Deep-sea mining vehicle multi-tooth shearing experiment device and experiment method thereof

Abstract

The invention provides a deep-sea mining vehicle multi-tooth shearing experiment device and an experiment method, belongs to the field of mechanical loading devices, and can simulate complex pressure distribution of a crawler under different front and back counter weights and different thrust wheel distribution by independently controlling the loading condition of a single crawler tooth. The test pool can configure a simulated substrate according to the real terrain of the deep sea, the distribution characteristic of the shear strength and the multi-metal combination abundance, and the shear failure characteristic of the multi-track tooth-substrate can be recorded in real time by a high-speed camera, so that the combined shearing of the multi-track tooth under the condition of complex pressure distribution is realized; the problems that the loading condition is single and the shear failure characteristic is difficult to observe are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea mining design. Specifically, it particularly relates to a multi - tooth shearing experimental device for a deep - sea mining vehicle and an experimental method thereof. Background Technique

[0002] The traction force of a deep - sea mining vehicle is mainly generated by the shearing of the track teeth in the deep sea. The ground pressure distribution of the crawler is one of the key factors affecting the shearing characteristics of the track teeth. Affected by the counterweight distribution of the crawler vehicle, the distribution characteristics of the idler wheels, and the tension degree of the crawler, the ground pressure distribution is not uniform. The deep - sea terrain and the distribution of shear strength also have a certain degree of complexity. Therefore, the real ground pressure distribution conditions of the deep - sea mining vehicle's crawler are very complex. At the same time, the mechanical properties and failure characteristics of the track teeth shearing the bottom sediment are difficult to directly observe, and a special test bench needs to be constructed to carry out relevant tests. Summary of the Invention

[0003] In view of the above problems, the present invention discloses a multi - tooth shearing experimental device for a deep - sea mining vehicle that simulates complex pressure distribution. By independently controlling the loading conditions of a single track tooth, it can simulate the complex pressure distribution of a crawler vehicle under different front - rear counterweights and different idler wheel distributions. The test pool can configure the simulated bottom sediment according to the real deep - sea terrain, the distribution characteristics of shear strength, and the polymetallic combination abundance. The multi - tooth - bottom sediment shear failure characteristics can be recorded in real time by a high - speed camera, realizing the combined shearing of multiple track teeth under complex pressure distribution conditions, and solving the problems of single loading conditions and difficult observation of shear failure characteristics.

[0004] The technical means adopted by the present invention are as follows:

[0005] A multi - tooth shearing experimental device for a deep - sea mining vehicle, comprising:

[0006] A soil box, having a mechanical frame, a transparent observation window provided on the front, and a guide rail installed on the top of the frame; the bottom sediment simulating the deep - sea bottom sediment is placed inside the soil box; a shearing module, including a cross - beam transversely arranged on the guide rail, a shearing servo - motor for driving the longitudinal movement of the cross - beam, a slider for supporting the cross - beam, and an oil pump of the lubrication system; a depression module, including a fixed seat bolted below the cross - beam, a plurality of depression servo - motors uniformly distributed below the fixed seat, a push rod connecting each motor, a sleeve sleeved on the push rod, and a track tooth connected to the bottom end of the push rod; a monitoring module, including a tri - axial force sensor arranged between the push rod and the track tooth, a high - speed camera aligned with the transparent observation window, and a computer connecting each sensor.

[0007] The above technical solution provides an overall experimental device architecture to simulate the complex pressure distribution of the crawler of a deep-sea mining vehicle under actual working conditions and to achieve the research on the shear characteristics of multiple crawler teeth; through the coordinated action of the soil box, the shear module, the indentation module and the monitoring module, the ballasting and shear movements of each crawler tooth can be independently controlled to simulate different ground pressure conditions; the transparent observation window and the high-speed camera are used to visually record the process of bottom sediment shear failure, improving the accuracy of experimental data.

[0008] Furthermore,

[0009] The fixed seat adopts a double-layer structure. The upper layer fixes the cross beam through bolts, and the lower layer is evenly provided with hole positions for installing indentation servo motors; the output shafts of the indentation servo motors are vertically downward and connected to push rods. After passing through the sleeves coated with lubricating oil, the ends of the push rods are sequentially connected to triaxial force sensors and crawler teeth.

[0010] The above technical solution optimizes the structure of the fixed seat to make it adapt to the independent loading requirements of multiple crawler teeth and provides stable support; the double-layer structure enables the cross beam to pass through and be fixed, and the hole positions in the lower layer are convenient for installing multiple indentation servo motors to ensure that the pressure of each crawler tooth is independently adjustable; the cooperation between the push rod and the sleeve enhances the stability in the vertical loading direction and reduces the influence of lateral offset on experimental data.

[0011] Furthermore,

[0012] The two ends of the push rod are provided with flange structures matching the connection hole positions of the triaxial force sensor; the upper end of the sleeve is fixed to the bottom of the fixed seat and forms a sliding pair with the push rod.

[0013] The above technical solution ensures reliable connection between the push rod and the triaxial force sensor, improves the monitoring accuracy of the force value, the flange structure optimizes the force transmission path, reduces friction interference, and makes the data of the triaxial force sensor more accurate; the standardized opening design matching the sensor is convenient for maintenance and replacement, improving the maintainability of the device.

[0014] Furthermore,

[0015] The shear servo motor meshes with the outside of the guide rail through a gear; the sliders arranged below both sides of the cross beam are in sliding contact with the upper surface of the guide rail.

[0016] The above technical solution optimizes the power transmission mode of the lateral shear movement; the gear directly drives the guide rail to ensure the control accuracy of the shear displacement; the cooperation between the slider and the oil-coated guide rail ensures the smoothness of the experimental process and reduces errors.

[0017] Furthermore,

[0018] The bottom sediment is sodium-based bentonite configured plastically or directly uses deep-sea in-situ bottom sediment; slopes can be set on the surface of the bottom sediment or polymetallic nodules can be arranged to simulate the real seabed. This enables the bottom sediment to simulate the real deep-sea environment, including uneven terrain and the distribution of polymetallic nodules.

[0019] Furthermore,

[0020] The computer receives the data of the triaxial force sensor in real time and independently controls the output pressure of each indentation servo motor; the images of the seabed destruction recorded by the high-speed camera are stored synchronously with the mechanical data. The computer realizes independent control of each tooth of the track shoe and synchronously collects data.

[0021] Furthermore,

[0022] The tooth of the track shoe is a detachable structure and can be replaced with track shoe plates of different shapes and sizes. The adaptability of the tooth of the track shoe is improved, and various shape experiments are supported.

[0023] A multi-tooth shear experiment method for a deep-sea mining vehicle simulating a complex pressure distribution includes the following steps:

[0024] Step 1: Lay the seabed with a target strength in the soil box and level the surface;

[0025] Step 2: Connect the triaxial force sensor, the shear servo motor and the indentation servo motor to the computer through signal lines, input the pressure distribution characteristics and the shear rate in the computer, and zero the reading of the triaxial force sensor 51;

[0026] Step 3: Start loading. The computer records the readings of the triaxial force sensor in real time, calculates the shear stress generated by the tooth of the track shoe, and uses the high-speed camera to record the destruction process of the seabed in real time;

[0027] Step 4: After the shearing is completed, drive the shear module and the indentation module to return to their original positions, remove the damaged seabed on the surface layer, and repeat Step 1;

[0028] Step 5: Analyze the influence of different ground pressure distributions on the shear performance of the tooth of the track shoe according to the shear stress characteristics and the seabed destruction characteristics of the test results.

[0029] Furthermore,

[0030] The calculation formula for the shear stress of the tooth of the track shoe in Step 3 is τ i = F i / (L(b + 2h)), where F is the shear force generated by the tooth of the track shoe, L is the tooth pitch, b is the tooth width, h is the tooth height, and the total shear stress generated by the tooth group is τ = τ1 + τ2 + … + τ5, and i = 1, 2... n represents the i-th tooth of the track shoe. [[ID=,40]]

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] 1. By inputting the load-time relationship of each track shoe plate in the computer program, the indentation module can perform independent servo control on a single tooth of the track shoe, and truly simulate the complex pressure distribution of the tracked vehicle under different front and rear counterweights and different distributions of idler wheels.

[0033] 2. The front of the test pool uses fiberglass as the soil box wall, and the entire failure process of the tooth shear on the bottom sediment is recorded in real time through a high-speed camera set on the front of the soil box, realizing the visualization of the entire failure process.

[0034] 3. The teeth on the shear module are all detachable, and the conventional teeth can be replaced with tooth plates of different shapes, such as intermittent type, inclined type, etc., for studying the influence of tooth shape on the shear characteristics of the teeth.

[0035] 4. The bottom sediment can be set with terrain conditions such as slope according to the real seabed topography, or nodules can be laid according to the metal nodule coverage abundance in the mining area, for studying the influence of terrain and nodule abundance on the tooth shear effect. Brief Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 Schematic diagram of the overall structure of a multi-tooth shear experimental device for a deep-sea mining vehicle simulating complex pressure distribution of the present invention;

[0038] Figure 2 Schematic diagram of the structures of the shear system and the indentation system;

[0039] Figure 3 Schematic diagram of the indentation servo motor assembly;

[0040] Figure 4 Schematic diagram of the triaxial force sensor assembly.

[0041] In the figure: 1. Soil box; 11. Mechanical frame; 12. Transparent observation window; 13. Guide rail; 2. Bottom sediment; 3. Shear module; 31. Shear servo motor; 32. Cross beam; 33. Slide block; 34. Oil pump; 35. Gear; 4. Indentation module; 41. Base; 42. Indentation servo motor; 43. Push rod; 44. Sleeve; 45. Tooth plate; 5. Monitoring module; 51. Triaxial force sensor; 52. High-speed camera; 53. Computer. Detailed Embodiment

[0042] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with the embodiments to detail the present invention.

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. The description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0045] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the description. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0046] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the scope of protection of the present invention. The orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0047] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations during use or operation in addition to the orientation described in the figure for the device. For example, if the device in the attached drawing is inverted, a device described as "above or over other devices or structures" will then be positioned as "below or under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned or rotated in other different ways, such as by 90 degrees or in other orientations, and corresponding interpretations should be made for the spatial relative descriptions used here.

[0048] In addition, it should be noted that the use of terms such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present invention.

[0049] Embodiment 1

[0050] As Figures 1 to 4 shown, the present invention provides a multi-tooth shearing experimental device for a deep-sea mining vehicle, comprising: a soil box 1, a bottom sediment 2, a shearing module 3, a penetration module 4, and a monitoring module 5.

[0051] The soil box 1 includes a mechanical frame 11, a transparent observation window 12, and guide rails 13. The transparent observation window 12 is located on the front of the device, and the guide rails 13 are installed on the top of the mechanical frame 11 of the device.

[0052] The bottom sediment 2 is placed into the soil box 1. In order to simulate the physical and mechanical properties of deep-sea bottom sediment, the bottom sediment 2 is configured by selecting sodium-based bentonite with a specific particle size at a specific water content. The level of the water content of the bentonite varies according to the strength of the deep-sea bottom sediment, or deep-sea in-situ bottom sediment can be directly used.

[0053] The shearing module 3 includes a shearing servo motor 31, a cross beam 32, sliders 33, an oil pump 34, and gears 35. The shearing servo motor 31 is arranged on both sides of the cross beam 32 and is connected to the outside of the guide rails 13 through the gears 35 for controlling the longitudinal movement of the cross beam 32. The sliders 33 are fixed below both sides of the cross beam 31 and are in contact with the upper surface of the guide rails 13 for supporting the cross beam. The oil pump 34 is located above the sliders 33 and lubricates the contact surface between the sliders 33 and the guide rails 13 through pipelines.

[0054] The indentation module 4 includes a fixed seat 41, an indentation servo motor 42, a push rod 43, a sleeve 44, and a tread tooth 45. The upper part of the fixed seat 41 is fixed below the cross beam 32 by bolts. The indentation servo motors 42 are evenly distributed at the lower part of the fixed seat 41 and correspond to the preset hole positions on the fixed seat 41. A push rod 43, a three-axis force sensor 51, and a tread tooth 45 are sequentially connected below the indentation servo motor 42 and are all fixed by bolts. The push rod 43 passes through the sleeve 44, and lubricating oil is applied inside the sleeve. The sleeve 44 is fixed below the hole position at the lower part of the fixed seat 41. A three-axis force sensor 51 is provided at the lower part of the push rod 43 for monitoring the axial force and shear force generated by the tread tooth 45. The tread tooth 45 is connected below the three-axis force sensor 51 and directly contacts the bottom substrate.

[0055] The monitoring and control module 5 includes a three-axis force sensor 51, a high-speed camera 52, and a computer 53. The upper part of the three-axis force sensor 51 is connected to the push rod 43, and the lower part is connected to the tread tooth 45. The high-speed camera 52 is located in front of the soil box 1 for recording the state of bottom substrate damage presented on one side of the transparent observation window 12. The computer 53 is respectively connected to the three-axis force sensor 51, the shear servo motor 31, and the indentation servo motor 42.

[0056] The bottom substrate 2 can be designed according to the real seabed topography for the slope of the bottom substrate and the abundance of polymetallic nodules.

[0057] The fixed seat 41 consists of two layers of structures, with the upper part being small and the lower part being long. The cross beam 32 passes through the middle of it. The upper part of the fixed seat 41 is fixed to the cross beam by bolts, and the lower part is evenly opened with holes as the installation hole positions for the indentation servo motors.

[0058] The upper and lower parts of the push rod 43 have square integral flanges. For the convenience of connecting with the sensor 51, the hole positions are opened according to the structure of the three-axis force sensor 51.

[0059] The monitoring module 5 monitors the pressure received by each tread tooth 45 and the generated shear force through the sensor 51 and transmits them back to the computer 53 in real time. The computer 53 controls the shear module 3 and the indentation module 4 to complete shear rate servo and pressure servo according to the set shear rate and pressure distribution conditions and records the data collected by the sensor 51.

[0060] A multi-tooth shear experiment method for a deep-sea mining vehicle simulating complex pressure distribution, applying a multi-tooth shear experiment device for a deep-sea mining vehicle, the specific steps include:

[0061] Step 1: Determine the water content according to the target bottom substrate strength and then configure the bottom substrate 2, or the deep-sea in-situ bottom substrate can be selected as the bottom substrate 2. After configuration, it is placed in the soil box 1 and the surface is leveled.

[0062] Step 2: Start the computer 53, connect the triaxial force sensor 51, the shear servo motor 31, and the indentation servo motor 42 through signal lines. Input the pressure distribution characteristics and the shear rate into the computer 53, and zero the reading of the triaxial force sensor 51.

[0063] Step 3: Start the loading. Record the reading of the triaxial force sensor 51 in the computer 53 in real time, calculate the shear stress generated by the tooth 45 of the track shoe, and use the high-speed camera 52 to record the failure process of the substrate 2 in real time.

[0064] Step 4: After the shearing is completed, drive the shearing module 3 and the indentation module 4 to return to their original positions, remove the damaged substrate 2 on the surface layer, and repeat Step 1.

[0065] Step 5: According to the test results (shear stress characteristics and substrate failure characteristics), analyze the influence of different ground pressure distributions on the shearing performance of the tooth of the track shoe.

[0066] The calculation formula for the shear stress of the tooth 45 of the track shoe in Step 3 is τ i =F i / (L(b + 2h)), where F is the shear force generated by the tooth of the track shoe, L is the tooth pitch of the track shoe, b is the width of the tooth of the track shoe, h is the height of the tooth of the track shoe, and the total shear stress generated by the tooth group of the track shoe is τ = τ1 + τ2 + … + τ5.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-tooth shearing experimental device for a deep-sea mining vehicle, characterized in that Comprising: A soil box (1), having a mechanical frame (11), a transparent observation window (12) provided on the front, and a guide rail (13) installed on the top of the frame; a bottom material (2) simulating deep-sea bottom sediment, placed inside the soil box (1); a shearing module (3), including a cross beam (32) horizontally arranged on the guide rail (13), a shearing servo motor (31) driving the longitudinal movement of the cross beam, a slider (33) supporting the cross beam, and an oil pump (34) of the lubrication system; a indentation module (4), including a fixing seat (41) fixed under the cross beam (32) by bolts, a plurality of indentation servo motors (42) evenly distributed under the fixing seat, a push rod (43) connecting each motor, a sleeve (44) sleeving the push rod (43), and a tread tooth (45) connecting the bottom end of the push rod (43); a monitoring module (5), including a triaxial force sensor (51) arranged between the push rod (43) and the tread tooth (45), a high-speed camera (52) aligned with the transparent observation window, and a computer (53) connecting each sensor.

2. The multi-tooth shearing experimental device for a deep-sea mining vehicle according to claim 1, characterized in that The fixing seat (41) adopts a double-layer structure, the upper layer is fixed to the cross beam (32) by bolts, and the lower layer is evenly provided with holes for installing the indentation servo motors (42); the output shafts of the indentation servo motors (42) are vertically downward connected to the push rod (43), and after the push rod passes through the lubricated sleeve (44), the end is successively connected to the triaxial force sensor (51) and the tread tooth (45).

3. The multi-tooth shearing experimental device for a deep-sea mining vehicle according to claim 2, characterized in that Both ends of the push rod (43) are provided with flange structures matching the connection holes of the triaxial force sensor (51); the upper end of the sleeve (44) is fixed to the bottom of the fixing seat (41) and forms a sliding pair with the push rod (43).

4. The multi-tooth shearing experimental device for a deep-sea mining vehicle according to claim 1, characterized in that The shearing servo motor (31) meshes with the outside of the guide rail (13) through a gear (35); the sliders (33) arranged below both sides of the cross beam (32) are in sliding contact with the upper surface of the guide rail (13).

5. The multi-tooth shearing experimental device for a deep-sea mining vehicle according to claim 1, characterized in that The bottom material (2) is sodium-based bentonite with plastic configuration or directly uses deep-sea in-situ bottom sediment; the surface of the bottom material can be provided with a slope or arranged with polymetallic nodules to simulate the real seabed.

6. The multi-tooth shearing experimental device for a deep-sea mining vehicle according to claim 1, characterized in that The computer (53) receives the data of the triaxial force sensor (51) in real time and independently controls the output pressure of each indentation servo motor (42); the images of the bottom material destruction recorded by the high-speed camera (52) are synchronously stored with the mechanical data.

7. The multi-tooth shearing experimental device for a deep-sea mining vehicle according to claim 1, characterized in that The tread tooth (45) is a detachable structure and can be replaced with tread tooth plates of different shapes and sizes.

8. A multi-tooth shearing experiment method for a deep-sea mining vehicle simulating complex pressure distributions, applying the experimental device described in any one of claims 1-7, characterized in that, Including the following steps: Step 1: Lay the bottom material (2) with the target strength in the soil box (1) and level the surface; Step 2: Connect the triaxial force sensor 51, the shear servo motor 31, and the indentation servo motor 42 through signal lines by a computer (53). Input the pressure distribution characteristics and the shear rate into the computer 53, and zero the reading of the triaxial force sensor 51. Step 3: Start the loading. The computer (53) records the readings of the triaxial force sensor 51 in real time, calculates the shear stress generated by the track teeth 45, and uses a high-speed camera 52 to record the failure process of the substrate 2 in real time. Step 4: After the shearing is completed, drive the shear module 3 and the indentation module 4 to return to their original positions, remove the damaged substrate 2 on the surface layer, and repeat Step 1. Step 5: Analyze the influence of different grounding pressure distributions on the shear performance of the track teeth according to the shear stress characteristics and the substrate failure characteristics of the test results.

9. A multi-tooth shearing experiment method for a deep-sea mining vehicle simulating complex pressure distributions according to claim 8, characterized in that The shear stress calculation formula of the tread teeth 45 in the step 3 is τ i = F i / (L(b + 2h)), where F is the shear force generated by the tread teeth, L is the pitch of the tread teeth, b is the width of the tread teeth, h is the height of the tread teeth, and the total shear stress generated by the tread tooth group is τ = τ1 + τ2 +... + τ5, and i = 1, 2... n represents the i-th tread tooth.

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