Track shoe-deep sea substrate multi-degree-of-freedom interaction experimental device

Abstract

The invention discloses a track shoe-deep sea substrate multi-degree-of-freedom interaction experimental device which comprises a simulation soil tank, a vertical rod, a vertical sliding block, a telescopic module, a vertical module, a pressure sensor and a track shoe. The simulation soil tank is of a cylindrical structure, the simulation soil tank is filled with a simulation substrate formed by mixing bentonite and water, the upper layer of the simulation substrate is fluid, and an underwater environment is simulated; the simulation soil tank is of a cylindrical structure, the simulation soil tank is filled with a simulation substrate formed by mixing bentonite and water, the upper layer of the simulation substrate is fluid, and an underwater environment is simulated; the side surface of the vertical rod has a slide rail function, and the vertical module can move up and down through the slide rail surface, so that flexible contact with a soil interface of a simulated substrate is facilitated; the telescopic module can relatively rotate around the vertical rod to realize different radius lengths, so that the interaction between the track shoe with different rotating radiuses and the simulated substrate is realized, and meanwhile, the direct shear motion can be realized; the vertical module can move up and down in the hole of the telescopic module to simulate the pressing movement of the track shoe.

Description

Technical Field

[0001] The invention belongs to the technical field of deep-sea mining vehicle equipment, and in particular relates to a track plate-deep-sea bottom geological multi-degree-of-freedom interaction experimental device. Background Art

[0002] Track shoes are an important component of deep-sea mining vehicles. In the study of the interaction between deep-sea polymetallic nodule mining vehicles and the soft and sparse seabed substrate, most of the research effects are divided into two working conditions: shear and depression, which correspond to the movement and sinking of the mining vehicle, respectively, and belong to the interaction category of traditional vehicle ground mechanics. When the mining vehicle is moving, in addition to moving and sinking, the track shoes and the mining vehicle will turn closely. Turning is also one of the important motion conditions of deep-sea mining vehicles. Therefore, rotation is also an important part of the interaction between the traveling mechanism and the seabed substrate.

[0003] Due to the completely different physical and mechanical properties of the soft seabed and the terrestrial soil, it is necessary to conduct research on the rotational motion of the track plate on the seabed. At present, most of the studies on the interaction between the track plate and the deep seabed sediment use simplified simulation experiments. Some devices use simple mechanical structures to drive the track plate to move horizontally and vertically in a laboratory shallow water environment, observe its interaction with the simulated bottom, and measure related mechanical parameters to obtain the shear stress-shear displacement and pressure-sinking interaction models between the track plate and the soil. However, most of these tests are limited to the linear motion of the track plate, and there is no experimental analysis of the dynamic response of the track plate in rotational motion. Summary of the invention

[0004] The embodiment of the present invention provides a track plate-deep seabed multi-degree-of-freedom interaction experimental device, which can solve the problems existing in the prior art: (1) The simulated environment is not realistic: the deep seabed geological environment has high pressure, low temperature, darkness and complex sediment characteristics (such as different particle composition, pore water content, etc.). It is difficult for the existing experimental device to fully simulate these conditions, resulting in a large deviation between the experimental results and the actual deep sea conditions, and it is impossible to accurately reflect the real working state of the track plate in the deep seabed sediment. It is urgent to develop a simulated sediment configuration method that is similar to the physical and mechanical properties of the real environment. (2) Lack of rotational motion simulation: the existing device can only realize the linear motion simulation of the track plate, while in deep-sea operations, the rotational motion of the track plate is crucial for passing through complex terrain and adjusting the operation direction. The lack of simulation of rotational motion makes it impossible to deeply understand the interaction mechanism between the track plate and the deep seabed sediment under rotational conditions. (3) Incomplete measurement parameters: in the deep seabed geological environment, the interaction between the track plate and the sediment will produce a variety of complex mechanical responses, such as dynamic shear force, liquefaction trend of the sediment, etc. Existing technologies make it difficult to measure these key parameters comprehensively and accurately, which limits the in-depth analysis of the interaction process.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] The embodiment of the present invention provides a track shoe-deep seabed multi-degree-of-freedom interaction experimental device, comprising a simulated soil trough (1), a vertical rod (2), a vertical slider (3), a telescopic module (4), a vertical module (5), a pressure sensor (6) and a track shoe (7); the simulated soil trough (1) is a cylindrical structure, the simulated soil trough (1) is filled with a simulated bottom substance (1-1) mixed with bentonite and water, the upper layer of the simulated bottom substance (1-1) is a fluid, simulating an underwater environment; the vertical rod (2) is fixed at the center of the simulated soil trough (1), the vertical slider (3) is sleeved on the vertical rod (2), and can rotate around the vertical rod (2); the side of the vertical slider (3) is connected to one end of the telescopic module (4), the other end of the telescopic module (4) is connected to the vertical module (5), and the bottom of the vertical module (5) is connected to the track shoe (7) through the pressure sensor (6).

[0007] In an optional embodiment of the present invention, the track shoe (7) is provided with a plurality of rows of protruding teeth in an array on the side facing the simulated bottom material.

[0008] In an optional embodiment of the present invention, the vertical module (5) is connected to the opening at the other end of the telescopic module (4) to achieve up and down movement, simulating the depression movement of the track shoe (7).

[0009] In an optional embodiment of the present invention, a slide rail is provided on the side of the vertical rod (2), and the vertical slider (3) can move up and down along the slide rail.

[0010] In an optional embodiment of the present invention, the vertical sliding block (3) is a bearing component.

[0011] In an optional embodiment of the present invention, the outer shell material of the simulated soil trough (1) is acrylic polymer material.

[0012] In an optional embodiment of the present invention, the side surface of the vertical slider (3) is welded to one end of the telescopic module (4).

[0013] In an optional embodiment of the present invention, the vertical sliding block (3) is a circular rod.

[0014] Compared with the prior art, the embodiment of the present invention provides a track shoe-deep seabed multi-degree-of-freedom interaction experimental device, which has the following beneficial effects:

[0015] (1) The present invention promotes the development of deep-sea operation technology: accurately grasping the mechanism of rotational interaction between the track plate and the deep-sea seabed subsurface 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.

[0016] (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.

[0017] (3) The present invention fills the research gap of this type of experimental device: it improves the research on the rotational interaction between the track plate and the deep seabed seismicity, fills the gap in the research of 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

[0018] 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.

[0019] Figure 1 A schematic structural diagram of a track plate-deep seabed multi-degree-of-freedom interaction experimental device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] 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.

[0021] like Figure 1As shown, an embodiment of the present invention provides a track shoe-deep seabed multi-degree-of-freedom interaction experimental device, comprising a simulated soil trough 1, a vertical rod 2, a vertical slider 3, a telescopic module 4, a vertical module 5, a pressure sensor 6 and a track shoe 7; the simulated soil trough 1 is a cylindrical structure, and the simulated soil trough 1 is filled with a simulated bottom 1-1 mixed with bentonite and water, and the upper layer of the simulated bottom 1-1 is a fluid to simulate the underwater environment; the vertical rod 2 is fixed at the center of the simulated soil trough 1, and the vertical slider 3 is sleeved on the vertical rod 2 and can rotate around the vertical rod 2; the side of the vertical slider 3 is connected to one end of the telescopic module 4, and the other end of the telescopic module 4 is connected to the vertical module 5, and the bottom of the vertical module 5 is connected to the track shoe 7 through the pressure sensor 6. Among them, the track shoe 7 is arrayed with multiple rows of convex teeth on the side facing the simulated bottom. The vertical module 5 is connected to the opening at the other end of the telescopic module 4 to achieve up and down movement and simulate the depression movement of the track shoe 7.

[0022] Preferably, a slide rail is provided on the side of the vertical rod 2, and the vertical slider 3 can move up and down along the slide rail. The vertical slider 3 is a bearing component. The shell material of the simulated soil trough 1 is an acrylic polymer material. The side of the vertical slider 3 is welded to one end of the telescopic module 4. The vertical slider 3 is a round rod.

[0023] As described above, the experimental device is used to study the interaction between the track shoe and the simulated bottom. The side of the vertical rod 2 has a slide rail function, and the vertical module 3 can move up and down through the slide rail surface, which is convenient for flexible contact with the soil interface of the simulated bottom 1-1. The telescopic module 4 can rotate relative to the vertical rod 2 to achieve different radius lengths, thereby realizing the interaction between the track shoe 7 with different rotation radii and the simulated bottom, and can also realize direct shear motion. The vertical module 5 can open a hole in the telescopic module 4 to realize up and down movement, simulating the depression movement of the track shoe 7.

[0024] Compared with the traditional single straight shear or depression movement, the present invention innovatively designs an experimental device for the interaction between track shoes and substrate under multi-degree-of-freedom conditions, which can achieve multiple uses of one device. The existing experimental device does not consider the flow field effect. The experimental device of the present invention can obtain the real track shoe and substrate interaction research under flow field conditions. Compared with designing multiple experimental devices, the experimental device of the present invention can achieve multiple uses, which is conducive to reducing costs, and takes into account the common track shoe movement with rotational freedom, extending the application of vehicle ground mechanics in deep-sea mining vehicles.

[0025] 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. A track plate-deep seabed multi-degree-of-freedom interaction experimental device, characterized in that: The invention comprises a simulated soil trough (1), a vertical rod (2), a vertical slider (3), a telescopic module (4), a vertical module (5), a pressure sensor (6) and a track shoe (7); the simulated soil trough (1) is a cylindrical structure, the simulated soil trough (1) is filled with a simulated bottom material (1-1) mixed with bentonite and water, the upper layer of the simulated bottom material (1-1) is a fluid, simulating an underwater environment; the vertical rod (2) is fixed at the center of the simulated soil trough (1), the vertical slider (3) is sleeved on the vertical rod (2), and can rotate around the vertical rod (2); the side of the vertical slider (3) is connected to one end of the telescopic module (4), the other end of the telescopic module (4) is connected to the vertical module (5), and the bottom of the vertical module (5) is connected to the track shoe (7) through the pressure sensor (6).

2. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: The track shoe (7) is provided with a plurality of rows of convex teeth in an array on the side facing the simulated bottom material.

3. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: The vertical module (5) is connected to the opening at the other end of the telescopic module (4) to achieve up and down movement, simulating the depression movement of the track shoe (7).

4. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: A slide rail is arranged on the side of the vertical rod (2), and the vertical sliding block (3) can move up and down along the slide rail.

5. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: The vertical sliding block (3) is a bearing component.

6. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: The outer shell material of the simulated soil trough (1) is acrylic polymer material.

7. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: The side surface of the vertical sliding block (3) is welded to one end of the telescopic module (4).

8. The track plate-deep seabed multi-degree-of-freedom interaction experimental device according to claim 1, characterized in that: The vertical sliding block (3) is a circular rod.

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