吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (2): 754-760.doi: 10.13229/j.cnki.jdxbgxb20200030

• 农业工程·仿生工程 • 上一篇    

基于虚拟仿真的拖拉机后悬挂检测装置设计与实验

丛茜1,2(),徐金3,马博帅3,张晓超4,陈廷坤1,3()   

  1. 1.吉林大学 工程仿生教育部重点实验室，长春 130022
    2.吉林大学 汽车仿真与控制国家重点实验室，130022
    3.吉林大学 生物与农业工程学院，长春 130022
    4.洛阳拖拉机研究所有限公司，洛阳 471039
  • 收稿日期:2020-01-11 出版日期:2021-03-01 发布日期:2021-02-09
  • 通讯作者: 陈廷坤 E-mail:congqian@jlu.edu.cn;chentk@jlu.edu.cn
  • 作者简介:丛茜（1963-），女，教授，博士生导师.研究方向：农业动力机械.E-mail：congqian@jlu.edu.cn
  • 基金资助:
    国家十三五重点研发计划项目(2017YFD0700202)

Design and test of tractor hydraulic suspension system testing device based on virtual simulation

Qian CONG1,2(),Jin XU3,Bo-shuai MA3,Xiao-chao ZHANG4,Ting-kun CHEN1,3()   

  1. 1.Key Laboratory of Bionic Engineering，Ministry of Education，Jilin University，Changchun 130022，China
    2.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    3.College of Biological and Agricultural Engineering，Jilin University，Changchun 130022，China
    4.Luoyang Tractor Research Institute Co. ，Ltd. ，Luoyang 471039，China
  • Received:2020-01-11 Online:2021-03-01 Published:2021-02-09
  • Contact: Ting-kun CHEN E-mail:congqian@jlu.edu.cn;chentk@jlu.edu.cn

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摘要：

针对目前拖拉机液压悬挂检测效率低、劳动强度大且易造成人身伤害等问题，基于虚拟仿真本文设计了一种用于拖拉机液压悬挂检测的挂接检测装置，该装置由挂接部分和加载部分组成。挂接部分采用液压自动控制的方式完成拖拉机下拉杆的定位和穿销，加载部分通过液压加载油缸和杠杆机构对拖拉机下拉杆进行加载，并且采用杠杆加载方式可减小加载油缸运动位移，避免实验场地开挖地沟。运用Adams和Workbench对拖拉机液压悬挂挂接检测装置分别进行运动学仿真和力学仿真，结果表明，该挂接检测装置设计符合运动学要求，未出现干涉卡死现象，且满足力学要求。试制了拖拉机液压悬挂挂接检测装置，开展挂接与承载提升实验，在装置末端施加5 kN的加载力，同时拖拉机下拉杆提升650 mm。试验表明：研制的挂接检测装置可准确、快速挂接下拉杆，并能完成拖拉机液压悬挂承载提升，满足预期要求。该研究可为拖拉机液压悬挂智能化、高效率检测以及相关检测装置的设计提供参考。

关键词: 农业工程, 拖拉机, 液压悬挂, 检测, 虚拟仿真

Abstract:

In order to solve the problems of low testing efficiency， high labor intensity and danger during the tractor hydraulic suspension system text， a hitching testing device for tractor hydraulic suspension system was designed based on virtual simulation. The mechanism was composed of a hitching part and a loading part. In the hitching system， the hydraulic automatic control method was used to complete the positioning and connection of the tractor's lower pull rod. In the loading system， the lower pull rod of the tractor was loaded by adopting the hydraulic loading cylinder and lever mechanism. Meanwhile， using the lever loading method can reduce the movement displacement of the loading cylinder and avoid the excavation of the trench in the experiment site. The virtual simulation software， Adams and Workbench， was used to simulate the kinematics and mechanics of the tractor hydraulic hitch detection device. The results show that the designed hitch test device meets the mechanical requirements and the kinematic requirements without interference jamming. The tractor hydraulic hitch test device was manufactured and assembled， and the hitch and loading experiments were carried out. A loading force of 5 kN was applied to the end of the device during the loading test， and the lower pull rod of the tractor was lifted 650 mm. The results of the verification test show that the device can be used to connect the lower pull rod of the tractor accurately and quickly， and can complete the loading experiment of tractor hydraulic suspension， which meets the expected requirements. This research can provide reference for intelligent and high efficiency testing of tractor hydraulic suspension， and designing the corresponding device for testing.

Key words: agricultural engineering, tractor, hydraulic suspension, test, virtual simulation

中图分类号: 

  • S220

图1

基于四杆机构的液压悬挂挂接装置示意图"

表1

挂接装置示意图中符号的含义"

符号/初始条件符号/提升过程中的变量
下拉杆长l1/950 mmh2/下拉杆提升高度
挂接杆长l2/230 mmh4/加载油缸下降行程
杠杆长端l3/1500 mmθ1/下拉杆转动角
定点间距离l4/2300 mmθ2/挂接检测机构挂接角
杠杆短端l5/750 mmθ3/挂接检测机构传动角
下拉杆距地h1/500 mmθ4/连接杆与空间垂直面的夹角
杠杆距地h3/400 mm

图2

挂接机构运动仿真变化曲线"

图3

挂接装置整体结构1-工位台;2-支架底座;3-支座轴承;4-油缸活塞杆;5-油缸框架;6-铰接关节;7-杠杆;8-加载油缸;9-杠杆支座;10-固定板;11-弧形杆;12-固定套筒;13-纵向定位板;14-连接套筒;15-复位弹簧;16-承力柱;17-横向定位板;18-液压穿出销"

图4

挂接检测装置力学模拟模型及边界条件"

图5

承载提升过程中承力柱的等效应力变化曲线"

图6

承载提升过程中杠杆的等效应力变化曲线"

图7

挂接装置样机图"

表2

挂接与提升时间 (s)"

No.t1t2No.t1t2No.t1t2
17018116818217018
27519127217226819
37616136822236918
47820146920246522
57418156519257216
66817166618266816
77015176818276918
87221186919286819
96518197021296517
106419206817307220

表3

液压缸负载力 (MPa)"

No.h5h6No.h5h6No.h5h6
11.61.7112.01.8211.81.7
21.81.7121.91.9221.81.6
31.81.8131.82.1231.61.6
41.91.6141.82.0241.71.8
51.61.8151.82.0251.71.7
61.71.9161.92.0261.81.8
71.71.8172.01.8271.81.9
81.71.7181.72.1281.71.5
91.91.7191.81.8291.71.8
101.51.8201.92.0301.61.8
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