摘要
该文针对深海富钴结壳集矿机必须适应复杂恶劣地形和强的越障性能,提出一种四轮独立驱动的轮式钴结壳集矿机行走机构。通过对轮式集矿机越障机理的分析,研究了轮式集矿机通过陡坡、台阶和壕沟等典型地形的受力情况,并分析了集矿机重心位置与集矿机越障性能的关系。建立了基于ADAMS软件的集矿机虚拟样机模型和典型地面,对集矿机的典型地形越障过程进行了动力学仿真分析,仿真结果表明:轮式集矿机的最大爬坡角度不小于30,°最大可通过的台阶高度和壕沟宽度不小于车轮半径,具有很好的越障性能,是一种可行的钴结壳集矿机行走方式。
A four - wheel independent driven running mechanism for cobalt - enriching crust mining vehicle was proposed based on the consideration that mining vehicle should be suitable to complex terrain and with high obstacle performance. With the analyses of obstacle passing mechanics, the force models of steep slope, shoulder and ditch terrain were studied which were classical terrain of mining area. Relation ship between mining vehicle barycentre position and obstacle performance was also analyzed. A virtual prototype based on ADAMS was built and obstacle performance under different terrain was simulated. Simulation results showed that wheeled mining vehicle has excellent obstacle performance in steep slope, shoulder and ditch terrain; maximum degree of steep slope ≥ 30°, maximal ditch width and shoulder obstacle height were no less than mining vehicle wheel＇s radius. The wheeled mining vehicle was a feasible running mechanism for cobalt -enriching crust mining vehicle.
出处
《计算机仿真》
CSCD
2006年第5期200-202,210,共4页
Computer Simulation
基金
国务院大洋专项:钴结壳采集型机关键技术及装备研究
(105-03-2)
关键词
轮式集矿机
越障性能
钴结壳
Wheeled mining vehicle
Obstacle performance
Cobalt - enriching crust
