Design And Passability Of A New Bow-waist Walking Chassis

For agricultural machinery chassis applied in hilly environment,steep slope,soft ground,soil sill and vertical obstacles are often encountered in the working process,which will seriously affect the operation quality of machinery chassis.Therefore,the research on the chassis of micro agricultural machinery can provide a theoretical basis for improving the performance of the whole machine,and has a certain practical guiding value.In this dissertation,a bow waist walking chassis used in hilly areas is taken as the research object,and the trafficability of the walking chassis is studied by combining theoretical analysis,virtual instrument simulation and experimental research.First of all,according to the terrain characteristics of hilly areas,the design requirements of bow waist walking chassis are proposed,and the design scheme of walking chassis is determined.According to the design index,the structure design of the crawler drive device,transmission system,steering system from EMU body,whole machine layout of the walking chassis and the selection of relevant components(engine,motor,reducer,etc.)are carried out.After the optimization design,the prototype of the new bow waist intelligent walking chassis is trial produced.Secondly,the driving performance of the new bow waist walking chassis is analyzed theoretically.Using relevant theoretical knowledge,the climbing ability,minimum turning radius and trafficability on soft road of the walking chassis are analyzed,which provides a theoretical basis for the follow-up simulation research,and also provides a theoretical basis for the evaluation of trafficability and stability of similar walking mechanisms in the driving process.Then,taking the geometric model of the new type of bow waist walking chassis established by UG software as the object,the dynamics and kinematics of its typical working conditions are analyzed,and the dynamic simulation model is established by RecurDyn software.Using the ground module of RecurDyn software,the hard and soft ground models are established by setting different parameters,and the simulation analysis of climbing,obstacle crossing,steering,straight-line driving and other working conditions is completed.The results show that the stability and ride comfort of the rubber tracked chassis are better than those on hard road,but the steering resistance is larger;the maximum climbing slope of the simulation analysis is 35 degrees,which is basically consistent with the theoretical calculation value of 37.21 degrees,and the error of the required climbing torque is within 6.5% compared with the theoretical calculation value.Finally,the performance of the developed chassis prototype is tested,and the experimental results verify the correctness of the theoretical research and simulation results.