mechanical&Automotive Engineering,Liaocheng University,Liaocheng Shandong 252000,China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000 [2]复合型移动机器人陕西省高校工程研究中心,陕西咸阳712000 [3]聊城大学机械与汽车工程学院,山东聊城252000

出　　处：《农业工程》2025年第1期114-119,共6页AGRICULTURAL ENGINEERING

基　　金：2023年度陕西省教育厅科学研究计划项目(23JK0311)。

摘　　要：现有的履带车辆牵引力计算方法很少考虑斜坡土壤物理特性、履带运动特性及履刺参数等因素的综合影响。针对这一问题,构建山地斜坡工况下的土壤最大剪应力模型及履带板牵引力模型,分析履刺参数对牵引力的影响,并进行验证试验。结果表明,随着履刺高度、履刺厚度、斜刺比例的增加,牵引力的单位增长率分别为37.25%、48.00%和53.50%,牵引力随斜刺倾角增加呈减小趋势。各试验值与理论值之间的相对误差均<10%,表明所构建的履带板斜坡牵引力模型有效,能够较为准确地反映土壤物理特性、履刺结构及剪切速率等因素对履带牵引力的影响,可为履带车辆在斜坡上的牵引力计算及履刺参数优化提供理论依据。Existing methods for calculating traction force of tracked vehicles seldom consider combined effects of slope soil physical properties,track motion characteristics,and grouser parameters.To address this issue,a maximum soil shear stress model and track shoe traction model under mountainous slope conditions were constructed.Impact of grouser parameters on traction was analyzed,and validation experiments were conducted.Results indicated that with increases in grouser height,grouser thickness,and inclination ratio,unit growth rates of traction were 37.25%,48.00%,and 53.50%,respectively,and traction decreased as inclined lug angle increases.Relative errors between experimental and theoretical values were less than 10%,demonstrating effectiveness of developed track shoe traction model.This model accurately reflected influence of soil physical properties,grouser structure,and shear rate on track traction,providing a theoretical basis for calculating traction and optimizing grouser parameters for tracked vehicles on slopes.

关 键 词：履带车辆 斜坡 牵引力 履刺参数 

分 类 号：S229[农业科学—农业机械化工程]