海底多金属结核采矿车单履齿履带板牵引性能分析

Analysis of the Traction Performance of Single Track Tooth Plate of Deep-Sea Polymetallic Nodule Mining Vehicle

为提升海底多金属结核采矿车行驶的安全性,对其履齿参数对履带牵引性能的影响进行研究。分析单履齿履带板在不同履齿参数和牵引速度下的牵引性能,基于深海沉积物物理力学特性配制模拟底质,开展物理模型试验,探究履齿高度、履齿夹角和牵引速度对单履齿履带板牵引性能的影响,根据试验结果分析单履齿履带板的最大牵引力随不同影响因素的变化规律。试验结果表明,单履齿履带板的最大牵引力随履齿高度的增加而增加,随履齿与履带板夹角的减小而减小,随牵引速度的增加而增加。基于车辆地面力学和土力学被动土压力理论构建考虑履齿参数的单履齿履带板最大牵引力理论计算模型,并根据试验结果,结合牵引速度对该模型进行修正。基于试验结果验证该理论计算模型相比Bekker公式能更好地反映履带板最大牵引力随各影响因素的变化规律,且计算精度有很大提高,可为海底多金属结核采矿车行走履带的设计提供参考。

To enhance the safety of deep-sea polymetallic nodule mining vehicles,an analysis of the effect of track tooth parameters on track traction performance is conducted.The traction performance of a single-tooth track plate under different tooth parameters and traction speeds is analyzed.Simulated seabed sediment is prepared based on the physical and mechanical properties of deep-sea sediment,and physical model tests are conducted to explore the effects of track tooth height,track tooth angle,and traction speed on the traction performance of the single-tooth track plate.The test results are used to analyze the variation of the maximum traction force of the single-tooth track plate with different influencing factors.The test results show that the maximum traction force of the single-tooth track plate increases with increasing track tooth height,decreases with decreasing track tooth angle relative to the track plate,and increases with increasing traction speed.A theoretical model for calculating the maximum traction force of the single-tooth track plate,taking into account track tooth parameters,is constructed based on vehicle ground mechanics and passive soil pressure theory.The model is modified based on the test results and traction speed.The test results verify that this theoretical model,compared to the Bekker formula,better reflects the variation of the maximum traction force of the track plate with different influencing factors and significantly improves calculation accuracy.This model can be used as a reference for designing the tracks of deep-sea polymetallic nodule mining vehicles.