论文部分内容阅读
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.
In order to adapt to the complex topography of complex topography in deep sea cobalt-rich crust and hydrothermal vulcanization survey area, a deep-sea mining planetary wheel travel mechanism was proposed. The obstacle dynamics model of planetary wheel travel mechanism was established by virtual work principle. Obstacle height of the factors, according to 1: 2.25 transmission ratio to determine the size of the planetary gear train structure, the use of ADAMS Bilateral obstacle barrier performance analysis (vertical obstacle height of 900mm.) Planetary gear structure size, body mass center position and adhesion coefficient to Vietnam The barrier height has a greater impact; the driving torque, speed and positive pressure surge phenomenon occurs when each train wheel is over the obstacle. After the front wheel of the front train wheel hits the obstacle, the values of each parameter tend to be stable, Pulsation, but less pulsation, the same trend of the rear wheel system, the resistance torque and output power of each wheel and positive pressure trend of change. Planetary wheel travel mechanism can be based on changes in the evolution of the fixed shaft gear train and planetary gear system , With better self-obstacle obstacle performance.