新型弓腰式移动底盘的设计及通过性分析

doi:10.13229/j.cnki.jdxbgxb20200822

摘要/Abstract

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。

关键词: 行走底盘, 折腰转向, 爬坡, 最小转向半径

Abstract:

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.

Key words: walking chassis, bending steering, climbing, minimum turning radius

中图分类号:

TP242.3

聂建军,闫修鹏,马宗正,解晓琳,郭家杰,吕亚磊. 新型弓腰式移动底盘的设计及通过性分析[J]. 吉林大学学报(工学版), 2022, 52(3): 515-524.

Jian-jun NIE,Xiu-peng YAN,Zong-zheng MA,Xiao-lin XIE,Jia-jie GUO,Ya-lei LYU. Design and trafficability analysis of new bow waist mobile chassis[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(3): 515-524.

图/表 20

表1

履带底盘相关参数"

序号	名称	符号	参数
1	整车质量/kg	m	$≤$ 160
2	整车尺寸/mm	-	1850×650×710
3	发动机最大功率/kW	$p e$	4.0
4	主减速比	i	39
5	最大爬坡度/（°）	$β$	35
6	最小转弯半径/mm	R	1500
7	最小越障高度/mm	H	220
8	最大转向转角/（°）	γ	38

表1

图1

图2

图3

图4

图5

图6

图7

图8

表2

履带底盘结构参数"

参数	数值	参数	数值	参数	数值
a₀/mm	145	t₀/mm	35	r₀/mm	160
a₁/mm	395	t₁/mm	40	r₁/mm	130
h₀/mm	125	L/mm	142	r₂/mm	65
h₁/mm	145	d₀/mm	815
h₂/mm	5.5	$θ$ ₁/（°）	-60~30

表2

图9

图10

图11

图12

图13

图14

图15

图16

表3

图17

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