Research On Obstacle-surmounting Of Single Side Deformed Crawler System Based On Track Terramechanics

Deformation crawler mechanism is an important part of mine rescue robot.Its motion performance is related to its structural parameters and ground parameters.Therefore,soil groove experiment is one of the commonly used research methods to study its motion performance.On the basis of consulting a large number of documents,this paper extracts the structural parameters of the mine terrain environment and the test prototype,and refers to the previous research on the soil trough test-bed.Combined with the application background of this subject,this paper studies the interaction between the deformation track walking mechanism and the ground,and proposes a soil trough test-bed suitable for the walking mechanism.And research from the following aspects:(1)According to Bekker pressure bearing model and Janois shear model in ground mechanics,the mechanical model of the deformation crawler mechanism is established,and the stress state of the deformation crawler mechanism when climbing,climbing over the boss,steps and ditches is analyzed,which lays a theoretical foundation for further research on the mechanical characteristics of the deformation crawler mechanism when crossing obstacles and the development of the soil bin.(2)This paper analyzes some non-structural environments that may be encountered under the mine,extracts the structural parameters of terrain obstacles,and analyzes the structural parameters and design performance of the test prototype,namely,the experimental deformed crawler mechanism.According to these parameters,the obstacle experiment indexes of the soil bin are determined,and the corresponding obstacle terrain design scheme of the soil bin is completed.(3)According to the mechanism parameters of the test prototype and its mechanical model,combined with the characteristics of the previous soil tank test-bed,a design scheme of soil tank test-bed suitable for the deformation track walking mechanism and obstacle experiment is proposed.According to the design scheme,the overall structure design of the test-bed,the design of the synchronous belt of the drag mechanism and the selection of the drag motor,the finite element analysis of the vertical lifting mechanism,and the simulation analysis of the feed mechanism of the lead screw of the adjustable slope soil groove are completed.The design of the acquisition system of the soil trough test-bed is completed,including the design of hardware(sensor selection)and software(Human-Computer Interface).(4)Combined with the designed soil trough test-bed and the used deformation crawler mechanism,the mechanical characteristics of the deformation crawler mechanism are studied by using Recur Dyn software.Firstly,the deformation of the deformation track mechanism is simulated,the relationship between the deformation torque and load,deformation angle is obtained,and the equation between the maximum deformation torque and load is fitted.Secondly,the curves of the traction and the slip ratio of the hook are obtained by simulating the changes of the traction of the hook under different slip ratios.Secondly,the driving torque curve and the track curve of the side box are obtained by changing the deformation angle for different obstacle terrain,and the control strategy for the deformation track mechanism is proposed.Finally,the soil bin is used to experiment of climbing over the steps and bosses with a height of 100 mm,and 300 mm channels.There are 92 figures,14 tables and 71 references in this paper.