农业工程学报2023，Vol.39Issue(18)：64-73,10.DOI:10.11975/j.issn.1002-6819.202304190
丘陵山区履带式作业机全向调平系统设计与性能试验
Design and performance test of the omnidirectional leveling system for crawler work machine in hilly areas
摘要
Abstract
Stability of body inclination,work quality and safety can be required during agricultural machinery operation in hilly and mountainous areas.In this study,an omnidirectional leveling system was designed for the crawler work machine.A structural scheme was also proposed with an articulated omnidirectional leveling system using a"three-layer frame".The leveling hydraulic circuit was provided for the working principle of the omnidirectional leveling system.Secondly,a sensitivity analysis was conducted on the omnidirectional leveling performance,including the key structural parameters LAE,LBC,LCD,LHO,LIJ,and LIJ.The results showed that the displacement of the lateral leveling cylinder increased with the increase of LAE and LCD,whereas,decreased with the increase of LBC.The displacement of the longitudinal leveling cylinder increased with the increase of LJK and LIJ,while decreasing with the increase of LHO.The average thrust of the lateral leveling hydraulic cylinder decreased with the increase of LAE and LCD,but the leveling time increased.By contrast,the average thrust of the longitudinal leveling hydraulic cylinder increased with the increase of LJK,but the leveling time decreased.A multi-objective genetic algorithm(GA)was designed to optimize the key structural parameters,taking the key structural parameters of the omnidirectional leveling system as the optimization variables,and the average thrust of the hydraulic cylinder and leveling time as the optimization objectives.Then,the overturning model was established for the omnidirectional leveling crawler work machine.The overturning stability of the whole machine was verified to analyze the static lateral limit overturning angle,static longitudinal limit overturning angle,and dynamic limit driving speed of the crawler work machine.The lateral and longitudinal limit overturning angles of the unleveled crawler work machine were 43.6°,and 60.7°,respectively,whereas,they were 46.7°,and 68.9°,respectively,after leveling.The lateral/longitudinal limit overturning angles after leveling increased by 7.1％and 13.5％,respectively.There was an increase in the maximum driving slope of the crawler work machine,compared with the non-leveling one.The limit driving speed of the crawler work machine to do circular motion on a flat road surface was 4.3 m/s,when the radius of circular motion was 2 m.Once the slope was 20°,the dynamic limit driving speeds were 2.9 and 3 m/s for the unleveled and omnidirectional leveling crawler work machine,respectively,which increased by 3.4％.Finally,an omnidirectional leveling performance test was conducted to verify the system effectiveness.The test results indicated that the lateral and longitudinal leveling times were 3.4 and 3.6 s,respectively,under static testing.By contrast,the maximum body inclination angle of the omnidirectional leveling crawler work machine decreased outstandingly and then quickly leveled under dynamic testing.The body inclination angle can be maintained within±1.5° on the flat road and after leveling,which fully met the performancerequirements of hilly and mountainous areas.关键词
设计/试验/丘陵山区/履带式作业机/全向调平Key words
design/test/hilly areas/crawler work machine/omnidirectional leveling分类
农业科技引用本文复制引用
蒋俞,孙泽宇,汪若尘,夏长高,叶青,郭逸凡..丘陵山区履带式作业机全向调平系统设计与性能试验[J].农业工程学报,2023,39(18):64-73,10.基金项目
国家自然科学基金青年项目(52102459) （52102459）
江苏省青年基金项目(BK20200909) （BK20200909）
江苏大学农业装备学部项目(NZXB20210101) （NZXB20210101）
