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本文探讨具有两条履带行走装置的工程机械,如挖掘机、推土机的转弯理论和功率计算。文中在履带转弯的运动学部分讨论了履带转弯时的绝对回转瞬心点和相对回转瞬心点,并指出相对回转瞬心点的概念是履带能够转弯的力学基础,在履带转弯的静力学中讨论了机器的外力平衡条件,对地面的反力和阻力矩进行了计算,指出了牵引力只有通过地面的摩擦力才能推动履带行走和转弯,在讨论履带的转弯能力时指出履带的转弯能力一般不受履带的长宽比l/B(l—履带接地长度,B—两条履带的中心距)的限制;文中还讨论了履带转弯时能量消耗的分配情况,指出内侧履带制动和空转时,内侧履带的功率消耗是由外侧履带提供的,并已包括在外侧履带的功率(P_2V_2)计算公式中,转弯时内侧履带的功率消耗仅是起着降低转弯速度的作用;在功率计算中对我国现用的计算公式与本文推荐的公式进行了对比,认为国内现用的计算公式是比较保守的。本文对双履带行走机构的转弯理论作较详细的分析讨论,并认为今后除了需要在理论上进一步探讨外,更重要的是要作好试验研究工作,实测出在各类土壤条件下的阻力系数μ和μ′值,粘着系数φ值,各种行走机构的f值,为设计计算提供可靠的依据。
This paper discusses the turning theory and power calculation of construction machinery with two tracked walking devices, such as excavators and bulldozers. In the kinematics section of the track turn, the absolute rotation instantaneous center point and the relative rotation instantaneous center point during the track turning are discussed. It is pointed out that the concept of the relative rotation instantaneous center point is the mechanical basis for the track to turn, and it is in the statics of the track turning. The balance conditions of the external force of the machine were discussed, and the counterforce and resistance moment of the ground were calculated. It was pointed out that the traction force can only promote the walking and turning of the track by the friction force of the ground. When discussing the turning ability of the track, it was pointed out that the turning ability of the track is generally not The length-to-width ratio of the crawler is l/B (l—the track grounding length, B—the center distance of the two crawler tracks); the distribution of energy consumption during track turning is also discussed, and when the inner crawler is braked and idling, The power consumption of the inner track is provided by the outer track, and is included in the calculation formula of the power of the outer track (P_2V_2). The power consumption of the inner track during cornering is only to reduce the turning speed; it is used to calculate the power in China. The current calculation formula is compared with the formula recommended in this paper, and it is considered that the current domestic calculation formula is more conservative. This article analyzes and discusses the turning theory of the double crawler walking mechanism in more detail. It is considered that in addition to the need to further discuss in theory, the more important thing is to do a good job of experimental research and measure the resistance coefficient under various soil conditions. The μ and μ′ values, the adhesion coefficient φ value, and the f value of various traveling mechanisms provide a reliable basis for design calculations.