Experimental device for interaction of deep-sea mining vehicle reduced scale model and simulated deep-sea sediment

Abstract

The invention discloses a deep-sea mining vehicle reduced scale model and simulated deep-sea sediment interaction experiment device. The device comprises a land mud pool, a double-side jacking mechanism, a simulated laying system and a reduced scale robot prototype; the land mud pool comprises a main mud pool and self-prepared sediments loaded in the main mud pool and used for simulating the seabed environment, and the scale robot prototype is placed on the self-prepared sediments so as to autonomously advance; the simulated laying system comprises a supporting table, a winch, a hoisting frame and a steel cable; according to the invention, the influence of the simulated laying system, the steel cable and the hoisting frame on the seabed movement process of the mining vehicle is creatively considered, and the slope is considered, so that the design of the climbing movement experiment device at different angles is realized; according to the invention, the interaction research of the real deep-sea mining vehicle and the substrate under the condition of a flow field can be obtained, and the application of the vehicle terramechanics in the deep-sea mining vehicle marching dynamics process is extended.

Description

Technical Field

[0001] The invention belongs to the technical field of deep-sea mining vehicle equipment, and in particular relates to an experimental device for simulating interaction between a scaled model of a deep-sea mining vehicle and deep-sea seabed geology. Background Art

[0002] Deep-sea mineral resources mainly include polymetallic nodules, cobalt-rich crusts and polymetallic sulfides. These mineral resources are rich in nickel, cobalt, copper, manganese and other metals. Due to the harsh deep-sea environment, the exploitation of resources must rely on underwater robots for deep-sea operations. As an important part of the deep-sea mining system, the study of the structural parameters of deep-sea mining vehicles is particularly important. Due to the characteristics of strong traction performance, low ground pressure and high passing performance, the travel mechanism of deep-sea mining vehicles is mostly crawler-type. Unlike floating ROVs, deep-sea mining vehicles are heavy in water, and the seabed sediments have high water content, low bearing capacity, and extremely soft soil. Deep-sea mining vehicles are very likely to slip when walking on the seabed surface, and their motion performance is reduced. As a key component in the development process of deep-sea mining vehicles, the crawler travel mechanism has a mechanism parameter that affects the overall motion performance of the mining vehicle. Therefore, it is very necessary to study the influence of crawler motion on the power performance and dynamic performance of the mining vehicle, and focus on the dynamic response of the soil in combination with the concept of green and environmentally friendly mining.

[0003] Conducting dynamic analysis of the deep-sea mining vehicle's travel process is conducive to predicting the mining vehicle's motion performance on the seabed. The safe dynamic characteristics of deep-sea heavy-duty mining vehicles require stable operation of the walking mechanism, high passing capacity and high obstacle crossing performance, and take into account the physical and mechanical properties of sparse and soft sediments, with low slippage and low sinking. The dynamic characteristics of the mining vehicle depend on two aspects: environmental load and internal load. Among them, the environmental load includes the soil resistance, fluid resistance, cable drag force and recoil force caused by the mining operation during the movement of the mining vehicle. The internal load mainly comes from the track system, among which the friction between the track components accounts for 18.4% of the total travel resistance in the stable stage of travel. In fact, under the seabed working conditions, the internal resistance faced by deep-sea mining vehicles is not only from the friction between the components. The damage to the metal components caused by long-term work will lead to a further increase in the internal resistance of the movement. Although the internal resistance accounts for a certain proportion, the external load still has the main impact on the motion performance.

[0004] There are three main methods for studying the dynamic characteristics of deep-sea heavy-duty mining vehicles during their travel on the seabed, namely mechanical analysis, numerical simulation and scaled experiments. Mechanical analysis requires the identification of force characteristics. The usual method is to integrate along the track surface based on the pressure-sinking and shear stress-shear displacement models to obtain the total traction. Calculate each internal and external load received separately and solve for the total resistance. Combine the total traction and total resistance to obtain the resultant external force, and then obtain the relationship between acceleration and speed changes. In terms of numerical simulation, the most common existing method is to use multi-body dynamics commercial software such as Adams and Recurdyn to import the three-dimensional model of the mining vehicle, impose constraints, and solve and calculate the dynamic characteristics of the mining vehicle such as straight travel, climbing, and obstacle crossing. The method of scaled experiments is to reduce the mining vehicle according to a certain proportion, and at the same time, arrange external conditions such as simulated bottom quality, external flow length, hard pipe and hose, and complete the travel function test in the pool. The above three methods are related, and it is necessary to combine the three methods to carry out dynamic characteristics research, so as to obtain the seabed motion performance of the real mining vehicle.

[0005] The experimental method can better simulate the situation of mining vehicles walking underwater. Since it is impossible to carry out 1:1 underwater experiments of prototypes in the early stage of sample development, the scaled model can better guarantee the test accuracy. Choi et al. conducted an experimental study on the traction performance of tracked vehicles on simulated soft seabed soil. A tracked vehicle model with a main size of 0.9m×0.8m and a weight of 144kg was established, equipped with detachable grousers. Bentonite-water mixture was used to simulate the deep seabed in a 6.0m×3.7m soil trough. The study obtained the influence of research parameters such as grouser structure, travel speed, center of gravity, cable drag force on traction performance. Zhu Hongqian et al. designed a set of model vehicle experimental hardware and software systems for carrying out travel control and positioning system experiments. The test vehicle has the functions of positioning, trajectory tracking control, remote monitoring, communication, power supply, simulated mining, etc. The travel mode is tracked, the material is rubber, the grouser is involute deep teeth, and the ground pressure is equal to the ground pressure of the deep-sea mining robot. Wang Meng designed a self-propelled trencher-winch-cable coupling experimental device, which can simulate the submarine travel process of the trencher under deployment conditions, obtain the relationship between traction, travel speed and slip rate, and find the head-up phenomenon caused by slip sinking in the experiment. Dai Yu et al. designed a self-propelled small deep-sea mining model vehicle and connected it to the power station through an umbilical cable. When the vehicle travels straight or turns on the simulated sediment, the resistance is measured by the towing hook and pressure sensor. The model vehicle completed the self-propelled travel at an underwater speed of 1m / s, verifying the effectiveness of the intelligent control algorithm it carries. Jiao et al. designed an underwater crawler vehicle experimental platform, verified the applicability of the established traction force mechanical model formula in underwater soil, and obtained the motion characteristics of the underwater crawler mobile robot, accurately identified the soil parameters, and the maximum relative error was only 3.8%. The above-mentioned scaled experiments can achieve good walking of tracked vehicles, but they rarely consider the impact of climbing, overwater environment and cable drag force. Therefore, many experimental methods are very similar to land tracked equipment, and the accuracy of resistance changes caused by scale is still questionable. Therefore, the experimental mode of the scaled model of deep-sea mining vehicles still needs to be improved, and it is necessary to comprehensively consider environmental factors similar to the seabed, such as flow field and external load. Summary of the invention

[0006] The embodiment of the present invention provides a scaled model of a deep-sea mining vehicle and an experimental device for simulating the interaction between deep-sea seabed and the seafloor, which can solve the problems existing in the prior art: (1) the influence of the flow field is less considered, and the overlying water environment cannot be considered when establishing a water tank; (2) the straight movement of the tracked travel system is more considered, and the underwater slope environment is rarely considered; (3) the influence of the recovery unit deployed on the deck of the mining ship on the power performance of the mining vehicle is less considered.

[0007] To solve the above problems, the technical solution provided by the present invention is as follows:

[0008] An embodiment of the present invention provides an experimental device for the interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology, comprising a land mud pool, a double-sided jacking mechanism, a simulated deployment system and a scaled robot prototype; the land mud pool comprises a main mud pool and self-prepared sediments for simulating a seabed environment loaded in the main mud pool, and the scaled robot prototype is placed on the self-prepared sediments for autonomous movement; the double-sided jacking mechanism comprises a support and two jacking assemblies located on one side of the support, the two jacking assemblies are both driven by servo motors, the bottom of one end of the main mud pool is connected to one end of the support through a rotating shaft, and both sides of the other end of the main mud pool are connected to the two jacking assemblies; the simulated deployment system comprises a support platform, a winch arranged on the support platform, a hoisting frame and a steel cable, and the steel cable connects the scaled robot prototype, the hoisting frame and the winch.

[0009] An optional embodiment of the present invention further includes a motion control system and a data acquisition system, wherein the motion control system is used to control the winch, the hoisting frame and the scaled robot prototype; the data acquisition system includes a tension sensor, a torque sensor, a pressure sensor and an encoder; the tension sensor is installed on the steel cable to measure the tension exerted on the steel cable; the torque sensor is installed on the driving wheel of the hoisting frame, and the resistance exerted on the scaled robot prototype is calculated through the torque sensor data feedback of the driving wheel; the encoder is used to feedback the rotation speed of the winch motor; the pressure sensor is installed at every 10 cm layer below the surface of the self-prepared sediment to feedback the real-time soil pressure situation.

[0010] In an optional embodiment of the present invention, two hanging ears are arranged on both sides of the other end of the main mud pool, and the two hanging ears are connected to the top ends of the two jacking components through bolts.

[0011] In an optional embodiment of the present invention, the inclination angle of the main mud pool is 0 to 30 degrees.

[0012] In an optional embodiment of the present invention, the main mud pool is 10 meters long, 3 meters wide, and 1.5 meters high, and the depth of the internal self-distributed sediment is not less than 1 meter.

[0013] According to an optional embodiment of the present invention, the main mud pool is made of cast iron.

[0014] In an optional embodiment of the present invention, the hanging frame includes two vertical components, a horizontal component connected to the top of the two vertical components, and a driving wheel arranged in the middle of the horizontal component, and the steel cable is arranged to pass through the driving wheel.

[0015] In an optional embodiment of the present invention, the two vertical components and the horizontal component are both made of 316 stainless steel plates.

[0016] Compared with the prior art, the embodiment of the present invention provides a scaled model of a deep-sea mining vehicle and a simulated deep-sea seabed geological interaction experimental device, which has the following beneficial effects:

[0017] (1) The present invention promotes the development of deep-sea operation technology: accurately grasping the interaction mechanism between deep-sea mining vehicles and deep-sea seabed movement processes will help optimize the design of deep-sea operation equipment, improve its ability to pass through complex seabed terrain and operating efficiency, and promote technological progress in the fields of deep-sea resource exploration and seabed engineering construction.

[0018] (2) The present invention reduces the risk of deep-sea operations: The crawler-type deep-sea operation equipment designed based on more realistic experimental data can better adapt to the seabed environment, reduce operational accidents caused by equipment failure or incompatibility with seabed terrain, and reduce the risk and cost of deep-sea operations.

[0019] (3) The present invention fills the research gap: it improves the research on the interaction between deep-sea mining vehicles and deep-sea seabed motion processes, fills the gap in the research on rotational working conditions in this field, enriches the theoretical system of deep-sea engineering mechanics and vehicle ground mechanics in deep-sea applications, and provides a solid theoretical foundation for subsequent related research. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of a land mud pool of a scaled model of a deep-sea mining vehicle and a simulated deep-sea floor geological interaction experimental device provided in an embodiment of the present application.

[0022] Figure 2 A schematic diagram of a double-sided jacking mechanism for a scaled model of a deep-sea mining vehicle and an experimental device for simulating deep-sea seabed geological interaction provided in an embodiment of the present application.

[0023] Figure 3 A side view of a land mud pool and a double-sided jacking mechanism provided in an embodiment of the present application.

[0024] Figure 4 A stereoscopic diagram of a land mud pool and a double-sided jacking mechanism provided in an embodiment of the present application.

[0025] Figure 5 A schematic diagram of the three-dimensional structure of a scaled model of a deep-sea mining vehicle and an experimental device for simulating deep-sea seabed geological interaction provided in an embodiment of the present application.

[0026] Figure 6 A side view of a scaled model of a deep-sea mining vehicle and an experimental device for simulating deep-sea seabed geological interaction provided in an embodiment of the present application.

[0027] Figure 7 A schematic diagram of a scaled model of a deep-sea mining vehicle and a scaled robot prototype of an experimental device for simulating deep-sea seabed geological interaction provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. The "upper", "lower", "front", "back", "left", "right", etc. used in the installation position or direction of the structure or parts of the present embodiment are based on the orientation of the given drawings. They are only for the convenience of expression to distinguish the relative positions of the parts or directions, and do not represent the orientation of the device or parts of the present embodiment when used.

[0029] like Figure 1-Figure 7 As shown, an embodiment of the present invention provides an experimental device for the interaction between a scaled model of a deep-sea mining vehicle and a simulated deep-sea bottom geological structure, including a land mud pool, a double-sided jacking mechanism, a simulated deployment system, and a scaled robot prototype 3. The land mud pool includes a main mud pool 1 and a self-prepared sediment 1-1 for simulating the seabed environment loaded in the main mud pool 1, and the scaled robot prototype 3 is placed on the self-prepared sediment 1-1 to move autonomously. The main mud pool 1 can be equipped with obstacles of different shapes to simulate the robot's obstacle crossing performance test in real situations. The land mud pool of this embodiment can meet the requirements of the motion performance of the deep-sea mining vehicle under the main working conditions of the actual process of testing, such as straight navigation, obstacle crossing, and climbing. There is a multi-degree-of-freedom interaction between the deep-sea mining vehicle and the land mud pool.

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the main mud pool 1 has an inclination angle of 0 to 30 degrees. The main mud pool 1 is 10 meters long, 3 meters wide, and 1.5 meters high. The self-mixed sediment 1-1 simulating the seabed environment is loaded inside and is not less than 1 meter. It is used for the autonomous movement of the scaled prototype of the deep-sea heavy-duty operation equipment. The main mud pool 1 is made of cast iron.

[0031] The double-sided jacking mechanism includes a support 2 and two jacking assemblies located on one side of the support 2. The two jacking assemblies are driven by servo motors. The bottom of one end of the main mud pool 1 is connected to one end of the support 1 through a rotating shaft, and the two sides of the other end of the main mud pool 1 are connected to the two jacking assemblies. The function of the jacking assembly is to jack the main mud pool 1 to a certain angle, no more than 30°, which meets the maximum climbing angle of the existing heavy-duty equipment for underwater crawling. The jacking assembly relies on the servo motor to drive the support rod to lift the main mud pool 1 to a certain angle.

[0032] In this embodiment, two hanging ears are set on both sides of the other end of the main mud pool 1, such as the first hanging ear 1-2 and the first hanging ear 1-3. The two hanging ears are connected to the tops of the two jacking components by bolts, such as the first hanging ear 1-2 is connected to the first jacking component 2-1, and the second hanging ear 1-3 is connected to the second jacking component 2-2.

[0033] like Figure 5 and Figure 6 As shown, the simulated laying system includes a support platform 4, a winch 4-1 located on the support platform 4, a hoisting frame 4-2 and a steel cable 4-3. The steel cable 4-3 connects the scaled robot prototype 3, the hoisting frame 4-2 and the winch 4-1. The winch 4-1 is electrically driven, preferably using a servo motor and a reducer. The winch 4-1 is reduced in proportion to the actual sea trial, and the internal motor is used to drive the shaft to control the laying and recovery of the steel cable. The cable arrangement speed is adjustable.

[0034] The hanging frame 4-2 includes two vertical parts, a horizontal part connected to the top of the two vertical parts, a driving wheel arranged in the middle of the horizontal part, and a steel cable 4-3 is arranged through the driving wheel. Both the two vertical parts and the horizontal part are made of 316 stainless steel plates. The hanging frame 4-2 of this embodiment is an indispensable hanging component for the actual use of scientific research vessels. Its performance analysis in the entire heavy-duty operation equipment is necessary. The laboratory builds an adjustable angle hanging frame made of 316 material, which can simulate actual working conditions and has a certain reference for studying the traveling performance of mining vehicles.

[0035] like Figure 7 As shown, the scaled robot prototype 3 is scaled based on the existing mining vehicle model, omitting some parts and only retaining key parts such as the main frame, crawler chassis or other bottom mechanisms. The scaled robot prototype 3 preferably uses a servo motor and a reducer. Among them, the crawler chassis is the most important part of the study, and the crawler height, crawler shape, suspension mechanism, and crawler structure are all replaceable, realizing the modularization and reconfigurability of the overall structure. The designed scaled robot prototype has the function of autonomous movement, and the internal algorithm is developed by itself. It has multiple functions for studying the dynamic response and automatic control algorithm of heavy-duty equipment and soil, and has the advantages of applicability, innovation, and developability. The drive mode is dual-motor drive.

[0036] An experimental device for the interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology also includes a motion control system and a data acquisition system. The motion control system includes a complete set of control system hardware and software, and the motion control system is used to control the winch 4-1, the hoisting frame 4-2 and the scaled robot prototype 3. The data acquisition system includes data acquisition software and hardware, wherein the hardware includes a tension sensor, a torque sensor, a pressure sensor and an encoder. The tension sensor is installed on the steel cable 4-3 to measure the tension on the steel cable 4-3. The torque sensor is installed on the driving wheel of the hoisting frame 4-2, and the resistance on the scaled robot prototype 3 is calculated through the torque sensor data feedback of the driving wheel. The encoder is used to feedback the rotation speed of the motor of the winch 4-1. The pressure sensor is installed at every 10 cm layer below the surface of the self-prepared sediment 1-1 to feedback the real-time soil pressure.

[0037] Compared with the traditional deep-sea mining vehicle-deep-sea bottom sediment interaction experimental device, the present invention innovatively considers the influence of the simulated deployment system, steel cable, and hanging frame on the seabed movement process of the mining vehicle, and considers the slope at the same time, realizing the design of the climbing movement experimental device at different angles. The experimental device of the prior art does not consider the flow field effect. The experimental device of the present invention can obtain the real deep-sea mining vehicle and bottom sediment interaction research under the flow field condition. The experimental device of the present invention realizes multiple uses of one device, which is conducive to reducing costs, and comprehensively considers the common underwater movements of climbing and straight-moving, extending the application of vehicle ground mechanics in the dynamic process of deep-sea mining vehicle movement.

[0038] Although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. An experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology, characterized in that: It includes a land mud pool, a double-sided jacking mechanism, a simulated deployment system and a scaled robot prototype; the land mud pool includes a main mud pool and self-prepared sediments for simulating the seabed environment loaded in the main mud pool, and the scaled robot prototype is placed on the self-prepared sediments for autonomous movement; the double-sided jacking mechanism includes a support and two jacking components located on one side of the support, and the two jacking components are driven by servo motors, the bottom of one end of the main mud pool is connected to one end of the support through a rotating shaft, and the other end of the main mud pool is connected to the two jacking components on both sides; the simulated deployment system includes a support platform, a winch arranged on the support platform, a hoisting frame and a steel cable, and the steel cable connects the scaled robot prototype, the hoisting frame and the winch.

2. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 1, characterized in that: It also includes a motion control system and a data acquisition system. The motion control system is used to control the winch, the hoisting frame and the scaled robot prototype; the data acquisition system includes a tension sensor, a torque sensor, a pressure sensor and an encoder; the tension sensor is installed on the steel cable to measure the tension on the steel cable; the torque sensor is installed on the driving wheel of the hoisting frame, and the resistance on the scaled robot prototype is calculated through the torque sensor data feedback of the driving wheel; the encoder is used to feedback the rotation speed of the winch motor; the pressure sensor is installed at every 10 cm layer below the surface of the self-prepared sediment to feedback the real-time soil pressure situation.

3. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 1, characterized in that: Two hanging ears are arranged on both sides of the other end of the main mud pool, and the two hanging ears are connected to the top ends of the two jacking components through bolts.

4. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 1, characterized in that: The inclination angle of the main mud pool is 0-30°.

5. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 1, characterized in that: The main mud pool is 10 meters long, 3 meters wide, and 1.5 meters high, and the depth of the self-contained sediment inside is not less than 1 meter.

6. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 5, characterized in that: The main mud pool is made of cast iron.

7. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 1, characterized in that: The hanging frame comprises two vertical components, a horizontal component connected to the top of the two vertical components, and a driving wheel arranged in the middle of the horizontal component, and the steel cable is arranged through the driving wheel.

8. The experimental device for interaction between a scaled model of a deep-sea mining vehicle and simulated deep-sea seabed geology according to claim 7, characterized in that: The two vertical components and the horizontal component are made of 316 stainless steel plates.

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