(1．南華大學(xué) 數(shù)理學(xué)院，衡陽(yáng) 421001；
2．中南大學(xué) 土木工程學(xué)院，長(zhǎng)沙 410075；
3. 湘潭大學(xué) 土木工程與力學(xué)學(xué)院，湘潭 411105)
摘 要: 作為深海采礦水力提升系統(tǒng)的重要組成部分，履帶式集礦機(jī)的牽引力及行走性能對(duì)深海資源的安全高效開(kāi)采具有重要影響。目前，深海履帶式集礦機(jī)牽引力的計(jì)算僅考慮深海底質(zhì)的彈塑性，尚未考慮與時(shí)間相依的流變特性以及履帶式集礦機(jī)作業(yè)時(shí)履帶底部的不同接地比壓(受溝壑、障礙、斜坡影響)等情形。本文通過(guò)深海模擬底質(zhì)直剪流變和壓-剪耦合流變的本構(gòu)理論與試驗(yàn)研究，建立了基于不同的深海底質(zhì)本構(gòu)模型(彈塑性、直剪流變、壓-剪耦合流變)和接地比壓分布(均布、線性分布、非均布)下履帶式集礦機(jī)牽引力計(jì)算模型；利用功能原理推導(dǎo)了相應(yīng)的履帶式集礦機(jī)牽引力計(jì)算公式，并分析了深海底質(zhì)本構(gòu)模型、接地比壓分布、履齒個(gè)數(shù)對(duì)履帶式集礦機(jī)牽引力的影響規(guī)律，為履帶式集礦機(jī)直行、轉(zhuǎn)彎和越障等穩(wěn)定性與通過(guò)性評(píng)估提供科學(xué)依據(jù)。研究結(jié)果表明：采用直剪流變和彈塑性本構(gòu)模型時(shí)，線性遞增與線性遞減接地比壓分布對(duì)應(yīng)的牽引力數(shù)量級(jí)大于均勻分布與正弦分布情況，線性遞增與線性遞減下的牽引力比均勻分布與正弦分布對(duì)履帶板數(shù)目變化更為明顯；深海底質(zhì)本構(gòu)模型對(duì)履帶式集礦機(jī)牽引力的影響比接地比壓分布類型更大。采用模擬土壓-剪耦合流變本構(gòu)模型計(jì)算得到的深海履帶式集礦機(jī)所需牽引力為最大、流變沉陷也最大，更接近深海采礦工程實(shí)際。
關(guān)鍵字: 集礦機(jī)；牽引力；深海底質(zhì)；流變；接地比壓
（1. School of Mathematics and Physics, University of South China, Hengyang 421001, China;
2. School of Civil Engineering, Central South University, Changsha 410075, China;
3. College of Civil Engineering and Mechanics, Xiangtan University, Xiangtan 411105, China）
Abstract:The tracked mining vehicle’s walking performance has a great influence on the efficiency of exploiting deep-sea resources as an important part of the hydro-mechanics lifting deep-sea mining system. Currently, the calculation of mining vehicle traction force only considers the elastic-plastic performance of deep-sea sediment instead of its time-dependent mechanical performance (the more obvious rheological performance than land soil) and different grounding pressure distributions(influenced by a deep-sea mountain, ditch)under the crawler of mining vehicle. This paper mainly obtained a compression-shear coupling rheological constitutive model based on the experimental and theoretical analyses of deep-sea simulant sediment, and then established traction force model based on different constitutive models (rheological models and elastic-plastic model) and different grounding pressure distributions (uniformed, linear and sine types). Based on the above, the corresponding traction force models was deduced by work-energy principle and then the influence of traction force was analyzed by considering the different constitutive models of deep-sea sediment and different grounding pressure distributions. The study can provide scientific foundation for stability and trafficability when straight walking, turning and crossing obstacles of tracked mining vehicle. The results show that the magnitude of require traction force under the linear increment and decrement grounding pressure distributions are greater than the one under the uniformed and sine grounding pressure distributions when adopting direct shear rheological model and elastic-plastic model. Moreover, the traction forces vary more obviously under the increment and decrement grounding pressure distributions than those under the uniformed and sine grounding pressure distributions. The influence of the constitutive models is more obvious than that of grounding pressure on the traction force of mining vehicle. The required traction force and sinkage under the compression-shear coupling rheological constitutive mode are the maximum among the different constitutive models and more close to practical deep-sea mining engineering.
Key words: mining vehicle; traction force calculation; deep-sea sediment; rheological performance; grounding pressure
