基于重心自适应调控的山地果园运输车设计与试验

Design and Test of Transport Vehicle for Hillside Orchards Based on Center of Gravity Regulation

为了进一步提升山地果园运输机械的复杂地形适应性,设计了一种基于重心自适应调控的山地果园运输车。根据山地果园实际环境特点,进行运输车的总体设计并阐述基本工作原理;根据设计要求,分别开展履带底盘、可移动载物台以及控制系统的关键部件设计,并针对斜坡、斜坡台阶和斜坡壕沟3种路况制定整机重心控制策略;基于多体动力学分析软件RecurDyn搭建运输车虚拟仿真样机,验证设计方案和控制策略的合理性和可行性;最后进行样机试制并进行整机性能试验。试验结果表明,在坡面角10°,负载0、50、100、150 kg的情况下,整机重心位置经过调控后,运输车偏航45°时的直线行驶最大牵引力分别为1897.87、2139.48、2328.92、2425.24 N,相比调控前分别增加了21.11%、20.65%、26.40%、26.93%;运输车下坡极限翻倾角分别为45°、43°、42°、40°,相比调控前分别增加了7.14%、13.16%、13.51%、14.29%;运输车横向极限翻倾角分为40°、38°、35°、35°,相比调控前分别增加了8.11%、8.57%、12.90%、20.69%;运输车上坡极限越障高度分别为210、200、200、190 mm,相比调控前分别增加了10.53%、25.00%、33.33%、46.15%;运输车的下坡极限跨壕宽度分别为450、480、510、520 mm,相比调控前分别增加了7.14%、14.29%、21.43%、26.83%。结果表明:在不同负载条件下,本文提出的可移动载物台以及整机重心控制策略能够有效提升运输车的坡地行驶性能,在山地果园实际作业环境具有良好的地形适应性。

To further improve the adaptability of hillside orchard transporters to complex terrain,a hillside orchard transport vehicle based on center of gravity regulation was designed.Firstly,the overall design of the vehicle and the basic working principle were described according to the actual environment characteristics of hillside orchards.Then,based on the design requirements,the crawler chassis,the movable loading platform,and the control system were designed.The control strategy of the machine's center of gravity was formulated for three cases of straight driving on slopes,crossing obstacles on slopes,and crossing trenches on slopes.Secondly,a virtual simulation of the vehicle was built based on the multi-body dynamics analysis software RecurDyn,the rationality and feasibility of the design scheme and control strategy were verified.Finally,the prototype was tested,and the performance test was conducted.The test results showed that under the slope angle of 10°and the load of 0 kg,50 kg,100 kg,and 150 kg,after the position of the center of gravity was adjusted,the maximum combined traction force of yawing 45°were 1897.87 N,2139.48 N,2328.92 N and 2425.24 N,which were increased by 21.11%,20.65%,26.40%and 26.93%,respectively,compared with the initial state.The maximum tilt angle of the transport vehicle downhill were 45°,43°,42°and 40°,which were increased by 7.14%,13.16%,13.51%and 14.29%,respectively,compared with the initial state.The maximum tilt angle of the transport vehicle cross slope were 40°,38°,35°and 35°,which were increased by 8.11%,8.57%,12.90%and 20.69%,respectively,compared with the initial state.The maximum heights of the transport vehicle over the obstacle uphill were 210 mm,200 mm,200 mm and 190 mm,which were increased by 10.53%,25.00%,33.33%and 46.15%,respectively,compared with the initial state.The maximum widths of the transport vehicle over the trench downhill were 450 mm,480 mm,510 mm and 520 mm,which were increased by 7.14%,14.29%,21.43%and 26.83%,respectively,compared with the initial state.Under different load conditions,the movable loading platform and the machine's center of gravity control strategy proposed in this paper could effectively improve the slope driving performance of the transport vehicle and had good terrain adaptability in the actual operating environment of hillside orchards.