In-situ testing device and method for mechanical properties of sediments in deep-sea polymetallic nodule mining areas

Abstract

The present invention provides an in-situ test device and method for the mechanical properties of sediments in deep-sea polymetallic nodule mining areas, including a device transport system, a double-layer CNC guide rail and penetration system, and a control and data acquisition system. The optimized spherical probe can effectively identify whether the probe rod is ballasted on the polymetallic nodules. The probe rod can be adjusted to any position within a certain range on the seabed through the double-layer CNC guide rail and penetration system, thereby avoiding the interference of polymetallic nodules on the test of the mechanical properties of sediments. The strength of sediments at multiple points can be measured during one deployment process, which effectively improves the test efficiency and reduces the test cost. The cyclic test of the strength of sediments can be carried out, which is convenient for exploring the law of cyclic weakening. The difficulty of the mechanical property test of sediments in polymetallic nodule areas being easily interfered by nodules and causing test failure is overcome, and the blank of the in-situ test device for the mechanical properties of sediments in polymetallic nodule areas is filled. The device has a simple structural design, low comprehensive use cost and high efficiency.

Description

Technical Field

[0001] The present invention relates to the fields of seabed exploration technology and marine engineering geology, and in particular to an in-situ testing device and method for mechanical properties of sediments in a deep-sea polymetallic nodule mining area. Background Art

[0002] The deep sea contains abundant energy, biological and mineral resources, and is an important potential resource base for solving the global depletion of land resources. Polymetallic nodules are expected to become the first batch of deep-sea mineral resources to be commercially mined, and their mining areas are mainly distributed on the flat seabed at a depth of 4000-6000 m. Nodules are distributed in a two-dimensional form at the top or within the first 10 cm of deep-sea sediments, with diameters generally ranging from 2 to 8 cm, and the nodule coverage rate can reach about 60%-80%. Pipeline lifting deep-sea mining is currently considered to be the most efficient mining method. Crawler mining vehicles travel in seabed mining areas and collect nodules. Mining vehicles are prone to sinking, slipping, and posture instability during their travel, which is the biggest problem that needs to be overcome in mining. The study of the mechanical properties of sediments in mining areas provides an important basis for the design and performance optimization of mining vehicles. The current lack of understanding of the mechanical properties of sediments in nodule areas poses a huge challenge to deep-sea resource mining.

[0003] The sediments in the polymetallic nodule mining area are saturated soft clays with high water content, high porosity, high liquid and plastic limits, and high sensitivity. There are two main methods for testing its mechanical properties: indoor tests and in-situ tests. Compared with the shortcomings of indoor tests, such as large sample disturbance, difficult sampling, long test cycle, large background pressure difference, and large artificial influence, in-situ testing is the best method to understand the mechanical properties of deep-sea sediments. Full flow penetration is the most suitable means for testing soft clay at present, but in polymetallic nodule areas with dense polymetallic nodules, the full flow probe test process often directly loads on the polymetallic nodules. The polymetallic nodules will affect the measurement of sediment strength throughout the test process or at a larger depth range, and ultimately lead to the failure of the entire in-situ test, thereby wasting a lot of test costs. Even if two or more probes are installed on some test devices, such problems cannot be effectively solved. So far, there is no in-situ test device and method for the mechanical properties of sediments in deep-sea polymetallic nodule mining areas in polymetallic nodules. Summary of the invention

[0004] In order to make up for the deficiencies of the prior art, the present invention provides an in-situ testing device and method for the mechanical properties of sediments in a deep-sea polymetallic nodule mining area.

[0005] The present invention is realized by the following technical scheme: an in-situ testing device for mechanical properties of sediments in deep-sea polymetallic nodule mining areas, comprising a device carrying platform, a double-layer CNC guide rail and a penetration system and a control and data acquisition system, wherein the device carrying platform comprises a vertically arranged external support column, a cubic structure surrounded by the external support column is welded with a vertically arranged internal support column inside, a transversely arranged internal support cross bar is welded between the external support column and the internal support column, a top external frame is welded to the top of the external support column through a top support diagonal rod, and a vertically arranged top lattice cross bar is welded inside the top external frame;

[0006] The double-layer CNC guide rail and penetration system are located at the center of the device carrying platform and are installed on the internal support column of the enclosed cubic structure. The double-layer CNC guide rail is divided into an upper main control guide rail system and a lower auxiliary guide rail system. The upper main control guide rail system includes an upper main fixed linear rail, an upper main sliding linear rail, an upper main CNC guide rail type I slider and an upper main CNC guide rail type II slider. The lower auxiliary guide rail system includes a lower auxiliary fixed linear rail, a lower auxiliary sliding linear rail, a lower auxiliary guide rail type III slider and a lower auxiliary guide rail type IV slider. The penetration system includes a penetration structure and an optimized spherical full-flow test spherical probe rod capable of identifying nodules. The optimized spherical full-flow test spherical probe rod is installed on the penetration structure.

[0007] The upper main control guide rail system has two upper main fixed linear rails which are installed in parallel on the upper part of the internal support column. The upper main CNC guide rail type I sliders are two which are installed on the upper main fixed linear rails respectively. The upper main sliding linear rail is installed on two upper main CNC guide rail type I sliders. The upper main sliding linear rail can slide arbitrarily on the upper main fixed linear rail through the sliding of the upper main CNC guide rail type I slider. The upper main CNC guide rail type II slider is installed on the upper main sliding linear rail and can slide arbitrarily on the upper main sliding linear rail.

[0008] The lower auxiliary guide rail system has two lower auxiliary fixed linear rails which are installed in parallel at the lower part of the internal support column. The lower auxiliary guide rail type III sliders are two which are installed on the lower auxiliary fixed linear rails respectively. The lower auxiliary sliding linear rail is installed on two lower auxiliary guide rail type III sliders. The lower auxiliary sliding linear rail can slide freely on the lower auxiliary fixed linear rail through the sliding of the lower auxiliary guide rail type III sliders. The lower auxiliary guide rail type IV slider is installed on the lower auxiliary sliding linear rail and can slide freely on the lower auxiliary sliding linear rail.

[0009] As a preferred solution, the structures of the upper main CNC guide rail Class I slider, the upper main CNC guide rail Class II slider, the lower guide rail Class III slider and the lower guide rail Class IV slider are the same and all include ball bearings, CNC wire ports, slider housings and fixing screws. The slider housings are built-in with slider bodies through fixing screws and are symmetrically equipped with ball bearings, and a CNC wire port is installed on one side of the slider housing.

[0010] The penetration structure is installed between the upper main CNC guide rail type II slider and the lower auxiliary guide rail type IV slider. The penetration structure includes 2 penetration support rods, a probe rod guide tube, a penetration cylinder, a probe rod clamp, and 2 sets of identical pulley blocks. Each pulley block includes a first penetration fixed pulley, a second penetration fixed pulley, a first penetration movable pulley, a second penetration movable pulley, and a traction leather strap. The 2 penetration support rods are vertically installed between the upper main CNC guide rail type II slider and the lower auxiliary guide rail type IV slider. The first penetration fixed pulley and the second penetration fixed pulley of each group are respectively installed at the upper fixed end and the lower fixed end of each penetration support rod. The winding order of the traction leather strip is the first penetration movable pulley, the first penetration fixed pulley, the second penetration fixed pulley and the second penetration movable pulley. The probe rod clamp is fixed on the traction leather strip. The penetration cylinder controls the position of the movable pulley group, thereby controlling the sliding of the traction leather strip, triggering the up and down sliding of the probe rod clamp. The top end of the spherical probe rod of the optimized spherical full-flow test is fixedly installed on the probe rod clamp to control the penetration and extraction of the spherical probe rod of the optimized spherical full-flow test. The probe rod guide tube is installed on the lower auxiliary sliding linear track. The spherical probe rod of the optimized spherical full-flow test is installed on the probe rod guide tube.

[0011] The optimized spherical full-flow test spherical probe includes an upper penetration rod, a lower penetration rod and a spherical probe. The upper penetration rod and the lower penetration rod are rotatably connected through a screw interface between them. The lower penetration rod and the optimized spherical probe are fixedly connected. The lower penetration rod includes a side friction resistance measurement unit, a penetration hole pressure measurement unit, a penetration resistance test unit and a fiber optic sensor lead. The outer ring of the spherical probe is surrounded by a circle of permeable stone. The bottom of the spherical probe is open and equipped with a movable ball cap. The spherical probe includes a servo controller, a ball probe CNC line, a circular support steel plate, a ball cap pressure gauge, 2 springs, 2 displacement locks and an elastic waterproof membrane. The circular support steel plate is fixedly installed laterally inside the spherical probe, the servo controller is installed on the upper surface of the circular support steel plate, there are two springs that are fixedly installed in parallel on the lower surface of the circular support steel plate, the ball cap pressure gauge, two springs and two displacement locks are vertically fixedly installed between the movable ball cap and the circular support steel plate, the two springs are located between the two displacement locks, the ball cap pressure gauge is located between the two springs, and the elastic waterproof membrane is installed between the movable ball cap and the spherical probe.

[0012] The control and data acquisition system includes a hydraulic station cabin, a general control cabin, a data acquisition cabin, a power supply cabin and a camera. The hydraulic station cabin, the general control cabin, the data acquisition cabin and the power supply cabin are installed between the external support columns and the internal support columns, and the camera is installed on the internal support cross bar.

[0013] As a preferred solution, a semicircular lifting hook is welded to the middle of the top outer frame through a hook support diagonal rod, and a bottom circular supporting foot is welded to the bottom four corners of the outer support column through a bottom support diagonal rod.

[0014] A working method of an in-situ testing device for mechanical properties of sediments in a deep-sea polymetallic nodule mining area, specifically comprising the following steps:

[0015] (1) Set the position of the double-layer CNC guide rail and the penetration system, and record the position of the probe on the double-layer CNC track plane. The lower track is used as an auxiliary to the upper track. The lower auxiliary rail type III slider is pulled by the upper main CNC guide rail type I slider. Its position is x Axis and y The lower guide rail type IV slider is pulled by the upper main CNC guide rail type II slider, and its position is x Axis and y The upper fixed linear rail is used as x Axis zero point x 0, the other end is x End point of axis x 端 , the sliding track is recorded at its position as x n . One end of the upper sliding track is used as y Axis zero point y 0, the other end is y End point of axis y 端 , the position of the upper main CNC guide rail type II slider is recorded as y n ;

[0016] (2) Set the vertical position of the probe. When the penetration cylinder stroke is zero, the probe position is recorded as z 0, penetration downward z The positive direction of the axis, the position of the probe when it penetrates a certain distance is recorded as z n , so the position of the probe is ( x n , y n , z n );

[0017] (3) Preset the points to be measured in advance a, b, c, d ……common n points, the initial position of each point is recorded as ( x a , y a , z 0)、( x b , y b , z 0)、( x c , y c , z 0)、( x d , y d , z 0)……( x n , y n , z 0);

[0018] (4) Deploy the device to the seabed and adjust the probe to a Turn on all automatic control systems, unlock the ball cap displacement lock, penetrate the probe at a constant speed, and start recording the penetration depth when the penetration resistance has a value. If the ball cap has a large displacement within the penetration depth of 10 cm, and the ball cap pressure gauge is greater than the preset value, it means that the probe is loaded on the nodule. Cancel the probe from continuing to penetrate and retract the probe to its original position. The servo controller feeds back to the overall control cabin to adjust the probe within a certain range. x Axis and y The position of the axis is adjusted to avoid the nodule position. When the ball cap does not move significantly within the penetration depth of 10 cm, the displacement of the ball cap is locked, the servo controller is turned off, and the probe continues to penetrate to the maximum range;

[0019] (5) Continue to penetrate the probe and measure the sediment pressure through the pore pressure measurement unit, side friction resistance measurement unit, and penetration resistance measurement unit on the probe. a The penetration resistance, pore water pressure and side friction resistance at different depths of the first penetration cycle at the point. After one cycle is completed, the penetration continues until 10 cycles are completed;

[0020] (6) Move the probe x Axis and y axis position, enter the next point, repeat steps (4) to (5) to proceed b、c、 d ...Measurement of pore water pressure, penetration resistance and lateral friction resistance of point sediments.

[0021] As a preferred solution, the spacing between the external support columns (1) is 2.4 m, and the spacing between the internal support columns (2) is 1.6 m.

[0022] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0023] (1) The use of an optimized spherical probe that can identify nodules can effectively identify whether the probe is loaded on the polymetallic nodules in the polymetallic nodule-dense area, so as to give timely commands to continue or stop penetration, and retract the probe to move to an appropriate position, thereby avoiding the interference of polymetallic nodules on the test of sediment mechanical properties and effectively improving the accuracy of sediment test data. The problem of nodules interfering with the probe rod has always existed when measuring nodules in polymetallic nodule areas, and no relevant patent has yet proposed an effective solution.

[0024] (2) The use of double-layer CNC guide rails and penetration systems can adjust the probe rod to any position within a certain range on the seabed. The sediment strength at multiple points can be measured during one deployment process, which effectively improves the test efficiency and reduces the test cost. The data from multiple test points can be verified and verified with each other, which effectively improves the credibility and accuracy of the test.

[0025] (3) The use of a fixed and movable pulley group to penetrate the probe can effectively expand the penetration stroke of the probe and obtain deeper mechanical strength of the sediment. Multiple cycles can be penetrated at one test point to measure the weakening law of different cycles of sediments in the polymetallic nodule area. The mining vehicle generates cyclic dynamic shear on the sediment in the nodule area. The cyclic penetration characteristics of sediments in the polymetallic nodule area have not been revealed in existing studies.

[0026] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 It is a front view structural schematic diagram of the present invention;

[0029] Figure 2 It is a left-side structural schematic diagram of the present invention;

[0030] Figure 3 It is a schematic diagram of the top structure of the top frame of the device of the present invention;

[0031] Figure 4 for Figure 1 AA section structure diagram

[0032] Figure 5It is a schematic diagram of the left view structure of the slider;

[0033] Figure 6 Schematic diagram of the top view of the slider;

[0034] Figure 7 It is a structural schematic diagram of an embodiment of a pulley block;

[0035] Figure 8 Schematic diagram of the external structure of the spherical probe for optimization

[0036] Fig. 9 Schematic diagram of the inner surface structure for optimizing the spherical probe;

[0037] Fig.10 It is a comparison diagram between the test curve of mechanical properties of sediment disturbed by nodules and the real curve of the present invention;

[0038] Fig.11 This is a test comparison diagram of the optimized probe of the present invention and the traditional probe when ballasted to the nodule;

[0039] Fig.12 A flow chart of conditions for controlling and optimizing the penetration of the probe rod according to the present invention;

[0040] in, Figures 1 to 9 The corresponding relationship between the reference numerals and the components is as follows:

[0041] External support column 1, internal support column 2, top outer frame 3, top lattice cross bar 4, top support diagonal bar 5, semicircular lifting hook 6, internal support cross bar 7, top support diagonal bar 8, bottom support diagonal bar 9, bottom circular support foot 10, upper main fixed linear rail 11, lower auxiliary fixed linear rail 12, upper main sliding linear rail 13, lower auxiliary sliding linear rail 14, upper main CNC guide rail type I slider 15, upper main CNC guide rail type II slider 16, lower auxiliary guide rail type III slider 17, lower auxiliary guide rail type IV slider 18, penetration structure 19, optimized spherical full-flow test spherical probe for identifying nodules 20, hydraulic station cabin 21, overall control cabin 22, data acquisition cabin 23, power supply cabin 24, camera 25, ball 101, CNC line port 1 02, slider housing 103, fixing screw 104, penetration support rod 191, probe rod guide tube 192, penetration cylinder 193, probe rod clamp 194, first penetration fixed pulley 195, second penetration fixed pulley 196, first penetration movable pulley 197, second penetration movable pulley 198, traction leather strap 199, upper penetration rod 201 and lower penetration rod 202 and optimized spherical probe 203, screw interface 204, side friction resistance measurement unit, penetration pore pressure measurement unit, penetration resistance test unit, optical fiber sensor lead, permeable stone 209, movable ball cap 2010, servo controller 2011, ball probe CNC line 2012, circular support steel plate 2013, ball cap pressure gauge 2014, spring 2015, displacement locker 2016, elastic waterproof membrane 2017. DETAILED DESCRIPTION

[0042] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0044] Combine the following Figures 1 to 11 The in-situ testing device and method for mechanical properties of sediments in deep-sea polymetallic nodule mining areas according to the embodiments of the present invention are described in detail.

[0045] like Figures 1 to 4As shown, the present invention proposes an in-situ testing device for the mechanical properties of sediments in deep-sea polymetallic nodule mining areas, including a device carrying platform, a double-layer CNC guide rail and a penetration system and a control and data acquisition system. The device carrying platform is the external frame of the entire device, which is used for the integration and transportation of all components of the device. The device carrying platform includes a vertically arranged external support column 1, and a vertically arranged internal support column 2 is welded inside the cubic structure surrounded by the external support column 1. A horizontally arranged internal support crossbar 7 is welded between the external support column 1 and the internal support column 2. The top of the external support column 1 is welded with a top external frame 3 through a top support diagonal bar 8, and a vertically arranged top lattice crossbar 4 is welded inside the top external frame 3. A semicircular lifting hook 6 is welded to the middle of the top external frame 3 through a hook support diagonal bar 5, and a bottom circular support foot 10 is welded to the bottom four corners of the external support column 1 through a bottom support diagonal bar 9;

[0046] The double-layer CNC guide rail and penetration system are located at the center of the device's carrying platform and are installed on the internal support columns 2 that form a cubic structure, ensuring that the double-layer CNC guide rail can slide freely between the four internal support columns 2. The double-layer CNC guide rail is divided into an upper main control guide rail system and a lower auxiliary guide rail system. The upper main control guide rail system includes an upper main fixed linear rail 11, an upper main sliding linear rail 13, an upper main CNC guide rail Class I slider 15, and an upper main CNC guide rail Class II slider 16. The lower auxiliary guide rail system includes a lower auxiliary fixed linear rail 12, a lower auxiliary sliding linear rail 14, a lower auxiliary guide rail Class III slider 17, and a lower auxiliary guide rail Class IV slider 18. The penetration system includes a penetration structure 19 and an optimized spherical full-flow test spherical probe 20 that can identify nodules. The optimized spherical full-flow test spherical probe 20 is installed on the penetration structure 19.

[0047] The upper main control guide rail system has two upper main fixed linear rails 11 which are installed in parallel on the upper part of the internal support column 2, two upper main CNC guide rail type I sliders 15 are installed on the upper main fixed linear rails 11 respectively, the upper main sliding linear rail 13 is installed on two upper main CNC guide rail type I sliders 15, the upper main sliding linear rail 13 can slide arbitrarily on the upper main fixed linear rail 11 through the sliding of the upper main CNC guide rail type I sliders 15, and the upper main CNC guide rail type II sliders 16 are installed on the upper main sliding linear rail 13 and can slide arbitrarily on the upper main sliding linear rail 13;

[0048] The lower auxiliary guide rail system has two lower auxiliary fixed linear rails 12 installed in parallel at the lower part of the internal support column 2, two lower auxiliary guide rail Class III sliders 17 installed on the lower auxiliary fixed linear rails 12 respectively, and the lower auxiliary sliding linear rail 14 installed on the two lower auxiliary guide rail Class III sliders 17. The lower auxiliary sliding linear rail 14 can slide arbitrarily on the lower auxiliary fixed linear rail 12 through the sliding of the lower guide rail Class III slider 17. The lower guide rail Class IV slider 18 is installed on the lower auxiliary sliding linear rail 14 and can slide arbitrarily on the lower auxiliary sliding linear rail 14. The lower auxiliary guide rail system moves with the upper main control guide rail system and is an auxiliary system of the upper main control guide rail system. The lower guide rail Class III slider 17 moves directly below the upper main CNC guide rail Class I slider 15 as it moves. The lower guide rail Class IV slider 18 moves directly below the upper main CNC guide rail Class II slider 16 as it moves. Figure 5 , Figure 6 As shown, the structures of the upper main CNC guide rail Class I slider 15, the upper main CNC guide rail Class II slider 16, the lower guide rail Class III slider 17 and the lower guide rail Class IV slider 18 are the same and include a ball 101, a CNC line port 102, a slider housing 103 and a fixing screw 104. The slider housing 103 has a built-in slider body through the fixing screw 104 and is symmetrically equipped with balls 101 for sliding on the guide rail, and a CNC line port 102 is installed on one side of the slider housing 103.

[0049] like Figure 7As shown, the penetration structure 19 is installed between the upper main CNC guide rail type II slider 16 and the lower auxiliary guide rail type IV slider 18. The penetration structure 19 includes two penetration support rods 191, a probe rod guide tube 192, a penetration cylinder 193, a probe rod clamp 194, and two identical pulley groups. Each pulley group includes a first penetration fixed pulley 195, a second penetration fixed pulley 196, a first penetration movable pulley 197, a second penetration movable pulley 198 and a traction leather strip 199. The two penetration support rods 191 are vertically installed between the upper main CNC guide rail type II slider 16 and the lower auxiliary guide rail type IV slider 18. The first penetration fixed pulley 195 and the second penetration fixed pulley 196 of each group are respectively installed on the upper fixed end and the lower fixed end of each penetration support rod 191, and the winding order of the traction strap 199 is the first penetration movable pulley 197, the first penetration fixed pulley 195, the second penetration fixed pulley 196 and the second penetration movable pulley 198. The probe rod clamp 194 is fixed on the traction strap 199, and the penetration cylinder 193 controls the position of the movable pulley group, thereby controlling the sliding of the traction strap 199, triggering the up and down sliding of the probe rod clamp 194, and the top end of the spherical probe rod 20 of the optimized spherical full flow test is fixedly installed on the probe rod clamp 194 to control the penetration and extraction of the spherical probe rod 20 of the optimized spherical full flow test, and the probe rod guide tube 192 is installed on the lower auxiliary sliding linear track 14, and the spherical probe rod 20 of the optimized spherical full flow test is installed on the probe rod guide tube 192.

[0050] like Figure 8 , Fig. 9As shown, the optimized spherical full flow test spherical probe 20 includes an upper penetration rod 201, a lower penetration rod 202 and an optimized spherical probe 203. The upper penetration rod 201 and the lower penetration rod 202 are rotatably connected through a screw interface 204 between them and can be disassembled. The lower penetration rod 202 and the optimized spherical probe 203 are fixedly connected. The lower penetration rod 202 includes a side friction resistance measurement unit, a penetration pore pressure measurement unit, a penetration resistance test unit and an optical fiber sensor lead. The outer ring of the optimized spherical probe 203 is surrounded by a circle of permeable stone 209. The bottom of the spherical probe 203 is open and equipped with a movable ball cap 2010. The permeable stone 209 is used to test the pore water pressure, and the movable ball cap 2010 is used to monitor whether the penetration process is disturbed by tuberculosis. The spherical probe 203 includes a servo controller 2011, a spherical probe CNC line 2012, a circular support steel plate 2013, a ball cap pressure gauge 2014, two springs 2015, two displacement lockers 2016 and an elastic waterproof membrane 2017. The circular support steel plate 2013 is fixedly installed laterally inside the spherical probe 203, the servo controller 2011 is installed on the upper surface of the circular support steel plate 2013, there are two springs 2015 and they are fixedly installed in parallel on the lower surface of the circular support steel plate 2013, and the springs 2015 are used to provide a supporting force when the movable ball cap 2010 is not locked, so as to ensure that the movable ball cap is maintained at the bottommost position when there is no interference from tuberculosis. The ball cap pressure gauge 2014, two springs 2015 and two displacement locks 2016 are vertically fixed between the movable ball cap 2010 and the circular support steel plate 2013, the two springs 2015 are located between the two displacement locks 2016, and the ball cap pressure gauge 2014 is located between the two springs 2015. The pressure value provided by the movable ball cap 2010 when there is no tuberculosis interference and when there is tuberculosis interference within the top 10 cm is repeatedly tested, and a pre-set warning value is set. When the pre-set value is exceeded, the servo controller 2011 provides a warning, stops the continued penetration of the spherical probe rod 20, retracts the spherical probe rod 20, and reselects the penetration position. The displacement locker 2016 is between the movable ball cap 2010 and the circular support steel plate 2013, and is fixed to the bottom of the circular support steel plate 2013, so as to lock the movable ball cap 2010 at the bottommost position; the elastic waterproof membrane 2017 is installed between the movable ball cap 2010 and the spherical probe 203 to prevent erosion by seawater;

[0051] like Figure 1 , Figure 2 As shown, the control and data acquisition system includes a hydraulic station cabin 21, a general control cabin 22, a data acquisition cabin 23, a power supply cabin 24 and a camera 25. The hydraulic station cabin 21, the general control cabin 22, the data acquisition cabin 23 and the power supply cabin 24 are installed between the external support column 1 and the internal support column 2. The camera 25 is installed on the internal support cross bar 7, which can record the entire double-layer CNC system and the penetration system.

[0052] A working method of an in-situ testing device for mechanical properties of sediments in a deep-sea polymetallic nodule mining area, specifically comprising the following steps:

[0053] (1) Set the position of the double-layer CNC guide rail and the penetration system, and record the position of the probe on the double-layer CNC track plane. The lower track is used as an auxiliary to the upper track. The lower auxiliary rail type III slider is pulled by the upper main CNC guide rail type I slider. Its position is x Axis and y The lower guide rail type IV slider is pulled by the upper main CNC guide rail type II slider, and its position is x Axis and y The upper fixed linear rail is used as x Axis zero point x 0, the other end is x End point of axis x 端 , the sliding track is recorded at its position as x n . One end of the upper sliding track is used as y Axis zero point y 0, the other end is y End point of axis y 端 , the position of the upper main CNC guide rail type II slider is recorded as y n ;

[0054] (2) Set the vertical position of the probe. When the penetration cylinder stroke is zero, the probe position is recorded as z 0, penetration downward z The positive direction of the axis, the position of the probe when it penetrates a certain distance is recorded as z n , so the position of the probe is ( x n , y n , z n );

[0055] (3) Preset the points to be measured in advance a , b, c, d ……common n points, the initial position of each point is recorded as ( x a , y a , z 0)、( x b , y b ,z 0)、( x c , y c , z 0)、( x d , y d , z 0)……( x n , y n , z 0);

[0056] (4) Deploy the device to the seabed and adjust the probe to a Turn on all automatic control systems, unlock the ball cap displacement lock, penetrate the probe at a constant speed, and start recording the penetration depth when the penetration resistance has a value. If the ball cap has a large displacement within the penetration depth of 10 cm, and the ball cap pressure gauge is greater than the preset value, it means that the probe is loaded on the nodule. Cancel the probe from continuing to penetrate and retract the probe to its original position. The servo controller feeds back to the overall control cabin to adjust the probe within a certain range. x Axis and y The position of the axis is adjusted to avoid the nodule position. When the ball cap does not move significantly within the penetration depth of 10 cm, the ball cap displacement is locked, the servo controller is turned off, and the probe continues to penetrate to the maximum range; (5) The probe continues to penetrate, and the pore pressure measurement unit, side friction measurement unit, and penetration resistance measurement unit on the probe are used to measure the sediment pressure at the bottom of the probe. a The penetration resistance, pore water pressure and side friction resistance at different depths of the first penetration cycle at the point. After one cycle is completed, the penetration continues until 10 cycles are completed;

[0057] (6) Move the probe x Axis and y axis position, enter the next point, repeat steps (4) to (5) to proceed b、c、 d ...Measurement of pore water pressure, penetration resistance and lateral friction resistance of point sediments.

[0058] Example 1

[0059] As shown in the figure, a spherical full-flow penetration device free of nodule interference is used to test the mechanical properties of sediments in polymetallic nodule areas, with an external support column spacing of 2.4m and an internal support column spacing of 1.6m. The support column spacing can be adjusted according to actual conditions.

[0060] (1) The overall frame of the device is welded with high-strength aluminum alloy materials, including external support columns, internal support columns, top lattice cross bars, supporting diagonal bars, internal support cross bars, semicircular lifting hooks, and circular support feet. After welding, all of them are sprayed with bio-friendly antifouling paint containing camptothecin.

[0061] (2) Install the double-layer CNC guide rail on the frame, install the penetration assembly between the upper main CNC guide rail slider and the lower auxiliary CNC rail slider, install the probe rod on the probe rod clamp and pass it through the probe rod guide tube. Install the hydraulic station cabin, overall control cabin, data acquisition cabin, and power supply cabin to the appropriate position of the carrier platform and connect all wires.

[0062] (3) Set up related programs: Set the position in the double-layer CNC guide rail system to record the position of the probe on the double-layer CNC rail plane. The lower rail serves as an auxiliary to the upper rail and has the same position coordinates as the upper rail. x Axis zero point x 0, the other end is x End point of axis x 160 , the sliding track is recorded at its position as x n . One end of the upper sliding track is used as y Axis zero point y 0, the other end is y End point of axis y 160 , the position of the sliding track is recorded as y n .

[0063] (4) Set the vertical position of the probe. When the stroke of the penetration cylinder is zero, the probe position is recorded as z 0, penetration downward z The positive direction of the axis, the position of the probe when it penetrates a certain distance is recorded as z n , so the position of the probe is ( x n , y n , z n ).

[0064] (5) Conduct a systematic equipment indoor joint debugging test to test whether the optimized spherical probe can give a prompt of abnormal downward pressure in time when it is loaded on the nodule, and feed it back to the overall control cabin through the CNC, so as to issue a command to stop penetration and move the probe position. A 7000 m-level device pressure test is also carried out to test the execution of the device's commands in a deep-sea environment.

[0065] (6) Preset the points to be measured in advance a , b, c, d ……common n points, the initial position of each point is recorded as ( x a , y a , z 0)、( x b , y b , z 0)、( x c , y c , z 0)、( x d , y d , z 0)…….

[0066] (7) Set the test procedure: Before lowering, adjust the probe to a The probe is inserted at a constant speed of 20 mm / s, the displacement lock of the ball cap is unlocked, and the penetration depth is recorded when the penetration resistance has a value. If the ball cap has a large displacement within the penetration depth of 10 cm, and the ball cap pressure gauge is greater than the preset value, it means that the probe is loaded on the nodule. The probe is canceled from continuing to penetrate and the probe is retracted to its original position. The automatic control system feeds back to the overall control system to adjust the probe within a certain range. x Axis and y The position of the axis is adjusted to avoid the nodule position. When the ball cap does not move significantly within the penetration depth of 10 cm, the displacement of the ball cap is locked and the automatic control system is turned off.

[0067] (8) Continue to penetrate the probe and measure the sediment pressure through the pore pressure measurement unit, side friction resistance measurement unit, and penetration resistance measurement unit on the probe. a The penetration resistance, pore water pressure and side friction resistance at different depths of the first penetration cycle at the point are measured. After one cycle, the penetration continues until 10 cycles are completed.

[0068] (9) Move the probe x Axis and y axis position, enter the next point, repeat steps (4) to (5) to proceed b、c、 d ...Measurement of pore water pressure, penetration resistance and lateral friction resistance of point sediments.

[0069] (10) After the device is installed and all test procedures are set up, all feedback devices are turned on, and the device is transported to the sea via a research vessel. Check whether the status of all equipment is normal. When everything is ready, use the Kevlar rope on the ship to place the device at the designated location.

[0070] (11) The water depth at the deployment point is tested by multi-beam sounding on the ship, and the lowering time is calculated. The lowering time is reserved and 30 minutes is left for the test of sediment strength at the preset point after the seabed stabilizes. In order to reduce the disturbance to the seabed, the device hovers near the bottom and is slowly lowered to the seabed surface.

[0071] (12) After all tests are completed, the device is recovered and the data is read, and finally the device is cleaned.

[0072] Example 2

[0073] As shown in the figure, a spherical full-flow penetration device without nodule interference is used to test the mechanical properties of sediments in polymetallic nodule areas, with an external support column spacing of 1.8 m and an internal support column spacing of 1.2 m. The device is relatively small and can be installed on an ROV, which is carried to the seabed for deployment and recovered to the sea surface by the ROV after the test.

[0074] The penetration probe can be adjusted and lengthened to meet the desired sediment test depth (e.g. 2m). After lowering to the bottom, the probe holder can be loosened, moved to the top, and then the holder can be clamped to continue penetration.

[0075] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention; the terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0077] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An in-situ testing device for the mechanical properties of sediments in deep-sea polymetallic nodule mining areas, comprising a device carrying platform, a double-layer CNC guide rail, a penetration system, and a control and data acquisition system, characterized in that The device carrying platform comprises a vertically arranged external support column (1), a vertically arranged internal support column (2) is welded inside the cubic structure surrounded by the external support column (1), a transversely arranged internal support cross bar (7) is welded between the external support column (1) and the internal support column (2), a top external frame (3) is welded to the top of the external support column (1) via a top support diagonal bar (8), and a vertically arranged top lattice cross bar (4) is welded inside the top external frame (3); The double-layer CNC guide rail and penetration system are located at the center of the device carrying platform and are installed on the internal support column (2) of the enclosed cubic structure. The double-layer CNC guide rail is divided into an upper main control guide rail system and a lower auxiliary guide rail system. The upper main control guide rail system includes an upper main fixed linear rail (11), an upper main sliding linear rail (13), an upper main CNC guide rail type I slider (15) and an upper main CNC guide rail type II slider (16). The lower auxiliary guide rail system includes a lower auxiliary fixed linear rail (12), a lower auxiliary sliding linear rail (14), a lower auxiliary guide rail type III slider (17) and a lower auxiliary guide rail type IV slider (18). The penetration system includes a penetration structure (19) and an optimized spherical full-flow test spherical probe (20) capable of identifying nodules. The optimized spherical full-flow test spherical probe (20) is installed on the penetration structure (19). The upper main control guide rail system comprises two upper main fixed linear rails (11) which are installed in parallel on the upper part of the internal support column (2); two upper main numerical control guide rail type I sliders (15) are installed on the upper main fixed linear rails (11) respectively; the upper main sliding linear rail (13) is installed on the two upper main numerical control guide rail type I sliders (15); the upper main sliding linear rail (13) can slide arbitrarily on the upper main fixed linear rail (11) by sliding the upper main numerical control guide rail type I sliders (15); the upper main numerical control guide rail type II slider (16) is installed on the upper main sliding linear rail (13) and can slide arbitrarily on the upper main sliding linear rail (13); The lower auxiliary guide rail system comprises two lower auxiliary fixed linear rails (12) which are installed in parallel at the lower part of the internal support column (2); two lower auxiliary guide rail type III sliders (17) are installed on the lower auxiliary fixed linear rails (12) respectively; the lower auxiliary sliding linear rail (14) is installed on the two lower auxiliary guide rail type III sliders (17); the lower auxiliary sliding linear rail (14) can slide freely on the lower auxiliary fixed linear rail (12) by sliding the lower auxiliary guide rail type III sliders (17); the lower auxiliary guide rail type IV slider (18) is installed on the lower auxiliary sliding linear rail (14) and can slide freely on the lower auxiliary sliding linear rail (14); The penetration structure (19) is installed between the upper main CNC guide rail type II slider (16) and the lower auxiliary guide rail type IV slider (18). The penetration structure (19) includes two penetration support rods (191), a probe rod guide tube (192), a penetration cylinder (193), a probe rod clamp (194) and two sets of identical pulley groups, each pulley group includes a first penetration fixed pulley (195), a second penetration fixed pulley (196), a first penetration movable pulley (197), a second penetration movable pulley (198) and a traction leather strip (199). The two penetration support rods (191) are vertically installed between the upper main CNC guide rail type II slider (16) and the lower auxiliary guide rail type IV slider (18). The first penetration fixed pulley (195) and the second penetration fixed pulley (196) of each group are respectively installed at the upper fixed end and the lower fixed end of each penetration support rod (191). The winding order of the traction leather strip (199) is respectively the first penetration movable pulley (197), the first penetration fixed pulley (195), the second penetration fixed pulley (196), and the second penetration movable pulley (198). The probe rod clamp (194) is fixed on the traction leather strip (199). The penetration oil cylinder (193) controls the movable pulley. The position of the group is controlled to control the sliding of the traction belt (199), triggering the upward and downward sliding of the probe rod holder (194), the top end of the optimized spherical full-flow test spherical probe rod (20) is fixedly installed on the probe rod holder (194) to control the penetration and extraction of the optimized spherical full-flow test spherical probe rod (20), the probe rod guide tube (192) is installed on the lower auxiliary sliding linear track (14), and the optimized spherical full-flow test spherical probe rod (20) is installed through the probe rod guide tube (192); The optimized spherical full-flow test spherical probe rod (20) comprises an upper penetration rod (201), a lower penetration rod (202) and a spherical probe (203); the upper penetration rod (201) and the lower penetration rod (202) are rotatably connected via a screw interface (204) therebetween; the lower penetration rod (202) and the optimized spherical probe (203) are fixedly connected; the lower penetration rod (202) comprises a side friction resistance measurement unit, a penetration pore pressure measurement unit, a penetration resistance test unit and an optical fiber sensor lead wire; a circle of permeable stone (209) is wound around the outside of the ring of the spherical probe (203); the bottom of the spherical probe (203) is open and is equipped with a movable ball cap (2010); the spherical probe (203) comprises a servo controller (2011), a ball probe CNC line (2012), a circular support steel plate (2013), a ball cap pressure gauge (2014), and two A spring (2015), two displacement lockers (2016) and an elastic waterproof membrane (2017); a circular support steel plate (2013) is fixedly installed laterally inside the spherical probe (203); a servo controller (2011) is installed on the upper surface of the circular support steel plate (2013); two springs (2015) are fixedly installed in parallel on the lower surface of the circular support steel plate (2013); a ball cap pressure gauge (2014), two springs (2015) and two displacement lockers (2016) are fixedly installed vertically between the movable ball cap (2010) and the circular support steel plate (2013); the two springs (2015) are located between the two displacement lockers (2016); the ball cap pressure gauge (2014) is located between the two springs (2015); and the elastic waterproof membrane (2017) is installed between the movable ball cap (2010) and the spherical probe (203); The control and data acquisition system comprises a hydraulic station cabin (21), an overall control cabin (22), a data acquisition cabin (23), a power supply cabin (24) and a camera (25); the hydraulic station cabin (21), the overall control cabin (22), the data acquisition cabin (23) and the power supply cabin (24) are installed between the external support column (1) and the internal support column (2); and the camera (25) is installed on the internal support cross bar (7); The optimized spherical full-flow test spherical probe (20) capable of identifying nodules can effectively identify whether the probe is loaded on the polymetallic nodules in a polymetallic nodule area with dense nodules, thereby giving timely commands to continue penetration and stop penetration, and retracting the probe to move to an appropriate position, thereby avoiding interference of the polymetallic nodules with the test of the mechanical properties of the sediment.

2. The in-situ testing device for mechanical properties of sediments in deep-sea polymetallic nodule mining areas according to claim 1 is characterized in that A semicircular lifting hook (6) is welded to the middle of the top outer frame (3) through a hook support diagonal rod (5), and bottom circular supporting feet (10) are welded to the bottom four corners of the external support column (1) through a bottom support diagonal rod (9).

3. The in-situ testing device for mechanical properties of sediments in deep-sea polymetallic nodule mining areas according to claim 1 is characterized in that The upper main CNC guide rail type I slider (15), the upper main CNC guide rail type II slider (16), the lower guide rail type III slider (17) and the lower guide rail type IV slider (18) have the same structure, and all include a ball (101), a CNC wire port (102), a slider housing (103) and a fixing screw (104), and the CNC wire port (102) is installed on one side of the slider housing (103).

4. A working method of an in-situ testing device for mechanical properties of sediments in deep-sea polymetallic nodule mining areas, using the in-situ testing device for mechanical properties of sediments in deep-sea polymetallic nodule mining areas as claimed in claim 1 for testing, characterized in that , specifically including the following steps: (1) Set the position of the double-layer CNC guide rail and the penetration system, and record the position of the probe on the double-layer CNC track plane; the lower track serves as an auxiliary to the upper track, and the lower auxiliary rail Class III slider is pulled by the upper main CNC guide rail Class I slider, and its position is x Axis and y The lower guide rail type IV slider is pulled by the upper main CNC guide rail type II slider, and its position is x Axis and y The axis is consistent; one end of the upper main fixed linear track is used as x Axis zero point x 0, the other end is x End point of axis x 端 , the upper main sliding track is denoted as x n ; One end of the upper main sliding track is used as y Axis zero point y 0, the other end is y End point of axis y 端 , the position of the Class II slider of the upper main CNC guide rail is recorded as y n ; (2) Set the vertical position of the probe. When the penetration cylinder stroke is zero, the probe position is recorded as z 0, penetration downward z The positive direction of the axis, the position of the probe when it penetrates a certain distance is recorded as z n , so the position of the probe is ( x n , y n , z n ); (3) Preset the points to be measured in advance a , b, c, d ……common n points, the initial position of each point is recorded as ( x a , y a , z 0)、( x b , y b , z 0)、( x c , y c , z 0)、( x d , y d , z 0)……( x n , y n , z 0); (4) Deploy the device to the seabed and adjust the probe to a The probe is placed on the coordinates of the point; all automatic control systems are turned on, the displacement lock of the ball cap is unlocked, and the probe is penetrated at a uniform speed. When the penetration resistance has a value, the penetration depth is recorded. If the ball cap has a large displacement within the penetration depth of 10 cm, and the ball cap pressure gauge is greater than the preset value, it means that the probe is loaded on the nodule. The probe is canceled from continuing to penetrate and is retracted to its original position; the servo controller feeds back to the overall control cabin, and the probe is adjusted within a certain range. x Axis and y The position of the axis is adjusted to avoid the nodule position; until the ball cap does not move significantly within the penetration depth of 10 cm, the displacement of the ball cap is locked, the servo controller is turned off, and the probe continues to penetrate to the maximum range; (5) Continue to penetrate the probe and measure the sediment pressure through the pore pressure measurement unit, side friction resistance measurement unit, and penetration resistance measurement unit on the probe. a The penetration resistance, pore water pressure and side friction resistance at different depths of the first penetration cycle at the point. After one cycle is completed, the penetration continues until 10 cycles are completed; (6) Move the probe x Axis and y axis position, enter the next point, repeat steps (4) to (5) to proceed b, c, d ...Measurement of pore water pressure, penetration resistance and lateral friction resistance of point sediments.

5. The working method of the in-situ testing device for mechanical properties of sediments in deep-sea polymetallic nodule mining areas according to claim 4 is characterized in that The spacing between the external support columns (1) is 2.4 m, and the spacing between the internal support columns (2) is 1.6 m.

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