The four-track walking mining vehicle can better cope with the complex terrain of cobalt-rich crusts on the seabed.To explore the influence of different parameters on the obstacle-crossing ability of mining vehicles,t...The four-track walking mining vehicle can better cope with the complex terrain of cobalt-rich crusts on the seabed.To explore the influence of different parameters on the obstacle-crossing ability of mining vehicles,this paper took a certain type of mine vehicle as an example and establish a mechanical model of the mine vehicle.Through this model,the vehicle's traction coefficient variation could be analyzed during the obstacle-crossing process.It also reflected the relationship between the obstacle-crossing ability and the required traction coefficient.Many parameters were used for this analysis including the radius of the guide wheel radius,ground clearance of the driving wheel,the dip angle of the approaching angular and the position of centroid.The result showed that the ability to cross the obstacles requires adhesion coefficient as support.When the ratio between obstacle height and ground clearance of the guide wheel was greater than 0.7,the required adhesion coefficient increased sharply.The ability to cross obstacles will decrease,if the radius of the guide wheel increases,the height of the driving wheel increases or the dip angle of the approaching angular increases.It was most beneficial to cross the obstacle when-the ratio of the distance between the center of mass and the front driving wheel to the wheelbase is between 0.450.48.The results of this paper could provide reference for structural parameter design and performance research for mining vehicles.展开更多
基金Supported by National Ocean Key Special Funds in 12th Five-Year Plan of China (Grant No.DY125-11-T-01)National Natural Science Foundation of China (Grant No.52074294)。
文摘The four-track walking mining vehicle can better cope with the complex terrain of cobalt-rich crusts on the seabed.To explore the influence of different parameters on the obstacle-crossing ability of mining vehicles,this paper took a certain type of mine vehicle as an example and establish a mechanical model of the mine vehicle.Through this model,the vehicle's traction coefficient variation could be analyzed during the obstacle-crossing process.It also reflected the relationship between the obstacle-crossing ability and the required traction coefficient.Many parameters were used for this analysis including the radius of the guide wheel radius,ground clearance of the driving wheel,the dip angle of the approaching angular and the position of centroid.The result showed that the ability to cross the obstacles requires adhesion coefficient as support.When the ratio between obstacle height and ground clearance of the guide wheel was greater than 0.7,the required adhesion coefficient increased sharply.The ability to cross obstacles will decrease,if the radius of the guide wheel increases,the height of the driving wheel increases or the dip angle of the approaching angular increases.It was most beneficial to cross the obstacle when-the ratio of the distance between the center of mass and the front driving wheel to the wheelbase is between 0.450.48.The results of this paper could provide reference for structural parameter design and performance research for mining vehicles.
文摘采用多体动力学建模仿真程序Recur Dyn/Track构建海底履带式集矿机多体动力学模型,实现了海底底质特殊力学模型在集矿机多体动力学模型中的二次开发与集成。开展小型履带式试验样车行走性能测试,与相应二次开发多体动力学模型仿真结果相比较,进一步验证二次开发建模方法的计算准确性。基于多体离散元法,应用Recur Dyn Process Net平台进行二次开发,采用C#语言编写建立超长采矿管线多体离散元动力学模型的自动参数化建模计算程序。集成海底履带式集矿机多体动力学模型与采矿管线系统多体离散元动力学模型,实现了深海采矿整体系统的多体动力学模型集成构建与联动仿真,获得并分析联动过程各子系统空间运动状态变化、子系统间相互作用力变化等动力学特性,为实际深海采矿系统的整体集成设计、性能预测及作业操控提供了参考。
