CN104943759A - Rubber belt track wheel train design method - Google Patents

Abstract

The invention discloses a rubber belt track wheel train design method. Appropriate design parameters are selected in a mathematical modeling mode, the selection ranges of the parameters are controlled by controlling the perimeter change rate of a rubber belt track and the allowed elongation rate of the rubber belt track, different barriers in the driving process of a belt track wheel train can be simulated in a mathematical modeling mode, all coordination parameters can be designed only according to the basic parameters of the rubber belt track wheel train, it is not required to carry out experiment selection for many times, time and labor are saved, the design cost is reduced, and the design precision is improved.

Description

Rubber belt track train method of designing

Technical field

The present invention relates to rubber belt track train method of designing technical field.

Background technology

Rubber belt track wheel is a kind of novel rubber belt track application engineering.It under the condition of not reequiping vehicle, can exchange with tire, reduces the grounding pressure of vehicle, improves tractive property, thus the cross country power of fast lifting wheeled car.This technology has been widely used in agricultural, engineering, the military field in the area such as North America, Europe.There is Canadian Soucy in the representative company of this technology, Goodyear, Mattracks of the U.S., the Bridgestone of Japan, gondola Tidue etc.

Rubber belt track wheel is made up of train and rubber belt track, and train mainly comprises the assemblies such as drive wheel, framework, bearing wheed, track adjusting wheel, and rubber belt track wheel is generally triangle configuration, and drive wheel is in leg-of-mutton top.Drive wheel is connected with vehicle drive shaft, and is driven by it.Framework is for maintaining the shape of Athey wheel.Track adjusting wheel is in both sides or the side of triangular base, for guiding crawler belt, and provides angle of attach or the departure angle of Athey wheel.Bearing wheed is rotatably mounted in associated component, is in leg-of-mutton bottom, rolls on rubber belt track inside face.These assemblies and bearing wheed form heavy burden train, and and frame installation.When Athey wheel travels, during heavy burden train, crawler belt grounded part complies with the change of landform, to provide firm traction, and cushions the impact that obstacle causes, protection tracked wheel assemblies.Therefore bearing wheed all has swinging up and down of certain amplitude, and this makes crawler belt girth and track tensioning force change along with the change of landform.

In Athey wheel travels, slack of track can increase the risk of de-band, and tightens and can increase track tensioning force, the wearing and tearing of aggravation tracked wheel assemblies.Therefore, the change of track length should minimize, to maintain the constant of track tensioning force, and improve the service life of rubber belt track further, the design of Track gear generally comprises the setting of the choosing of rubber belt track girth, the setting of swing arm hinge-point position, the setting of bearing wheed amplitude of fluctuation and swing arm suspension drift angle, existing method is verified by many experiments to obtain optimized matching relation, consuming time longer, and cost is higher.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of rubber belt track train method of designing, the method of mathematical modeling is adopted to select suitable design parameters, the range of choice of parameters is controlled by control rubber belt track perimeter change rate and rubber belt track percentage elongation allowable, and different obstruct in Track gear driving process can be simulated by the mode of mathematical modeling, only can need design its various piece work-in parameters according to the basic specification of rubber belt track train, without the need to carrying out many experiments selection, time saving and energy saving, reduce design cost, improve design accuracy.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of rubber belt track train method of designing, is characterized in that: comprise the following steps:

The first step: rubber belt track circumference calculating model is set up, and comprises the foundation of rubber belt track ground connection crushed element length computation model and the foundation of the ungrounded partial-length computation model of rubber belt track;

When rubber belt track ground connection crushed element is linear portion, two adjacent wheels in train are w1, w2, and its core wheel coordinate is respectively [x ₁, z ₁] and [x ₂, z ₂], the point of contact of rubber belt track crushed element and two wheels is A, B;

The length of the straight line crushed element between wheel w1 and w2 is:

$L_1=\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2-{(R_1-R_2)}^2}---\left(1\right)$

$\mathrm{\β}=-i\×log\left(\frac{\left(\right(x_1-x_2)+(z_1-z_2)\×i)}{\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2}}\right)---\left(2\right)$

$\mathrm{\θ}=\frac{R_2-R_1}{|R_1-R_2|}\×\mathrm{arcs}in\left(\frac{L}{{(x_1-x_2)}^2+{(z_1-z_2)}^2}\right)---\left(3\right)$

α＝β+θ (4)

Wherein, L is the neutral line length of the rubber belt track crushed element between two-wheeled, α be A point at w1 circumferentially relative to the angle of X-axis, β is the angle of two-wheeled line relative to X-axis, θ be B point at w2 circumferentially relative to the angle of two-wheeled line;

When rubber belt track ground connection crushed element is segment of curve, namely when there is obstacle between wheel w1, w2 and w3 for adjacent three.

Home position [the x of rubber belt track circular arc crushed element ₁₂, z ₁₂] meet:

$\begin{array}{c}\sqrt{{(x_{12}-x_1)}^2+{(z_{12}-z_1)}^2}-R_1=\sqrt{{(x_{12}-x_2)}^2+{(z_{12}-z_2)}^2}-R_2\\ -i\×\log \left(\frac{\left(\right(x_{12}-x_2)+(z_{12}-z_2)\×i)}{\sqrt{{(x_{12}-x_2)}^2+{(z_{12}-z_2)}^2}}\right)={\mathrm{\α}}_2\end{array}---\left(5\right)$

After trying to achieve the home position of circular arc crushed element according to formula (5), the radius can trying to achieve circular arc crushed element is further R ₁₂:

$R_2=\sqrt{{(x_{12}-x_1)}^2+{(z_{12}-z_1)}^2}-R_1-\mathrm{\δ}---\left(6\right)$

Wherein δ is the distance of crawler belt neutral line to internal track surfaces;

The calculating of the crushed element length that crawler belt and landform adapt, the length of the circular arc crushed element namely between wheel w1 and w2 is:

L ₁₂＝R ₁₂(α ₂-α ₁) (7)

The calculating of the contact portion length of described crawler belt and train, namely the length of the contact portion of wheel w3 is:

L ₃＝(R ₃+δ)(α ₃-α ₂) (8)

Therefore rubber belt track ground contact length is:

L＝L ₁₂+L ₂₃+L ₃+L ₃₄(9)

The modeling of the ungrounded part of rubber belt track, comprise the calculating that the calculating of rubber belt track and the contact portion segment of curve of wheel and crawler belt are connected linear portion between two-wheeled, rubber belt track is identical with (9) with formula (8) with the method for calculating of the contact portion segment of curve of wheel, and the method for calculating that rubber belt track connects length of straigh line between adjacent two-wheeled is identical with formula (1)-(4);

The rubber belt track ground connection crushed element length calculating gained is added the girth that can obtain rubber belt track with the ungrounded partial-length of rubber belt track, and the girth of rubber belt track refers to the length of rubber belt track neutral line;

Second step: according to rubber belt track girth during first step algorithm calculating rubber belt track train different obstruct position, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

3rd step: calculate rubber belt track girth when rubber belt track train swing arm hinge-point is positioned at diverse location according to first step algorithm, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

4th step: calculate the rubber belt track girth during bearing wheed difference amplitude of fluctuation of rubber belt track train according to first step algorithm, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

5th step: rubber belt track girth during according to first step algorithm calculating swing arm suspension drift angle between 90 ° to 216 °, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

6th step: according to the 3rd step, the 4th step and the 5th step determination rubber belt track train swing arm hinge-point position, bearing wheed amplitude of fluctuation and swing arm suspension drift angle, the rubber belt track perimeter change rate that the rubber belt track girth calculated in second step, the 3rd step, the 4th step and the 5th step is corresponding should be less than perimeter change rate allowable, the perimeter change amplitude of rubber belt track should be less than the rangeability allowable of rubber belt track itself, within the scope of the variation tendency that the perimeter change trend of rubber belt track can should be born at rubber belt track itself.

Described rubber belt track perimeter change rate is calculate the value of difference divided by rubber belt track mean length gained that the maximum rubber belt track girth of gained deducts minimum crawler belt girth gained.

Beneficial effect of the present invention is as follows: select suitable design parameters by adopting the method for mathematical modeling, the range of choice of parameters is controlled by controlling rubber belt track perimeter change rate, rubber belt track perimeter change amplitude and rubber belt track perimeter change trend, and different obstruct in Track gear driving process can be simulated by the mode of mathematical modeling, only can need design its various piece work-in parameters according to the basic specification of rubber belt track train, without the need to carrying out many experiments selection, time saving and energy saving, reduce design cost, improve design accuracy.

Accompanying drawing explanation

Fig. 1 is rubber belt track wheel construction schematic diagram of the present invention;

Fig. 2 is rubber belt track of the present invention wheel model;

Fig. 3 be EA minimum time minimum crawler belt girth schematic diagram (bearing wheed amplitude of fluctuation is 40mm);

Fig. 4 be EA minimum time maximum crawler belt girth schematic diagram (bearing wheed amplitude of fluctuation is 40mm);

Fig. 5 be EA maximum time minimum crawler belt girth schematic diagram (bearing wheed amplitude of fluctuation is 40mm);

Fig. 6 be EA maximum time maximum crawler belt girth schematic diagram (bearing wheed amplitude of fluctuation is 40mm);

Fig. 7 is the change along with bearing wheed amplitude of fluctuation, L _maxwith L _mindifference variation tendency schematic diagram;

Fig. 8 is the change along with bearing wheed amplitude of fluctuation, EA variation tendency schematic diagram

Fig. 9 is crawler belt girth schematic diagram under unreasonable obstacle deployment scenarios;

Figure 10 is crawler belt girth schematic diagram under obstacle deployment scenarios in river.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.

Complicated in order to solve existing Track gear design process, the problem that cost is high, the invention discloses a kind of rubber belt track train method of designing, comprises the following steps:

The first step: rubber belt track circumference calculating model is set up, and comprises the foundation of rubber belt track ground connection crushed element length computation model and the foundation of the ungrounded partial-length computation model of rubber belt track;

When rubber belt track ground connection crushed element is linear portion, two adjacent wheels in train are w1, w2, and its core wheel coordinate is respectively [x ₁, z ₁] and [x ₂, z ₂], the point of contact of rubber belt track crushed element and two wheels is A, B;

The length of the straight line crushed element between wheel w1 and w2 is:

$L_1=\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2-{(R-R_2)}^2}---\left(10\right)$

$\mathrm{\β}=-i\×log\left(\frac{\left(\right(x_1-x_2)+(z_1-z_2)\×i)}{\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2}}\right)---\left(11\right)$

$\mathrm{\θ}=\frac{R_2-R_1}{|R_1-R_2|}\×\mathrm{ar}c\sin \left(\frac{L}{{(x_1-x_2)}^2+{(z_1-z_2)}^2}\right)---\left(12\right)$

α＝β+θ (13)

Wherein, L is the neutral line length of the rubber belt track crushed element between two-wheeled, α be A point at w1 circumferentially relative to the angle of X-axis, β is the angle of two-wheeled line relative to X-axis, θ be B point at w2 circumferentially relative to the angle of two-wheeled line;

When rubber belt track ground connection crushed element is segment of curve, namely when there is obstacle between wheel w1, w2 and w3 for adjacent three.

Home position [the x of rubber belt track circular arc crushed element ₁₂, z ₁₂] meet:

$\begin{array}{c}\sqrt{{(x_{12}-x_1)}^2+{(z_{12}-z_1)}^2}-R_1=\sqrt{{(x_{12}-x_2)}^2+{(z_{12}-z_2)}^2}-R_2\\ -i\×\log \left(\frac{\left(\right(x_{12}-x_2)+(z_{12}-z_2)\×i)}{\sqrt{{(x_{12}-x_2)}^2+{(z_{12}-z_2)}^2}}\right)={\mathrm{\α}}_2\end{array}---\left(14\right)$

After trying to achieve the home position of circular arc crushed element according to formula (5), the radius can trying to achieve circular arc crushed element is further R ₁₂:

$R_2=\sqrt{{(x_{12}-x_1)}^2+{(z_{12}-z_1)}^2}-R_1-\mathrm{\δ}---\left(15\right)$

Wherein δ is the distance of crawler belt neutral line to internal track surfaces;

The calculating of the crushed element length that crawler belt and landform adapt, the length of the circular arc crushed element namely between wheel w1 and w2 is:

L ₁₂＝R ₁₂(α ₂-α ₁) (16)

The calculating of the contact portion length of described crawler belt and train, namely the length of the contact portion of wheel w3 is:

L ₃＝(R ₃+δ)(α ₃-α ₂) (17)

Therefore rubber belt track ground contact length is:

L＝L ₁₂+L ₂₃+L ₃+L ₃₄(18)

The modeling of the ungrounded part of rubber belt track, comprise the calculating that the calculating of rubber belt track and the contact portion segment of curve of wheel and crawler belt are connected linear portion between two-wheeled, rubber belt track is identical with (9) with formula (8) with the method for calculating of the contact portion segment of curve of wheel, and the method for calculating that rubber belt track connects length of straigh line between adjacent two-wheeled is identical with formula (1)-(4);

The rubber belt track ground connection crushed element length calculating gained is added the girth that can obtain rubber belt track with the ungrounded partial-length of rubber belt track, and the girth of rubber belt track refers to the length of rubber belt track neutral line;

Second step: according to rubber belt track girth during first step algorithm calculating rubber belt track train different obstruct position, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

3rd step: calculate rubber belt track girth when rubber belt track train swing arm hinge-point is positioned at diverse location according to first step algorithm, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

4th step: calculate the rubber belt track girth during bearing wheed difference amplitude of fluctuation of rubber belt track train according to first step algorithm, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

5th step: rubber belt track girth during according to first step algorithm calculating swing arm suspension drift angle between 90 ° to 216 °, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

6th step: according to the 3rd step, the 4th step and the 5th step determination rubber belt track train swing arm hinge-point position, bearing wheed amplitude of fluctuation and swing arm suspension drift angle, the rubber belt track perimeter change rate that the rubber belt track girth calculated in second step, the 3rd step, the 4th step and the 5th step is corresponding should be less than perimeter change rate allowable, the perimeter change amplitude of rubber belt track should be less than the rangeability allowable of rubber belt track itself, within the scope of the variation tendency that the perimeter change trend of rubber belt track can should be born at rubber belt track itself.

Described rubber belt track perimeter change rate is calculate the value of difference divided by rubber belt track mean length gained that the maximum rubber belt track girth of gained deducts minimum crawler belt girth gained.

In embody rule process: in order to implementation process of the present invention can be clearly described, be described with the Track gear shown in accompanying drawing 1-2:

In motion, bearing wheed swings up and down with surface irregularity rubber belt track wheel, and then the girth occurrence dynamics of rubber belt track is changed.Obviously the dynamic analysis of crawler belt girth can be carried out by setting up the model comprising the interaction relationship of crawler belt-wheel-landform.The curve that rubber belt track grounded part is formed can be divided into contact portion and crushed element.The outside face of contact portion and bearing wheed is fitted, and crushed element produces distortion under action of topography.On hag shape, if rubber belt track is perfect rigidity, then the grounded part of rubber belt track should be straight line, if full flexible, then contact portion is the circular arc of envelope bearing wheed, and crushed element is the horizontal tangent of bearing wheed.But in fact, rubber belt track is finite stiffness, and therefore crushed element should be curve, and tangent with adjacent contact portion.Determining that the method for the shape of crushed element curve mainly contains two kinds: one is for multiple unit by discrete for crawler belt, and consider pressure and the settlement relationship of soil, shearing force between soil and crawler belt and track tensioning force and percentage elongation etc. key element, the mechanical analysis result of comprehensive above-mentioned key element can comparatively be fitted actual curve shape; Two is consider that crushed element is simply equivalent to circular arc by the pressure of soil and settlement relationship.But above method is not also suitable for assesses the dynamic change of crawler belt girth in rubber belt track wheel conceptual design, and one is that the terrain parameter of the employing of said method is single, and the work landform of Athey wheel is varied, and differ and be decided to be homogeneous soil; Two is that said method does not all consider that bearing wheed swings, and is difficult to construct enough complicated topographic condition, to realize the abundant swing of bearing wheed in its hunting range.Therefore, the present invention proposes a kind of appraisal procedure of crawler belt perimeter change, the method supposition crawler belt perimeter change swings up and down relevant to bearing wheed, and bearing wheed swings up and down relevant to landform, and only considers that rubber belt track linear deformation is on the impact of crawler belt perimeter change.

Rubber belt track after mounting, has certain pre-tensioning, and its percentage elongation allowable is generally about 1% simultaneously, if thus there is not obstacle between contiguous bearing wheed, then the curvature of this crushed element is very little, substantially can be approximately straight line.If there is protruding obstacle between contiguous bearing wheed, then variant part branch produces comparatively deep camber, adjacent bearing wheed also produces corresponding swing simultaneously, consider the predetermincd tension of rubber belt track and less percentage elongation allowable, distortion is now simulated with circular arc, and by the condition tangent with contiguous contact portion, determine its radius.

Swing owing to using bearing wheed and drive Athey wheel perimeter change, use above-mentioned modeling principle, also need to determine further that rubber belt track grounded part runs into protruding obstacle and this obstacle present position when which kind of situation.For this reason, illustrate for adjacent three, left, center, right bearing wheed.When bearing wheed outer circumference, middle part or when being all in the below of bearing wheed bottom, left and right common tangent, now middle part bearing wheed sink, and left and right bearing wheed and two crushed elements between it all can be similar to linear portion, and two line segments are without intersection point; When middle part bearing wheed excircle is all in the top of bearing wheed bottom, left and right common tangent, if will represent with line segment by two crushed elements, then intersecting appears in two line segments below the bearing wheed of middle part.Because rubber belt track grounded part can not form the curve of self intersection.So time two distortion can not represent with line segment.Consider the actual ground driving cycle of Athey wheel, said circumstances is equivalent to occur protruding obstacle between these bearing wheeds.Hypothesis obstacle is now between the bearing wheed of higher position, left and right and middle part bearing wheed.Namely now this is approximately circular arc to the crushed element of crawler belt between bearing wheed.If but the radius of this circular arc is less than the minimum bending radius of rubber belt track, then can think that obstacle is in opposite side, if also do not satisfy condition in the circular arc curvature of opposite side, then bearing wheed swing position is irrational.Obviously, the judgement of the position of obstacle has probability, and not exclusively reasonable, is necessary the impact on Athey wheel girth of assessment and analysis obstacle location.

Equally said method is applied to the situation that rubber belt track grounded part arranges more than 3 bearing wheeds, then can obtain the curve shape of rubber belt track grounded part, and try to achieve the length of this part further, consider actual conditions, the rubber belt track of drive wheel both sides generally can not contact obstacle, therefore, the crawler belt of drive wheel both sides is all expressed as the linear portion tangent to drive wheel, corresponding track adjusting wheel and bearing wheed excircle, circular is see formula (1)-(9).

Below in conjunction with instantiation, rubber belt track wheel analysis and designation process is described:

The first step, sets up parameterized model

Certain rubber belt track wheel as shown in Figure 1, front end is the track adjusting wheel of fixed tensioning, and heavy burden train comprises left and right sides bearing wheed combination middle part heavy burden wheels, and wherein the heavy burden wheels of both sides respectively have two row's bearing wheeds, and using swing arm suspension in pairs, middle part heavy burden wheels are hinged on framework by rocking arm.Do not consider the impact of rubber belt track Width distortion on Athey wheel girth, then Athey wheel is reduced to two dimensional model as shown in Figure 2.The principal parameter of rubber belt track wheel is as shown in table 1.Under the Athey wheel quiescence shown in Fig. 2, the girth of rubber belt track is 3812.1mm.

Table 1

Parameter name	Parameter value (mm)	Parameter name	Parameter value (mm)
				Drive wheel radius	310.0	Drive wheel position	0.0,690.0
Track adjusting wheel radius	100.0	Track adjusting wheel position	-676.8,326.8
				Bearing wheed radius	100.0	Swing arm suspension in left side is hinged	-375.0,195.0
Crawler belt thickness	50.0	Swing arm suspension in right side is hinged	375.0,195.0
				Crawler belt minimum bending radius	80.0	Articulated point of rocker arm	-380.0,360.0
In crawler belt neutral line distance crawler belt	15.0	Bearing wheed position, middle part	0.0,150.0
				Bearing wheed height	150.0 (shown in Fig. 2 during position)	Bearing wheed spacing	50.0 (shown in Fig. 2 during position)

Second step, the impact analysis of obstacle arrangement to crawler belt girth

This Athey wheel model is distributed with five bearing wheeds on crawler belt grounded part, is respectively bearing wheed 1 to bearing wheed 5 from left to right, is designated as rw1, rw2, rw3, rw4, rw5 respectively.The chance that the height rubber belt track put between track adjusting wheel and rw1 touches obstacle is much smaller than between each bearing wheed, then crushed element between the two can be expressed as track adjusting wheel and the tangent linear portion of bearing wheed excircle.According to Such analysis, rw1 to rw3, rw2 to rw4, rw3 to rw4 are adjacent heavy burden wheels.

If the structure of left and right sides swing arm suspension is identical, and the scope that all bearing wheeds swing up and down is identical.The hunting range of bearing wheed is defined as the extreme lower position of core wheel when bearing wheed swings to extreme higher position, and both diff-Hs are the amplitude of fluctuation of bearing wheed.Then the bearing wheed amplitude of fluctuation of a setting, by swing arm suspension frame structure, can determine only hunting range.Such as, under the Athey wheel Parameter Conditions that table 1 determines, when the hunting range of bearing wheed is 40mm, the hunting range of bearing wheed is [130.58mm, 170.58mm], and two dotted lines in Fig. 3-4 represent.Hereinafter the hunting range of other similar figure bearing wheeds is defined as extreme lower position to extreme higher position.

Under the bearing wheed amplitude of fluctuation of setting and the condition of swing arm suspension frame structure, two factors are had to have influence on crawler belt girth, the combination of each the bearing wheed position of the first in hunting range, another is obstacle arrangement, namely how in the position of three groups of adjacent heavy burden wheels arranged beneath obstacles.Under identical bearing wheed position grouping, different obstacle layouts can affect crawler belt girth, and makes crawler belt girth occur minimum value Lmax and maxim Lmin.Along with the change of bearing wheed position, Lmax and Lmin also changes thereupon.Swing by bearing wheed the crawler belt perimeter change crawler belt Lvrs caused to be defined as follows:

$L_{vrs}=\frac{L_{max}+L_{min}}{2}-L_{MIN}---\left(19\right)$

Wherein, LMIN is the minimum average B configuration value of Lmax and Lmin in bearing wheed swing process.Obstacle arrangement is defined as follows the EA that affects of crawler belt perimeter change:

$EA=\frac{L_{max}-L_{min}}{L_{vrs}}---\left(20\right)$

Under the condition setting bearing wheed hunting range and swing arm suspension frame structure, along with the change of bearing wheed position grouping, the difference of EA and Lmax and Lmin also changes, and both variation ranges then have the amplitude of fluctuation of bearing wheed to determine.Analyze and show further, identical when the bearing wheed position grouping when EA reaches extreme value and the difference of Lmax and Lmin reach extreme value.When, when bearing wheed amplitude of fluctuation is 40mm, when EA reaches extreme value or when the difference of Lmax and Lmin reaches extreme value, the form of Athey wheel is respectively as seen in figures 3-6.

Along with the change of bearing wheed amplitude of fluctuation, the change of the difference of Lmax and Lmin and the variation range of EA respectively as Figure 7-8.

In addition, when specific bearing wheed position grouping, the minimum bending radius of crawler belt also has impact to obstacle arrangement, if there is protruding obstacle between heavy burden wheels rw1 to rw3, then obstacle can only be arranged between rw1 and rw2, otherwise the radius of crawler belt arc-shaped deformation part between rw2 and rw3 then can be less than crawler belt minimum bending radius.But when bearing wheed amplitude of fluctuation is [10mm, 80mm], this crawler belt minimum bending radius on the extreme value of LMIN and EA all without impact, see accompanying drawing 9-10.

By analyzing, when bearing wheed amplitude of fluctuation is [10mm, 80mm] time, the minimum bending radius of crawler belt can limit the arrangement of obstacle, but can ignore the impact of crawler belt perimeter change, bearing wheed swings affects a large order of magnitude than obstacle arrangement to crawler belt girth on the impact of crawler belt girth, in addition, the fluctuation that obstacle arranges the crawler belt girth caused is less than 4.5mm, relative to the crawler belt girth more than 3800mm, only be about 0.1%, therefore obstacle location difference can be ignored, the position residing for obstacle can be arranged arbitrarily in analysis, obstacle location herein is preferentially arranged in rw1 and rw2, and between rw3 and rw4, the girth of crawler belt can be maximized like this.

3rd step, articulated point of rocker arm is on the impact of crawler belt girth

The articulated position of the rocking arm that rubber belt track wheel middle part heavy burden wheels use also is important design content, and in the middle part of this articulated position demand fulfillment, bearing wheed is in its hunting range, does not interfere with contiguous bearing wheed.In addition, also need research hinge-point on the impact of crawler belt girth.

Usually, articulated point of rocker arm is all in Athey wheel inside, considers actual manufacture simultaneously, and the distance of articulated position distance crawler belt and drive wheel is all greater than 50mm, for bearing wheed amplitude of fluctuation 80mm.

Under setting hunting range, when crawler belt perimeter change is minimum, crawler belt minimum perimeter polygon is 3785.9mm, and maximum perimeter is 3925.2mm.When crawler belt perimeter change is maximum, crawler belt minimum perimeter polygon is 3785.9mm, and maximum perimeter is 3929.6mm.The position of visible articulated point of rocker arm is very little on the impact of crawler belt girth, can ignore.When Athey wheel designs, should make rocking arm and framework easy to assembly, and reduce along the sidesway of X-axis when middle part bearing wheed swings, to be conducive to the uniform distribution of ground pressure, now the position of hinge-point should below Athey wheel and two ends.

4th step, bearing wheed amplitude of fluctuation is on the impact of crawler belt girth

Rubber belt track wheel in motion, comply with topography variation and swing up and down, and to keep the contact of crawler belt and ground, provides firm traction by the bearing wheed of heavy burden train, and cushion the impact that obstacle causes, to protect tracked wheel assemblies, and raising traveling comfort.Usually, the amplitude of fluctuation of bearing wheed is larger, and the riding comfort of Athey wheel is better.But bearing wheed amplitude of fluctuation has influence on the change of crawler belt girth. inappropriate amplitude of fluctuation, likely cause crawler belt excessive tensile, or de-band.Therefore select suitable bearing wheed amplitude of fluctuation very important in the design.

Further, determine the large smallest number of the bearing wheed of Athey wheel and and after being spaced, the drift angle size of swing arm suspension swings bearing wheed also has impact.By the restriction of the space structure of Athey wheel, setting swing arm suspension drift angle is set in 90 ° to 216 °.Bearing wheed amplitude of fluctuation is between 10mm to 80mm.Due to the impact interfered in bearing wheed swing, the corresponding feasible bearing wheed amplitude of fluctuation of each swing arm suspension drift angle also has difference.

By analyzing, along with the increase of bearing wheed amplitude of fluctuation, crawler belt perimeter change, rate of change and average perimeter also increase thereupon.In addition, the hunting range of the bearing wheed that excessive or too small swing arm suspension drift angle can limit.When designing Athey wheel, can according to the percentage elongation allowable of rubber belt track, and the drift angle of swing arm suspension, select the hunting range of bearing wheed further, thus avoid the excessive tensile of rubber belt track and relax, to improve the service life of rubber belt track and to reduce de-band risk.

5th step, swing arm suspension drift angle is on the impact of crawler belt girth

Under bearing wheed spacing and amplitude of fluctuation really fixed condition, the change of the drift angle of swing arm suspension, can make the swing of be connected bearing wheed change, and then have an impact to crawler belt girth.

By analyzing, the change of swing arm suspension drift angle is very little on the impact of crawler belt average perimeter.But it and bearing wheed amplitude of fluctuation change to affect crawler belt rate of change and are on the same order of magnitude.Therefore, choosing of swing arm suspension drift angle is very important design considerations.In addition, under certain bearing wheed amplitude of fluctuation, along with the increase of swing arm suspension drift angle, crawler belt perimeter change rate curve there will be flex point.Along with the increase of bearing wheed amplitude of fluctuation, there is swing arm suspension top linea angulata reduction during flex point in crawler belt perimeter change rate, but flex point place crawler belt perimeter change rate increases gradually.Thus, under less bearing wheed amplitude of fluctuation condition, comparatively suitable swing arm suspension drift angle should be adopted, just the change of energy minimization crawler belt girth.And bearing wheed amplitude of fluctuation larger time, due in bearing wheed swing process occur interfere, now select swing arm suspension drift angle little as far as possible, the change of crawler belt girth can be minimized

In a word, the applying working condition that the present invention takes turns according to rubber belt track, proposes the modeling method of bearing wheed wobble drive rubber belt track perimeter change.And use the method to carry out parametric modeling to certain type Athey wheel, and dynamic analysis is carried out to rubber belt track girth.By analyzing, obstacle present position can be ignored the impact of crawler belt girth.Further, in rubber belt track wheel, the relevant impact of design considerations on rubber belt track girth is summarized as follows:

(1) perimeter change of the articulated position of rocking arm on framework to rubber belt track has no significant effect, and join for convenience of turning and make ground contact pressure distribution more even, articulated position can be selected at Athey wheel two side bottom;

(2) along with the increase of bearing wheed amplitude of fluctuation, rubber belt track perimeter change, average perimeter and rate of change also increase thereupon, thus select suitable bearing wheed amplitude of fluctuation must consider the percentage elongation allowable of rubber belt track;

(3) in the amplitude of fluctuation of bearing wheed with under being close to the certain condition in bearing wheed interval, the mean length of change to rubber belt track of swing arm suspension drift angle has no significant effect, but remarkable on the impact of track length rate of change, and track length change rate curve may be made to occur flex point.

Therefore, under the prerequisite meeting Athey wheel usage condition, for reducing the variation range of track length and then improving the service life of rubber belt track, need to consider above-mentioned factor, select suitable bearing wheed amplitude of fluctuation and swing arm suspension drift angle, without the need to carrying out many experiments, reducing costs, raising the efficiency.

Claims (2)

1. a rubber belt track train method of designing, is characterized in that: comprise the following steps:

The first step: rubber belt track circumference calculating model is set up, and comprises the foundation of rubber belt track ground connection crushed element length computation model and the foundation of the ungrounded partial-length computation model of rubber belt track;

When rubber belt track ground connection crushed element is linear portion, two adjacent wheels in train are w1, w2, and its core wheel coordinate is respectively [x ₁, z ₁] and [x ₂, z ₂], the point of contact of rubber belt track crushed element and two wheels is A, B;

The length of the straight line crushed element between wheel w1 and w2 is:

$L_1=\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2-{(R-R_2)}^2}---\left(1\right)$

$\mathrm{\β}=-i\×log\left(\frac{\left(\right(x_1-x_2)+(z_1-z_2)\×i)}{\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2}}\right)---\left(2\right)$

$\mathrm{\θ}=\frac{R_2-R_1}{|R_1-R_2|}\×arcsin\left(\frac{L}{{(x_1-x_2)}^2+{(z_1-z_2)}^2}\right)---\left(3\right)$

α＝β+θ (4)

Wherein, L is the neutral line length of the rubber belt track crushed element between two-wheeled, α be A point at w1 circumferentially relative to the angle of X-axis, β is the angle of two-wheeled line relative to X-axis, θ be B point at w2 circumferentially relative to the angle of two-wheeled line;

When rubber belt track ground connection crushed element is segment of curve, namely when there is obstacle between wheel w1, w2 and w3 for adjacent three.

Home position [the x of rubber belt track circular arc crushed element ₁₂, z ₁₂] meet:

$\begin{array}{c}\sqrt{{(x_{12}-x_1)}^2+{(z_{12}-z_1)}^2}-R_1=\sqrt{{(x_{12}-x_2)}^2+{(z_{12}-z_2)}^2}-R_2\\ -i\×\log \left(\frac{\left(\right(x_{12}-x_2)+(z_{12}-z_2)\×i)}{\sqrt{{(x_{12}-x_2)}^2+{(z_{12}-z_2)}^2}}\right)={\mathrm{\α}}_2\end{array}---\left(5\right)$

After trying to achieve the home position of circular arc crushed element according to formula (5), the radius can trying to achieve circular arc crushed element is further R ₁₂:

$R_{12}=\sqrt{{(x_{12}-x_1)}^2+{(z_{12}-z_1)}^2}-R_1-\mathrm{\δ}---\left(6\right)$

Wherein δ is the distance of crawler belt neutral line to internal track surfaces;

The calculating of the crushed element length that crawler belt and landform adapt, the length of the circular arc crushed element namely between wheel w1 and w2 is:

L ₁₂＝R ₁₂(α ₂-α ₁) (7)

The calculating of the contact portion length of described crawler belt and train, namely the length of the contact portion of wheel w3 is:

L ₃＝(R ₃+δ)(α ₃-α ₂) (8)

Therefore rubber belt track ground contact length is:

L＝L ₁₂+L ₂₃+L ₃+L ₃₄(9)

The modeling of the ungrounded part of rubber belt track, comprise the calculating that the calculating of rubber belt track and the contact portion segment of curve of wheel and crawler belt are connected linear portion between two-wheeled, rubber belt track is identical with (9) with formula (8) with the method for calculating of the contact portion segment of curve of wheel, and the method for calculating that rubber belt track connects length of straigh line between adjacent two-wheeled is identical with formula (1)-(4);

The rubber belt track ground connection crushed element length calculating gained is added the girth that can obtain rubber belt track with the ungrounded partial-length of rubber belt track, and the girth of rubber belt track refers to the length of rubber belt track neutral line;

Second step: according to rubber belt track girth during first step algorithm calculating rubber belt track train different obstruct position, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

3rd step: calculate rubber belt track girth when rubber belt track train swing arm hinge-point is positioned at diverse location according to first step algorithm, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

4th step: calculate the rubber belt track girth during bearing wheed difference amplitude of fluctuation of rubber belt track train according to first step algorithm, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

5th step: rubber belt track girth during according to first step algorithm calculating swing arm suspension drift angle between 90 ° to 216 °, and according to calculating the maximum rubber belt track girth of gained and minimum rubber belt track circumference calculating rubber belt track perimeter change rate and crawler belt perimeter change amplitude, and analyze crawler belt perimeter change trend;

6th step: according to the 3rd step, the 4th step and the 5th step determination rubber belt track train swing arm hinge-point position, bearing wheed amplitude of fluctuation and swing arm suspension drift angle, the rubber belt track perimeter change rate that the rubber belt track girth calculated in second step, the 3rd step, the 4th step and the 5th step is corresponding should be less than perimeter change rate allowable, the perimeter change amplitude of rubber belt track should be less than the rangeability allowable of rubber belt track itself, within the scope of the variation tendency that the perimeter change trend of rubber belt track can should be born at rubber belt track itself.

2. rubber belt track train method of designing according to claim 1, is characterized in that: described rubber belt track perimeter change rate is calculate the value of difference divided by rubber belt track mean length gained that the maximum rubber belt track girth of gained deducts minimum crawler belt girth gained.