深海采矿机行星轮式行走机构越障行为  

Obstacle performance of a planetary wheel mining vehicle in the deep sea bed

作　　者：冯雅丽[1] 马佳珍[1] 张文明[1] 张杰[1] 杨泉[1] 

机构地区：[1]北京科技大学土木与环境工程学院,北京100083

出　　处：《北京科技大学学报》2009年第7期923-928,共6页Journal of University of Science and Technology Beijing

基　　金：教育部博士点基金资助项目(No.20060008025);国家长远发展专项"国际海底区域研究开发‘十一五’项目"(No.DYXM-115-04-02-03);国家自然科学基金资助项目(No.50874006)

摘　　要：为了适应深海富钴结壳和热液硫化调查区复杂地形多变底质,提出了深海采矿行星轮式行走机构.利用虚功原理建立了行星轮式行走机构越障动力学模型,分析了越障高度的影响因素,按1∶2.25传动比确定行星轮系结构尺寸,利用ADAMS进行双边越障性能分析(垂直障碍高度900mm).行星轮系的结构尺寸、车体质心位置及附着系数对越障高度影响较大;各轮系越障时出现驱动力矩、速度和正压力急增的现象,前轮系的前轮越上障碍后,各参数值趋于平稳,后轮越障时又出现瞬时脉动,但脉动较小,后轮系也有相同的变化趋势,各轮的阻力矩和输出功率与正压力变化趋势相同.行星轮式行走机构可根据地变化在定轴轮系和行星轮系间演变,具有较好的自主越障性能.A planetary wheel running mechanism was designed to adapt to the store environment of complex terrain and changeable geology of the cobalt and hydrothermal sulfide investigation area in the deep-sea bed. A dynamic model of obstacles for the planetary wheel running mechanism was established based on the virtual work principle. The structural characteristics of the planetary wheel running mechanism were derived by analyzing obstacle height effect factors with a transmission ratio of 1：2.25. The obstacle （the altitude of 900 mm） process for both sides of a planetary gear train was analyzed in ADAMAS. It is proved that the physical dimension of the planetary gear train, bodywork center position and attachment coefficient are the key effect factors. The driven moment, velocity and normal pressure sharply increased as each wheel surmounting obstacles, but they were moderate after the front wheel came over the obstacles. Another weaker pulse occurred when the rear wheel began climbing, and then the parameters reached a plateau. This mechanism transforms between an ordinary gear train and a planetary gear train, and it has good autonomous obstacle performance.

关 键 词：深海采矿 采矿机 行走机构 行星轮 越障性能 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]