Full
Outline
In response to the problems of steep slopes and narrow roads, complex terrain and landforms, poor applicability of existing models on sloping land, and lack of design theory for mountain power machinery in hilly and mountainous areas, this paper proposes a “lateral swing longitudinal shift” center of gravity adjustment crawler tractor scheme suitable for hilly and mountainous areas. In order to reduce research and development costs and shorten the research and development cycle, a “lateral swing longitudinal shift” center of gravity adjustable remote control crawler proportional prototype is specially created for feasibility verification and slope stability research of the scheme. A mathematical model and force analysis were conducted for slope driving before and after adjusting the center of gravity, and a stability index that considers both lateral and longitudinal directions-the uniform distribution coefficient of track contact pressure-was proposed. Grounding pressure and passability tests were conducted, and the results showed that the “lateral swing longitudinal shift” center of gravity adjustable scheme proposed in this paper can greatly improve the uniformity of grounding pressure distribution for two tracks traveling on slopes; Under the slope conditions of 5°, 10°, 15°, and 20°, after adjusting the center of gravity of the whole machine longitudinally and laterally, the maximum traction force of the vehicle when inclined 45° uphill is 398.70 N, 339.41 N, 265.67 N, and 222.32 N, respectively. The maximum traction force has increased by 13.9%, 18.1%, 27.3%, and 50.5% compared to before regulation. A maximum rollover test was conducted, and the results showed that when the longitudinal distance of the upper body extended to a maximum of 150 mm, the static longitudinal maximum rollover angle increased from 39° to 46°, an increase of 17.9% compared to before the center of gravity adjustment; When the upper body sway angle is adjusted to the maximum value of 25°, the static lateral limit tilt angle is increased from 40.0° to 43.5°, an increase of 8.8% compared to before regulation; When passing obstacles on a slope, adjusting the horizontal or vertical center of gravity will increase the dynamic tipping coefficient of the vehicle on the slope, and the lifting effect will weaken with the increase of slope. Prove that the proposed solution is feasible and can significantly improve the driving stability and anti rollover ability of tracked vehicles on slopes, providing theoretical and data support for performance analysis and structural optimization design of tracked vehicles.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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