Journal of Jilin University(Engineering and Technology Edition) ›› 2022, Vol. 52 ›› Issue (3): 515-524.doi: 10.13229/j.cnki.jdxbgxb20200822

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Design and trafficability analysis of new bow waist mobile chassis

Jian-jun NIE1(),Xiu-peng YAN1,2,Zong-zheng MA2,Xiao-lin XIE3,Jia-jie GUO3,Ya-lei LYU1   

  1. 1.School of Mechatronics Engineering，Zhongyuan University of Technology，Zhengzhou 451191，China
    2.School of Mechanical Engineering，Henan University of Engineering，Zhengzhou 451191，China
    3.College of Agricultural Equipment Engineering，Henan University of Science and Technology，Luoyang 471000，China
  • Received:2020-10-27 Online:2022-03-01 Published:2022-03-08

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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

CLC Number: 

  • TP242.3

Table 1

Related parameters of crawler chassis"

序号名称符号参数
1整车质量/kgm≤160
2整车尺寸/mm-1850×650×710
3发动机最大功率/kWpe4.0
4主减速比i39
5最大爬坡度/（°）β35
6最小转弯半径/mmR1500
7最小越障高度/mmH220
8最大转向转角/（°）γ38

Fig.1

Schematic diagram of crawler chassis structure"

Fig.2

Crawler type traction assembly device"

Fig.3

Power transmission schematic diagram of chassis"

Fig.4

Auxiliary lifting device"

Fig.5

Shear deformation of soil at eachpoint of track grounding"

Fig.6

Changing state of crawler traction assemblyduring obstacle crossing"

Fig.7

Structural parameters of the bow waist chassis"

Fig.8

Position of the center of mass of chassisduring obstacle crossing"

Table2

Structural parameters of crawler chassis"

参数数值参数数值参数数值
a0/mm145t0/mm35r0/mm160
a1/mm395t1/mm40r1/mm130
h0/mm125L/mm142r2/mm65
h1/mm145d0/mm815
h2/mm5.5θ1/（°）-60~30

Fig.9

Relationship between centroid coordinatesand angle and mass"

Fig.10

Limit state during obstacle crossing"

Fig.11

Relationship between step heightand chassis attitude"

Fig.12

Mechanical model of climbingprocess of mobile chassis"

Fig.13

Relationship between engine outputtorque and slope angle"

Fig.14

Schematic diagram of steering"

Fig.15

Relationship between steering angle steering fulcrum position and steering radius"

Fig.16

Bow waist crawler chassis"

Table 3

Basic parameters of bow waist chassis"

序号名称参数
1整车质量/kg152
2整车尺寸/mm1850×650×710
3发动机最大功率/kW4.0
4主减速比39
5轮胎半径/mm160
6驱动轮半径/mm130
7轴距/mm815
8最大转角/（°）38

Fig.17

Test of obstacle crossing and steering function"

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