山地果园履带运输机底盘行走机构的设计与仿真

Design and Simulation of Running Gear in Hilly Orchard Tracked Vehicle

我国果品产业发展前景广阔,但目前存在的农村劳动力减少、人口老龄化和南方果园多处于山地等问题制约了其发展,因此机械化已成为山地果园经济发展的迫切需求。为了提高运输机械在南方山地果园的通过性和稳定性,设计了一种灵活、轻便的山地果园履带式运输机底盘行走机构,使其具备爬越10cm垂直障碍、跨越2 0 cm壕沟障碍和爬坡3 0°的能力。对行走机构进行结构设计,通过建模软件Pro/E进行三维建模,并创建虚拟样机模型和典型的高台壕沟地形。通过动力学软件ADAMS/VIEW对机构进行动力学仿真分析,结果显示:在越障过程中,质心横坐标位移绝对误差在±5%,质心纵坐标位移绝对误差在±3%。

The prospect for development of fruit industry is flourishing in china,but it is restricted by some factors such as the decrease of labor,the aged tendency of population and the orchards that mainly located in south mountainous region in the meantime. Therefore,mechanization has become an urgent demand for economic development in hilly orchard. In order to improve the passing ability and stability of tracked vehicle in hilly orchard,this paper designed a running gear in hilly orchard tracked vehicle with characteristics of flexibility and portability and aimed at making this running gear with the ability to climb vertical obstacles of 10 cm,cross trenches of 20 cm and climb slopes of 30°. The structure was designed and the modeling software Pro / E was applied for the three- dimensional modeling. A virtual prototype model and a typical high- trench terrain was created. Model of running gear was made the simulation through ADAMS /VIEW. The results showed that,in the process of obstacle- crossing,the absolute error for the centroid of abscissa displacement was 5% and the absolute error for the centroid of ordinate displacement was 3%.