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针对丘陵山区农业机械通过性差、车身难以保持水平,机械化薄弱的问题,设计一种丘陵山区农用仿形行走动态调平底盘。底盘4组调平悬架的悬臂夹角可精确调节,不仅能在崎岖地面上实现全时多轮驱动、多自由度仿形行走,而且通过悬架悬臂夹角调节实现车体调平控制,同时解决丘陵山区农用动力底盘行走、作业的两大难题。底盘在仿形行走过程中,倾角传感器实时测量车身倾斜角度,并计算出各悬架悬臂夹角瞬时调节量,精确调整各悬架悬臂夹角实现底盘动态补偿调平。参照中小型农用拖拉机东方红500设计底盘样机,建立虚拟样机三维模型,并导入动力学分析软件ADAMS中进行仿真分析,底盘在多自由度仿形行走过程中,可在0.5°精度范围内实现动态调平。研制小比例样车,通过土槽试验验证底盘在多自由度仿形行走过程中,可在1°精度范围内实现动态调平。仿真、土槽与自然地面试验验证了理论分析和计算结果,为丘陵山区农用仿形行走动态调平底盘应用提供参考。
Aiming at the problems that the farm machinery in hilly and mountainous areas pass through poor performance, the body is difficult to maintain and the mechanization is weak, a dynamic leveling chassis for agricultural running in hilly and mountainous areas is designed. Chassis 4 leveling suspension cantilever angle can be precisely adjusted not only in the rugged surface to achieve full-time multi-wheel drive, multi-degree of freedom profile walking, but also through the suspension cantilever angle adjustment body leveling control, At the same time solve the hilly mountain agricultural power chassis walking, homework two major problems. Chassis in the process of copying walking, tilt sensor real-time measurement of body tilt angle, and calculate the instantaneous adjustment of the suspension cantilever angle, the precise adjustment of the suspension cantilever angle to achieve dynamic chassis leveling compensation. According to the chassis prototype of Dongfanghong 500 for small and medium tractors, the three-dimensional model of virtual prototype is established and imported into the dynamic analysis software ADAMS for simulation analysis. The chassis can achieve dynamic within the accuracy of 0.5 ° in the course of multi-freedom copying Leveling. Development of a small proportion of prototype vehicles, soil tank test proved that the chassis in the multi-degree of freedom profile walking process, the dynamic range can be achieved within 1 ° accuracy. Simulation, soil trough and natural ground test verify the theoretical analysis and calculation results, and provide references for the application of dynamic leveling chassis for agricultural running in hilly and mountainous areas.