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深海行星轮行走机构设计 杜铮 （北京科技大学 车辆工程） 摘要：本文设计的行星轮式行走机构由4 组行星轮系组成，相当于8×8 轮驱动。随着车轮对地面作用力的不同，驱动轮系可相应地演变成定轴轮系或行星轮系。静力学分析表明，行星轮系的越障高度与轮距和轮胎直径成正比关系。 本文按行走速度0.1m/s，车体重量4t，机构尺寸4×2×1.5m为参考条件。在Pro/ENGINEER三维制图软件中对行星轮架，传动轴等主要机构进行建模，应用ANSYS软件对所建模型进行应力和变形分析，得出最大受力点和最大变形点，最大应力满足所选材料的强度要求。结果表明所设计行星轮系具有合理性和可行性。最后绘制出CAD二维零件图及装配图。 关键词： 行星轮系 传动机构设计 Design of the Planetary Wheel Mining vehicle in the deep sea bed Abstract：The running mechanism of the planetary wheel is composed of 4 groups of planetary gear train, which is equal to the propulsion of the round of 8×8. Along with the difference of the acting force of the wheel to the ground, the propulsion train may evolve into the dead axle trains or the planetary gear train correspondingly. The analysis of the statics and kinematics indicate that the more the structure size of the planetary gear train the gauge and the tire diameter, and the structure size of the chassis the center of mass to the front axle’s distance. In this paper, the walking speed of 0.1 m / s, body weight of 4 t, body size 4 × 2 × 1.5m of these conditions on the planet round of the transmission mechanism size specific design. Pro / ENGINEER 3-D graphics software make the planetary gear planes, drive shaft, and other major modeling agencies, ANSYS software applications built on the model of stress and deformation analysis , The largest force that point and the most deformation, the maximum stress the selected material to meet the strength requirements. The results show that the planets round of the reasonable and feasible. Finally drawn 2D CAD parts and assembly plans. Key Words： planetary gear train transmission design 1.行星轮越障机构构想 我国的结壳资源调查研究工作起步较晚，目前正在做海底采矿系统车辆的研究工作，海底结合表面为典型的山地地形，结构复杂，地形起伏从几厘米到几米，其中还有直径较大的卵石，还有崎岖不平的熔岩流地带。因此这对采矿车的行走性能提出了很严峻的考验，海底车辆的行走机构必须能够克服不规则的的崎岖复杂的海底路面，具有良好的越障，爬坡还有防翻滚的能力。另外海地车辆携带采掘头、破碎机、分选装置、动力站、电子设备和软管及电缆行走于地形恶劣的海山上，对其行走机构的强度和承载能力的要求也是十分苛刻。本文参考借鉴上述几种针对复杂路面的行走方式，针对海底复杂地形和采矿要求，通过理论分析，设计计算行星轮式海底越障机构。为提升我国在海底采矿车辆研究方面提供技术参考。 行星车轮不需要复杂的辅助机构来实现平面上运动与越