履带式联合收获机差逆转向机构设计与试验
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摘要
为减小履带式联合收获机在田间连续转向时对土壤产生的剪切破坏,增加整机在田间转向时的灵活性,提高作业效率,设计了一种差逆转向机构,可以实现差逆转向、切边转向和单边制动转向。在对差逆机构转向特性进行理论分析的基础上,应用Recur Dyn软件对其进行了不同工况下的动力学仿真,并将试制的差逆转向机构安装在履带式联合收获机上,在水泥地面及水稻田条件下进行转向性能试验。试验结果表明,在相同转向模式下,即近似相等的转向半径及转向角速度情况下,水稻田差逆转向半轴输出扭矩最大,达到5 668.2 N·m,远大于水泥地差逆转向的扭矩2 268.2 N·m,同时在3种转向模式中,差逆转向所要克服的阻力矩最大。在驱动轮输出转速75 r/min工况下,水泥地面中,差逆转向为0.610 rad/s;水稻田中,差逆转向为0.592 rad/s,较单边制动转向分别提高87.7%和88.5%;水稻田地差逆转向的最小转向半径的平均值为0.098 m,水泥地最小转向半径的平均值为0.082 m,转向占用面积显著减小;切边转向的角速度小且平稳,有助于对方向进行微调。该差逆转向机构使联合收获机的行走转向性能显著提高。
In order to solve the shearing damage caused by the track combine harvester continuous steering in the field,increasing the steering flexibility of vehicle,and improving operation efficiency,the driving performance simulation test of a pivot steering mechanism at the flat hard pavement and heavy clay was conducted. In the test,the multi-body dynamics model of the combine harvester was established in Recur Dyn software,and the movement state was obtained,including steering angular velocity,steering angular acceleration,steering radius and output torque. On this basis,the new type pivot steering mechanism and the walking performance test harvester were trial-produced,and a large number of experiments were carried out. Test results show that,under the same steering mode condition,the differential steering output torque in paddy field is maximum,up to 5 668. 2 N·m,much larger than that at the concrete floor,which is 2 268. 2 N·m,at the same time,the differential steering output torque is the biggest of the three steering modes. As the rotate speed of the driving wheel is 75 r / min,the angular velocity at the concrete floor is 0. 610 rad / s,and that of the paddy field is 0. 592 rad / s,which are improved by 87. 7% and 88. 5% separately; the minimum steering radius in the paddy field is 0. 098 m,and that of the concrete floor is 0. 082 m,which decrese the steering occupied area significately. The proposed differential steering mechanism improves the walking performance of the combine harvester greatly.
In order to solve the shearing damage caused by the track combine harvester continuous steering in the field,increasing the steering flexibility of vehicle,and improving operation efficiency,the driving performance simulation test of a pivot steering mechanism at the flat hard pavement and heavy clay was conducted. In the test,the multi-body dynamics model of the combine harvester was established in Recur Dyn software,and the movement state was obtained,including steering angular velocity,steering angular acceleration,steering radius and output torque. On this basis,the new type pivot steering mechanism and the walking performance test harvester were trial-produced,and a large number of experiments were carried out. Test results show that,under the same steering mode condition,the differential steering output torque in paddy field is maximum,up to 5 668. 2 N·m,much larger than that at the concrete floor,which is 2 268. 2 N·m,at the same time,the differential steering output torque is the biggest of the three steering modes. As the rotate speed of the driving wheel is 75 r / min,the angular velocity at the concrete floor is 0. 610 rad / s,and that of the paddy field is 0. 592 rad / s,which are improved by 87. 7% and 88. 5% separately; the minimum steering radius in the paddy field is 0. 098 m,and that of the concrete floor is 0. 082 m,which decrese the steering occupied area significately. The proposed differential steering mechanism improves the walking performance of the combine harvester greatly.
引文
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2 王国强,程悦荪,孙海涛,等.大型履带机械最佳履带宽度的探讨[J].农业机械学报,1997,28(2):38-41.WANG Guoqiang,CHENG Yuesun,SUN Haitao,et al.Probe into the optimum track width of large tracked machinery[J].Transactions of the Chinese Society for Agricultural Machinery,1997,28(2):38-41.(in Chinese)
3 程军伟,高连华,王红岩,等.履带车辆转向分析[J].兵工学报,2007,28(9):1110-1115.CHENG Junwei,GAO Lianhua,WANG Hongyan,et al.Analysis on the steering of tracked vehicles[J].Acta Armamentarii,2007,28(9):1110-1115.(in Chinese)
4 迟媛,蒋恩臣.履带车辆转向时最大驱动力矩的计算[J].农业工程学报,2009,25(3):74-78.CHI Yuan,JIANG Enchen.Method for calculating maximum tractive torque of tracked vehicle while steering[J].Transactions of the CSAE,2009,25(3):74-78.(in Chinese)
5 MERHOF W,HACKBARTH E M.履带车辆行驶力学[M].北京:国防工业出版社,1989:71-87.
6 曹付义,周志立,徐立友.履带车辆液压机械差速转向参数优化[J].农业工程学报,2013,29(18):60-66.CAO Fuyi,ZHOU Zhili,XU Liyou.Parameter optimization of hydro-mechanic differential turning system for tracked vehicle[J].Transactions of the CSAE,2013,29(18):60-66.(in Chinese)
7 赵丁选,马铸,杨力夫,等.工程车辆机械传动系统的动力学分析[J].中国机械工程,2001,12(8):948-950.ZHAO Dingxuan,MA Zhu,YANG Lifu,et al.Analysis on the power for hydro dynamic-mechanical transmission system of vehicle[J].China Mechanical Engineering,2001,12(8):948-950.(in Chinese)
8 蒋炜,郭宗和.新型履带式机械差速转向机构分析[J].机械设计与研究,1995(4):32-33.
9 陈霓,王志明,陈德俊,等.联合收获机原地转向变速器设计[J].农业机械学报,2013,44(6):84-87.CHEN Ni,WANG Zhiming,CHEN Dejun,et al.Design of pivot steering transmission for combine harvester[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):84-87.(in Chinese)
10 冯江,蒋亦元.水稻联合收获机单边驱动原地转向机构的机理与性能试验[J].农业工程学报,2013,29(4):30-35.FENG Jiang,JIANG Yiyuan.Mechanism and performance test of pivot turning system with single driving for rice combine harvester[J].Transactions of the CSAE,2013,29(4):30-35.(in Chinese)
11 罗恩志.履带联收机原地转向性能的试验研究与功率分析[D].哈尔滨:东北农业大学,2013LUO Enzhi.The experimental study and power analysis of the tracked combine harvester pivot steering performance[D].Harbin:Northeast Agricultural University,2013.(in Chinese)
12 RUBINSTEIN D,HITRON R.A detailed multi-body model for dynamic simulation of off-road tracked vehicle[J].Journal of Terramechanics,2004,41(2-3):163-173.
13 李波,张承宁,李军求.基于Recur Dyn和Simulink的电传动车辆转矩控制策略[J].农业机械学报,2009,40(7):1-5.LI Bo,ZHANG Chengning,LI Junqiu.Torque control strategies based on Recur Dyn and Simulink for electric drive tracked vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):1-5.(in Chinese)
14 卢进军,魏来生,赵韬硕.基于Recur Dyn的履带车辆启动加速过程滑转率仿真与试验研究[J].兵工学报,2009,30(10):1281-1286.LU Jinjun,WEI Laisheng,ZHAO Taoshuo.Experimental and simulation research of slip-ratio during star-up acceleration process of tracked vehicle based on Recur Dyn[J].Acta Armamentarii,2009,30(10):1281-1286.(in Chinese)
15 马星国,陈媛媛,刘兴婷,等.基于多体动力学仿真的履带车辆转向性能分析[J].机械设计,2012,29(6):52-57.MA Xingguo,CHEN Yuanyuan,LIU Xingting,et al.Steering performance analysis of tracked vehicles based on multi-body dynamics simulation[J].Journal of Machine Design,2012,29(6):52-57.(in Chinese)
16 骆清国,司东亚,龚正波,等.基于Recur Dyn的履带车辆动力学仿真[J].车辆与动力技术,2011(4):26-28.LUO Qingguo,SI Dongya,GONG Zhengbo,et al.Dynamic simulation of a tracked vehicle based on Recur Dyn[J].Vehicle&Power Technology,2011(4):26-28.(in Chinese)
17 焦晓娟,张湝渭,彭斌彬.Recur Dyn多体系统优化仿真技术[M].北京:清华大学出版社,2010.
18 李耀明,叶晓飞,徐立章,等.联合收割机行走半轴载荷测试系统构建与性能试验[J].农业工程学报,2013,29(6):35-41.LI Yaoming,YE Xiaofei,XU Lizhang,et al.Construction and performance experiment of load test system for half axle of combine harvester[J].Transactions of the CSAE,2013,29(6):35-41.(in Chinese)
19 方志强,高连华,王红岩,等.履带车辆转向性能指标分析及实验研究[J].装甲兵工程学院学报,2005,19(4):47-50.FANG Zhiqiang,GAO Lianhua,WANG Hongyan,et al.Indexes analysis and experimental research on the steering performance of tracked vehicles[J].Journal of Academy of Armored Force Engineering,2005,19(4):47-50.(in Chinese)
20 迟媛,蒋恩臣.履带车辆差速式转向机构性能试验[J].农业机械学报,2008,39(7):15-17.CHI Yuan,JIANG Enchen.Performance tests on differential steering mechanism of tracked vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(7):15-17.(in Chinese)
2 王国强,程悦荪,孙海涛,等.大型履带机械最佳履带宽度的探讨[J].农业机械学报,1997,28(2):38-41.WANG Guoqiang,CHENG Yuesun,SUN Haitao,et al.Probe into the optimum track width of large tracked machinery[J].Transactions of the Chinese Society for Agricultural Machinery,1997,28(2):38-41.(in Chinese)
3 程军伟,高连华,王红岩,等.履带车辆转向分析[J].兵工学报,2007,28(9):1110-1115.CHENG Junwei,GAO Lianhua,WANG Hongyan,et al.Analysis on the steering of tracked vehicles[J].Acta Armamentarii,2007,28(9):1110-1115.(in Chinese)
4 迟媛,蒋恩臣.履带车辆转向时最大驱动力矩的计算[J].农业工程学报,2009,25(3):74-78.CHI Yuan,JIANG Enchen.Method for calculating maximum tractive torque of tracked vehicle while steering[J].Transactions of the CSAE,2009,25(3):74-78.(in Chinese)
5 MERHOF W,HACKBARTH E M.履带车辆行驶力学[M].北京:国防工业出版社,1989:71-87.
6 曹付义,周志立,徐立友.履带车辆液压机械差速转向参数优化[J].农业工程学报,2013,29(18):60-66.CAO Fuyi,ZHOU Zhili,XU Liyou.Parameter optimization of hydro-mechanic differential turning system for tracked vehicle[J].Transactions of the CSAE,2013,29(18):60-66.(in Chinese)
7 赵丁选,马铸,杨力夫,等.工程车辆机械传动系统的动力学分析[J].中国机械工程,2001,12(8):948-950.ZHAO Dingxuan,MA Zhu,YANG Lifu,et al.Analysis on the power for hydro dynamic-mechanical transmission system of vehicle[J].China Mechanical Engineering,2001,12(8):948-950.(in Chinese)
8 蒋炜,郭宗和.新型履带式机械差速转向机构分析[J].机械设计与研究,1995(4):32-33.
9 陈霓,王志明,陈德俊,等.联合收获机原地转向变速器设计[J].农业机械学报,2013,44(6):84-87.CHEN Ni,WANG Zhiming,CHEN Dejun,et al.Design of pivot steering transmission for combine harvester[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):84-87.(in Chinese)
10 冯江,蒋亦元.水稻联合收获机单边驱动原地转向机构的机理与性能试验[J].农业工程学报,2013,29(4):30-35.FENG Jiang,JIANG Yiyuan.Mechanism and performance test of pivot turning system with single driving for rice combine harvester[J].Transactions of the CSAE,2013,29(4):30-35.(in Chinese)
11 罗恩志.履带联收机原地转向性能的试验研究与功率分析[D].哈尔滨:东北农业大学,2013LUO Enzhi.The experimental study and power analysis of the tracked combine harvester pivot steering performance[D].Harbin:Northeast Agricultural University,2013.(in Chinese)
12 RUBINSTEIN D,HITRON R.A detailed multi-body model for dynamic simulation of off-road tracked vehicle[J].Journal of Terramechanics,2004,41(2-3):163-173.
13 李波,张承宁,李军求.基于Recur Dyn和Simulink的电传动车辆转矩控制策略[J].农业机械学报,2009,40(7):1-5.LI Bo,ZHANG Chengning,LI Junqiu.Torque control strategies based on Recur Dyn and Simulink for electric drive tracked vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(7):1-5.(in Chinese)
14 卢进军,魏来生,赵韬硕.基于Recur Dyn的履带车辆启动加速过程滑转率仿真与试验研究[J].兵工学报,2009,30(10):1281-1286.LU Jinjun,WEI Laisheng,ZHAO Taoshuo.Experimental and simulation research of slip-ratio during star-up acceleration process of tracked vehicle based on Recur Dyn[J].Acta Armamentarii,2009,30(10):1281-1286.(in Chinese)
15 马星国,陈媛媛,刘兴婷,等.基于多体动力学仿真的履带车辆转向性能分析[J].机械设计,2012,29(6):52-57.MA Xingguo,CHEN Yuanyuan,LIU Xingting,et al.Steering performance analysis of tracked vehicles based on multi-body dynamics simulation[J].Journal of Machine Design,2012,29(6):52-57.(in Chinese)
16 骆清国,司东亚,龚正波,等.基于Recur Dyn的履带车辆动力学仿真[J].车辆与动力技术,2011(4):26-28.LUO Qingguo,SI Dongya,GONG Zhengbo,et al.Dynamic simulation of a tracked vehicle based on Recur Dyn[J].Vehicle&Power Technology,2011(4):26-28.(in Chinese)
17 焦晓娟,张湝渭,彭斌彬.Recur Dyn多体系统优化仿真技术[M].北京:清华大学出版社,2010.
18 李耀明,叶晓飞,徐立章,等.联合收割机行走半轴载荷测试系统构建与性能试验[J].农业工程学报,2013,29(6):35-41.LI Yaoming,YE Xiaofei,XU Lizhang,et al.Construction and performance experiment of load test system for half axle of combine harvester[J].Transactions of the CSAE,2013,29(6):35-41.(in Chinese)
19 方志强,高连华,王红岩,等.履带车辆转向性能指标分析及实验研究[J].装甲兵工程学院学报,2005,19(4):47-50.FANG Zhiqiang,GAO Lianhua,WANG Hongyan,et al.Indexes analysis and experimental research on the steering performance of tracked vehicles[J].Journal of Academy of Armored Force Engineering,2005,19(4):47-50.(in Chinese)
20 迟媛,蒋恩臣.履带车辆差速式转向机构性能试验[J].农业机械学报,2008,39(7):15-17.CHI Yuan,JIANG Enchen.Performance tests on differential steering mechanism of tracked vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(7):15-17.(in Chinese)