履带式防核辐射挖掘机越障过程动力学建模及影响因素研究

Dynamic Model of Crawler Anti-radiation Excavator Climbing over Obstacles and Analysis on its Influential Factors

根据履带式防核辐射挖掘机结构及参数,构建了攀爬垂直壁和跨越壕沟两种典型越障工况的越障能力计算模型,计算得到其越障能力值分别为555 mm、1 721 mm.运用虚拟样机技术,建立对应工况下的动力学仿真模型,通过仿真获得其攀爬垂直壁和跨越壕沟能力值分别为551 mm、1 625 mm,与理论值相近.对其仿真结果进行分析得到质心位置及行驶速度对越障能力的影响规律:质心前移与上升能提升其攀爬垂直壁、跨越壕沟的能力,质心左右偏移对其越障能力影响微小;低速挡攀爬凸起障碍物时对车体冲击量较小,高速挡能有效提升其跨越壕沟能力.

According to the structure and parameters of the crawler anti-radiation excavator,two typical obstacle crossing ability computational models under the obstacle crossing working condition： the climbing vertical wall model and the ditch crossing model,have been built.And the obstacle crossing ability values,after calculation,are 555 mm and 1 721 mm respectively.By utilizing the virtual prototype technology,the dynamic simulation model in accordance with the working condition has been set up,and the climbing vertical wall capability and the ditch crossing capability are 551 mm and 1 625 mm respectively,close to the theoretical value.Through further analysis on the simulation results,the rule of the centroid position＇s and the driving speed＇s influence on the obstacle crossing capability has been brought forth： the forward lead and rising of the centroid can improve its climbing vertical wall ability and the ditch crossing ability.The left and right shifting of the centroid has a tiny influence on its obstacle crossing capability; climbing the bulging obstacles with a low gear has a small impact on the car,and a high gear can effectively improve its ditch crossing ability.