Development Of Crawler Electric Chassis In Hilly And Mountainous Areas

About half of Chinese population and 40% of the arable land are distributed in hilly and mountainous areas.Due to terrain restrictions,large and medium-sized agricultural machinery cannot be used,and the existing small agricultural machinery is not applicable.The degree of agricultural mechanization in this region is only 48%,far lower than the national average level of 70%.Therefore,it is particularly important to develop small agricultural machinery suitable for hilly and mountainous areas.The crawler walking mechanism has the advantages of small ground pressure,flexible mobility and low requirements on road environment,so it is very suitable for small agricultural machinery in hilly and mountainous areas.At the same time,in order to solve the environmental pollution caused by the work of fuel engine,the new energy technology will applied to the chassis.Based on the complex and changeable farmland environment and environmental protection in hilly areas,this paper independently designed a crawler electric chassis in hilly areas.The multi-body dynamics software Recur Dyn was used to conduct simulation analysis on its driving performance,and the simulation analysis results were verified through field experiments.The main research results are as follows:1.According to the terrain and actual needs of the hilly and mountainous areas,the design requirements of the crawler chassis are proposed,the overall design plan is determined,and the walking device,power system,transmission system,steering mechanism,control system and spatial layout of the crawler chassis are design calculated and selceted,and using Solid Works to complete the creation of a three-dimensional model of the crawler chassis based on the results of the design calculation.2.The multi-body dynamics software Recur Dyn was used to create the dynamics model and ground model of the tracked chassis,and then the driving performance of the tracked chassis was simulated and analyzed,the results are as follows:In straight driving conditions,the track speed is 0.5 m/s,the actual design speed is 0.56 m/s,the error is 10.7%,the driving wheel torque is 26 N·m,and the actual calculation is 24 N·m,the error is 8.3%;The crawler chassis can smoothly climb slopes below 22°,and the maximum climbing angle is 32°;The maximum vertical obstacle height is 262 mm,which can easily and stably cross the vertical obstacles below 200 mm;It can smoothly pass through the gully below 200 mm,and the maximum gully width that can be passed is about 335 mm;The turning radius is 700 mm,and the error from the theoretical value is 7.7%.3.According to the design scheme,the prototype of the tracked chassis was trimanufactured,and conduct field performance tests on the prototype.The results show that the actual running speed of the tracked chassis is 0.55m/s and the steering radius is 710.65 mm,and the error between the theoretical design value and the simulation data is less than 10%,which verifying the feasibility of the design and the accuracy of the simulation.In the actual obstacle crossing test,the climbing angle is about 40°,which is larger than the simulation angle error,reaching 25%.The actual maximum vertical obstacle crossing height is 300 mm,and the maximum ditch crossing width is 360 mm,indicating that the tracked chassis has a good obstacle crossing performance.