Configuration Design And Dynamics Characteristics Analysis Of Heavy-duty And High-speed Triangular Crawler Wheel

The triangular track walking mechanism combines the advantages of integral track and tires and is widely used in large agricultural vehicles,but it is still less used in the field of rescue vehicles.Aiming at the heavy-duty and high-speed application requirements of the rescue vehicle for the triangular track walking mechanism,the design of the triangular crawler walking mechanism of the heavy-duty and high-speed rescue vehicles was carried out,and the theoretical calculation and experimental comparison analysis of the dynamic characteristics of the triangular crawler traveling mechanism were carried out.The virtual prototype model of triangular caterpillar walking mechanism was established and the dynamic performance of triangular caterpillar walking mechanism was simulated.The mutual validation of mathematical model and virtual prototype model.The main research contents are as follows:Combined with the requirements of the crawler rescue vehicle for the walking mechanism,the design and overall structural analysis of the triangular crawler walking mechanism were carried out.The mechanical characteristics of the main components were analyzed by Newton-Euler's law,and the dynamic equation of motion was established.At the same time,the external excitation of the grounding track is analyzed to determine its external excitation equation.By analyzing the kinematics of the triangular track walking mechanism,the acceleration values of some components are obtained.On this basis,the source of the vertical excitation of the bearing wheel is analyzed and combined with the ground mechanics principle,the mathematical calculation model of the vertical acceleration of the bearing wheel is established..At the same time,the working principle of the tensioning mechanism is analyzed,and the mathematical calculation model of dynamic tension is established and verified by experiments.The applicability of the mathematical calculation model is determined.The virtual prototype and the road surface simulation model of the triangular track walking mechanism are established in the dynamic analysis software RecurDyn.The dynamic simulation analysis of the crawler rescue vehicle was carried out for three typical working conditions: 50 kilometers per hour straight line,crossed with 400 mm roadblock and climbing over 45°slope.The results curves of driving torque and track tension were extracted,based on the results of the tension and other results,the dynamic characteristics of the triangular track walking mechanism are analyzed.At the same time,the mutual verification of the mathematical model and the virtual prototype model of the vertical acceleration of the load-bearing wheel under the straight-line driving condition of the crawler rescue vehicle is carried out,and the correctness of the mathematical model and the virtual prototype model is determined.The factors affecting the driving torque,including the pre-tensioning force of the tensioning mechanism,the driving speed and the road surface type,are simulated and analyzed,and the maximum driving torque under various factors is obtained.The research content of this subject has practical engineering significance for the research and application of the walking mechanism of crawler rescue vehicle.