深海复合轮式行走机构的设计

A Design of Running Gear with Composite Wheel Applied to Deep-sea

针对深海富钴结壳和热液硫化调查区复杂多变的底质环境特征,设计了一种具有高越障性能的新型复合轮式行走机构。该行走机构主体由4组复合轮组与铰接式车架连接组成,复合轮组的设计使该行走机构在辅助油缸的作用下兼有主、被动越障模式。对该行走机构主、被动越障能力进行分析,结果表明:该行走机构在复杂多变的深海底质环境下具有很强的地形自适应能力和越障能力。

The new composite wheel running gear with high obstacle performance is designed aiming at the complex environmental characteristics in deep seabed survey area featuring Cobalt-rich crusts and hydrothermal fluid sulfide. The main body of the running gear is structured by four composite wheels connected to the articulated frame. The design of composite wheel set makes the running gear accompanied with active and passive obstacle surmounting modes under the action of slave cylinders. The analysis of active and passive obstacle clearing capabilities of the running mechanism shows that the running mechanism has strong terrain adaptive ability and obstacle clearing capabilities in multivariate deep seabed environment.