丘陵山地拖拉机机身自平衡机构稳定性分析

Stability analysis of self-balancing mechanism for the body of hilly tractors

针对丘陵山地拖拉机坡地适应性差,易翻倾,通过性差等问题,设计一种具有自动调平机构的504型丘陵山地拖拉机。整机采用机械传动,四驱轮式行走系统,两侧独立传动转向系统,平行四杆自动调平机构,可实现拖拉机姿态自动仿形调平。基于SolidWorks对拖拉机进行整机三维建模,运用ADAMS软件对虚拟样机进行侧倾稳定性动态仿真分析。结果表明:自动调平机构调平动作范围732 mm,可在25°的坡地上保证车身横向水平。上坡极限翻倾角及下坡极限翻倾角均为45°,上坡纵向滑移角为33.69°,下坡纵向滑移角为16°,前后驱动轮越障高度为214 mm。调平状态下车身的最大侧倾角为37.5°,与理论计算35.93°非常接近。该机前后驱动桥均可进行独立调平,保证机身始终处于水平姿态,能够满足丘陵山地生产作业要求。

In order to solve the problems of poor adaptability,easy tipping,and low trafficability performance of existing hilly tractors,the 504-type hilly tractor with an automatic leveling mechanism was designed.The hilly tractor adopted mechanical drive,a four-wheel-drive walking system,independent steering systems on both sides,and a parallel four-bar automatic leveling mechanism,which could realize the tractor posture automatic profile leveling.Three-dimensional modeling of the tractor was carried out based on SolidWorks.ADAMS software was used to model the virtual prototype and analyze the dynamic simulation of roll stability.The results showed that:the leveling action range of the automatic leveling mechanism was 732 mm,which can ensure the horizontal level of the vehicle body on the slope of 25°.The limit tilt angle of uphill and downhill were both 45°.The longitudinal slip angle of uphill and downhill was 33.69°and 16°,respectively.The obstacle-climbing height of its front and rear driving wheels was 214 mm.The maximum roll angle of the vehicle body in the leveled state was 37.5°,which was close to the theoretical calculation of 35.93°.Both the front and rear drive axles of the 504-type hilly tractor could be leveled independently and always keep the tractor body in a horizontal position,which could meet the requirements of hilly and mountain production.