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针对海底钴结壳和热液硫化物矿区的地形力学特点,在传统路面履带式车辆的基础上,设计了实心轮-橡胶履带啮合式海底行走机构。根据该履带式海底行走机构的结构特点进行动力学建模,在处理啮合力时,应用弹性接触理论,将啮合力等效为弹性接触力;对机构的驱动力进行分析,并对影响因素进行分析。基于Recurdyn搭建海底行走机构简化动力学模型,施加约束、接触力及运动函数控制,针对机构在海底运行时的不同类型的地形环境及工况进行分析。由分析结果可知,实心轮与履带销的啮合力随着其间的正压力变化而变化,正压力达到最大值对应出现最大的啮合力,且正压力和啮合力随着履带的传动出现周期性变化的趋势;同时,由于履带速度的动载荷造成行走机构的速度、加速度、驱动力矩等有较大的脉动,但是从整体上来讲,啮合驱动式行走方案还是相对较平稳的。
In view of the topographic mechanics characteristics of the cobalt crust and the hydrothermal sulfide mine, a solid-rubber crawler mesh seafloor walking mechanism was designed on the basis of the traditional roadbed crawler vehicles. According to the structural characteristics of the crawler underwater walking mechanism dynamics modeling, in the processing of meshing force, the application of elastic contact theory, the meshing force equivalent to the elastic contact force; the mechanism of the driving force analysis, and the impact of factors analysis. Based on Recurdyn’s construction of a subsea walking mechanism, a simplified dynamic model, constraint, contact force and motion function control are applied to analyze different types of terrain environment and working conditions when the unit is operating on the seafloor. From the analysis results, it can be seen that the meshing force between the solid wheel and the crawler pin changes with the positive pressure change. The maximum meshing force corresponds to the maximum positive pressure and the positive pressure and meshing force change cyclically with the transmission of the crawler At the same time, due to the dynamic load of track speed, the speed, acceleration and driving torque of traveling mechanism have larger pulsation, but the driving scheme of meshing drive is relatively stable as a whole.