Deep-sea mining vehicle integrated system based on light weight and optimization design method of deep-sea mining vehicle integrated system

Abstract

The invention discloses a light-weight-based deep-sea mining vehicle integrated system and an optimization design method thereof, and the method comprises the following steps: (1) an optimization method of a light-weight structure composition and welding process of the integrated system, and (2) a load-bearing structure light-weight and safety collaborative design method based on topological optimization. (3) a light-weight deep-sea mining vehicle high-productivity acquisition parameter optimization matching method, wherein the step (1) comprises the steps of mining vehicle integrated system component weight proportion division, material type selection, system structure composition and proportion, and a light-weight integrated system welding process; the step (2) comprises a step of solving a Pareto optimal solution set based on a topological optimization model of SIMP and an NSGA-II genetic algorithm; the step (3) comprises the steps of designing a lightweight acquisition head of a modular integrated system structure, and dividing high-productivity gradient grades of lightweight mining vehicles and corresponding acquisition parameter combinations; through the steps, a guarantee is provided for long-term stable and efficient cooperative operation of the light-weight deep-sea mining vehicle integrated system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea mining, in particular to a deep-sea mining vehicle integrated system based on light weight and an optimization design method thereof. BACKGROUND

[0002] With the continuous advancement of deep-sea resource exploration and development, deep-sea mining technology has become a research hotspot in the field of ocean engineering. The seabed is rich in strategic mineral resources such as polymetallic nodules, cobalt-rich crusts and submarine hydrothermal sulfide, which has great development potential and is of great significance to guarantee national resource security and promote the development of new material industry. As a key equipment in the deep-sea mining system, the deep-sea mining vehicle undertakes the core tasks of on-site collection, preliminary sorting, transportation and storage of minerals, and its performance directly affects the operation efficiency, resource recovery rate and environmental impact level of the mining system, and has become one of the core technical bottlenecks restricting the industrialization of deep-sea mining. The current deep-sea mining vehicle often faces extreme environmental conditions such as high pressure, low temperature, strong corrosion and complex terrain, which puts high requirements on its structural strength, motion performance, system stability and operation reliability. In actual application, the mining vehicle often works in a state of continuous high load and high frequency vibration. If the system design is not reasonable, it is easy to have problems such as high energy consumption, slow response, poor adaptability and short service life, which seriously restricts the mining efficiency and engineering economy. Therefore, it is of great significance to develop a deep-sea mining vehicle with high performance, light weight and high integration for promoting the engineering and intelligent development of deep-sea mining equipment.

[0003] The existing deep-sea mining vehicle design method has the following problems: 1. The traditional deep-sea mining vehicle generally has problems such as large structure weight, complex system coupling and insufficient operation efficiency, especially in the 6000-meter deep-sea high pressure, high corrosion and complex environmental conditions, the equipment faces more severe working environment; 2. Most of the current design methods focus on the optimization of local systems, such as transmission systems, collection systems or vehicle body structures, and lack overall optimization of the coupling relationship between the integrated system of the whole vehicle, which easily leads to performance inconsistency between systems, affecting the operation stability and mineral collection efficiency of the whole machine; 3. The traditional design lacks consideration of light weight, and the vehicle body structure is seriously redundant designed, which is not conducive to promoting the energy efficiency and deep range operation ability of the mining equipment; 4. The existing technology mainly relies on experience design in terms of material selection, function integration and structure optimization, lacks systematic multi-objective optimization method, and it is difficult to realize the coordination and unity of light weight and high productivity under the premise of ensuring the safety of the equipment. SUMMARY

[0004] The present application aims to overcome at least one of the above-mentioned defects of the prior art, and provides a lightweight-based deep-sea mining vehicle integrated system and an optimization design method thereof, which can realize lightweight design of the deep-sea mining vehicle structure and efficient collaborative integration of the operation system under the premise of meeting the requirements of the extreme seabed operation environment, so as to solve the problem that the existing deep-sea mining vehicle design method mainly focuses on parameter optimization of a single system or a local structure and lacks an integrated system collaborative optimization idea from the perspective of the whole vehicle.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is: A lightweight-based high-capacity deep-sea mining vehicle integrated system optimization design method, comprising the following steps: (1) An optimization method for lightweight structure composition and welding process of the integrated system: The material selection and structure composition design are performed for 4000-6000m deep sea, 40-60MPa water pressure, 0-5℃ low temperature, and high-salinity corrosion environment, and the lightweight deep-sea mining vehicle is mainly composed of a vehicle body frame, a walking track, a collection system, a buoyancy block, a sediment diffuser, a ore storage bin, a driving motor, and a data acquisition and processing system, and the specific steps are as follows: S1, the proportion of the deep-sea mining vehicle integrated system in the whole vehicle weight, the vehicle body frame accounts for 15%-20%, the walking track accounts for 20%-25%, the collection system accounts for 15%-20%, the buoyancy block accounts for 10%-15%, the sediment diffuser accounts for 5%-10%, the ore storage bin accounts for 10%-15%, the driving motor accounts for 8%-12%, and the data acquisition system accounts for 3%-5%; S2, the vehicle body frame is composed of a vehicle body skeleton, a connecting piece, and an outer shell, the vehicle body skeleton and the connecting piece are made of titanium alloy and account for 60%-65% of the weight of the vehicle body frame, and the outer shell is made of carbon fiber and accounts for 35%-40% of the weight of the vehicle body frame; S3, the walking track is composed of a track skeleton, a guide wheel, a driving wheel, a supporting wheel, a tensioning wheel, and a suspension system, the track skeleton is made of titanium alloy links and accounts for 30%-35% of the weight of the walking track, the guide wheel, the driving wheel, the supporting wheel, and the tensioning wheel are all made of titanium alloy hubs and carbon fiber rims, the content of titanium alloy is 9:1 of the content of carbon fiber, and together accounts for 30%-35% of the weight of the walking track, and the suspension system includes an outer cylinder and a piston rod, which are both made of titanium alloy and account for 25%-30% of the weight of the walking track; S4, the collection system comprises a fluidic wall, a high-pressure nozzle, a pickup pump, a mineral separation and conveying system, the fluidic arm adopts a titanium alloy and carbon fiber mixed structure, the amount ratio of titanium alloy to carbon fiber is 6.5~7.5:3.5~2.5, and the total amount of titanium alloy and carbon fiber accounts for 30%~35% of the weight of the collection system; the high-pressure nozzle and the pickup pump adopt titanium alloy, which accounts for 15%~25% of the weight of the collection system; the mineral separation and conveying system adopts a titanium alloy shell and a carbon fiber cover plate, the amount ratio of titanium alloy to carbon fiber is 8.5~9.5:1.5~0.5, and the total amount of titanium alloy and carbon fiber accounts for 25%~40% of the weight of the collection system; S5, the buoyancy block is made of high-performance synthetic foam material, the synthetic foam material is composed of a resin matrix and a hollow microsphere filler, the resin matrix accounts for 60%~70% of the weight of the buoyancy block, and the hollow microsphere filler accounts for 30%~40% of the weight of the buoyancy block; S6, the ore storage bin comprises a main storage bin and a detachable cabin cover, the main storage bin is made of titanium alloy, which accounts for 80%~90% of the weight of the ore storage bin, and the detachable cabin cover is made of carbon fiber, which accounts for 10%-20% of the weight of the ore storage bin; S7, the sediment diffuser comprises a shell body and a diffusion channel, and is arranged at the tail and lower part of the deep-sea mining vehicle, the shell and the diffusion channel are made of carbon fiber, the shell accounts for 40%~50% of the weight of the sediment diffuser, and the diffusion channel accounts for 50%~60% of the weight of the sediment diffuser; S8, the driving motor comprises a shell, a stator, a rotor, a bearing and a heat dissipation system, the shell, the stator and the rotor are made of titanium alloy, which accounts for 75%~85% of the weight of the driving motor, the bearing is made of carbon fiber, which accounts for 5%~10% of the weight of the driving motor, and the heat dissipation system is made of carbon fiber-epoxy resin composite material, the amount ratio of carbon fiber to epoxy resin is 6:5, and the total amount of carbon fiber and epoxy resin accounts for 10%~15% of the weight of the driving motor; S9, the welding process for the lightweight design of the deep-sea mining vehicle in the deep-sea high-pressure, low-temperature and strong corrosion environment of 4000~6000m is as follows: Material interface treatment: the surface of the titanium alloy is treated by micro-arc oxidation, the thickness of the oxidation film is controlled to be 10~30μm, the surface roughness Ra is 1.0~1.5μm, and a 0.2~0.5mm thick glass fiber transition layer is introduced between the layers of the carbon fiber composite material; Vehicle body frame: the titanium alloy skeleton and connecting piece and the carbon fiber shell composite structure assembly are combined by structural adhesive bonding and mechanical fastening, the titanium alloys are welded by tungsten electrode argon arc welding, the welding parameters are current 90~110 A, voltage 12~14 V, and speed 3~5 mm / s, the welding wire is titanium alloy wire with a diameter of 1.6~2mm, the joint form is lap joint and butt joint, the welding form is multi-layer fillet weld, and the welding size is controlled to be width 4~6 mm, thickness 3~5 mm, and weld leg size 3~5 mm; Walking track: the track skeleton is welded by electron beam welding, the welding parameters are: vacuum degree ≤1×10⁻³ Pa, beam current 20~30 mA, acceleration voltage 80~100 kV, speed 5~10 mm / s, the joint form is butt joint, the weld form is single-sided penetration weld, and the weld size is controlled to be a penetration depth of 2.5~3.5 mm, a width of 3.5~4.5 mm, and a excess height of 0.5~1.5 mm; Collecting system: the titanium alloy and carbon fiber composite structure are connected by bolt pre-tightening and structural bonding, the titanium alloy parts are welded by electron beam welding, the welding parameters, joint form and weld form are the same as those of the walking track, and the weld size of the high-pressure nozzle, pickup pump shell and conveying system is controlled to be a penetration depth of 2.5~3 mm, a width of 3~3.5 mm, and a excess height of 0.5~1.5 mm; Ore storage bin: the main storage bin titanium alloy structure is welded by tungsten argon arc welding, the welding parameters, joint form and weld form are the same as those of the walking track, the weld size is controlled to be a width of 4~6 mm, a thickness of 3~5 mm, and a weld leg size of 4~6 mm, and the detachable hatch cover carbon fiber part is connected by structural bonding and mechanical buckling; Sediment diffuser: the carbon fiber shell and diffusion channel are fixed by structural bonding and mechanical locking, the bonding process parameters are: curing temperature 120~140 ℃, pressure 0.2~0.3 MPa, and curing time 90~100 min; the glue layer thickness is controlled to be 0.2~0.5 mm; Driving motor: the titanium alloy part is welded by electron beam welding, the welding parameters, joint form and weld form are the same as those of the walking track, the weld width is 3~5 mm, the penetration depth is 2.5~4 mm, and the excess height is 0.5~1.5 mm, the bearing carbon fiber structure is connected by bonding and mechanical compression, the bonding process parameters are: curing temperature 120~140 ℃, pressure 0.2~0.3 MPa, and curing time 90~100 min; the glue layer thickness is controlled to be 0.2~0.5 mm; the carbon fiber-epoxy resin composite material of the heat dissipation system is formed by hot pressing, the curing temperature is 130~150 ℃, the pressure is 0.3~0.5 MPa, and the curing time is ≥90 min.

[0006] S10, after the material selection, structure composition and welding process are completed, the weight of the lightweight deep-sea mining vehicle in air is controlled to be 14~15 tons, the weight in water is controlled to be 7~8 tons, and the working power is controlled to be 300~400 kW; (2) A bearing structure lightweight and safety collaborative design method based on topological optimization: A multi-level lightweight design method combining topological optimization and system material configuration is used to perform integrated optimization design of the bearing structure of the deep-sea mining vehicle in a redundant minimization and safety collaboration manner, and the specific steps are as follows: S11, taking titanium alloy, carbon fiber composite material and their hybrid structure as the optimization design object, a three-dimensional topology optimization model based on solid isotropic material with penalization (SIMP) is constructed, and the optimization objective is to minimize the structure mass, and the performance parameter range of the optimized vehicle structure composition is: material density 1.6-5 g / cm³, elastic modulus 40-120 GPa, yield strength 300-1000 MPa, and weld fatigue limit 200-300 MPa; S12, the multiple design constraints of the optimized structure to ensure the manufacturing feasibility and dynamic stability requirements: including maximum displacement limit: 0.5-1 mm for load-bearing joint nodes and connecting components, 2-3 mm for non-load-bearing frames, equivalent stress limit: ≤60% of the material yield strength, minimum wall thickness constraint: 3-6 mm, structure minimum feature size limit: 10-50 mm, topology volume fraction constraint: 0.6-0.8, and structure natural frequency ≥30 Hz; S13, taking structure fatigue life: ≥5×10 5 <50 μm per year, and design life cycle: ≥10 years as safety evaluation indexes, and taking the air weight of 14-15 tons and the underwater weight of 7-8 tons of the deep-sea mining vehicle as the target to meet the safety evaluation indexes at the same time; S14, using non-dominated sorting genetic algorithm II (NSGA-II) for solution, and through population evolution in the design space, the mining vehicle weight (target value 14-15 tons), maximum displacement (0.5-3 mm), equivalent stress (≤60% of the yield strength), fatigue life (≥5×10 5 <50 μm per year, and the safety factor of the main frame (structure bearing capacity / structure bearing load) >1.5 are gradually screened out to obtain the Pareto optimal solution set which is mutually balanced and not inferior to each other among the targets; S15, based on the optimization results, geometric reconstruction and detail design optimization are carried out, the welding process parameters and sealing requirements of the selected materials are combined, and the welds, structure layout and connection forms are adjusted to form the final structure scheme with manufacturing constraint feasibility; (3) High-capacity collection parameter optimization matching method for lightweight deep-sea mining vehicle: S16, the collection head of the deep-sea mining vehicle is divided into double-row jet collection head and conical jet collection head, both of which are designed to be lightweight using the materials described in S4 in (1); S17, both types of collection heads adopt modular integrated system structure design, and the functional modules include data information processing system, collection head attitude adjustment system, automatic adsorption system, nodule collection system, and jet system; S18, the design parameters of the lightweight high-capacity double-row jet flow collection head include jet flow speed, jet flow angle, jet flow target distance, nozzle distance from the seabed, and travel speed; the design parameters of the lightweight high-capacity conical jet flow collection include jet flow speed, jet flow angle, wall-attached plate curvature radius, wall-attached plate distance from the seabed, nozzle distance from the seabed, and travel speed; S19, gradient division high-capacity levels: high-capacity I > 90 t / h, high-capacity II > 120 t / h, high-capacity III > 150 t / h; S20, according to the high-capacity level, the double-row jet flow collection parameter combination is as follows: High-capacity I > 90 t / h: jet flow speed 7~9 m / s, jet flow angle 45~55°, jet flow target distance 185~195 mm, nozzle distance from the seabed 55~65 mm, and travel speed 0.2~0.3 m / s; High-capacity II > 120 t / h: jet flow speed 8~10 m / s, jet flow angle 50~55°, jet flow target distance 195~205 mm, nozzle distance from the seabed 45~55 mm, and travel speed 0.3~0.4 m / s; High-capacity III > 150 t / h: jet flow speed 10~12 m / s, jet flow angle 55~60°, jet flow target distance 200~210 mm, nozzle distance from the seabed 40~50 mm, and travel speed 0.4~0.5 m / s; S21, according to the high-capacity level, the conical jet flow collection parameter combination is as follows: High-capacity I > 90 t / h: jet flow speed 7~9 m / s, jet flow angle 35~45°, wall-attached plate curvature radius 100~120 mm, wall-attached plate distance from the seabed 55~65 mm, and travel speed 0.2~0.3 m / s; High-capacity II > 120 t / h: jet flow speed 9~11 m / s, jet flow angle 45~55°, wall-attached plate curvature radius 200~220 mm, wall-attached plate distance from the seabed 45~55 mm, and travel speed 0.3~0.4 m / s; High-capacity III > 150 t / h: jet flow speed 10~12 m / s, jet flow angle 55~65°, wall-attached plate curvature radius 300~320 mm, wall-attached plate distance from the seabed 40~50 mm, and travel speed 0.4~0.5 m / s.

[0007] The data information system includes a pressure sensor, a water inlet sensor, a temperature sensor, a distance sensor, and a special environment sensor.

[0008] The titanium alloy model is TC4, and the material composition is Ti-6Al-4V; the carbon fiber model is T800 level, and the epoxy resin model is LY1564.

[0009] The transportation system comprises a conveying pipeline, which is a carbon fiber and epoxy resin composite pipe, the ratio of the amount of carbon fiber to epoxy resin is 3-5:7-5, and the inner diameter of the conveying pipeline is 150-200 mm.

[0010] The walking track is two, symmetrically arranged on both sides of the deep-sea mining vehicle, each walking track is 2 m wide and 6 m long.

[0011] The collection head is four, 1 m wide, and the total collection width is 4 m.

[0012] The resin matrix can be selected from epoxy resin, phenolic resin or polyurethane resin, and the hollow microspheres include hollow glass microspheres and ceramic microspheres.

[0013] The peak power of the driving motor in the running state is 500 kW.

[0014] The parameter combination of the collection head is the parameter combination when the deep-sea mining vehicle travels at a speed of 0.5 m / s or less.

[0015] The ultrasonic phased array detection can distinguish cracks, pores, slag inclusions or incomplete fusion defects with a diameter or length greater than or equal to 0.5 mm in the weld.

[0016] Compared with the prior art, the beneficial effects of the present application are: (1) The present application introduces TC4 titanium alloy, T800 grade carbon fiber and hydrolysis-resistant epoxy resin and other high-performance materials, optimizes the material selection and quality distribution reconstruction of the vehicle body frame, walking track, collection mechanism, buoyancy module, sediment diffuser, ore storage bin, power system and monitoring system and other subsystems, significantly reduces the overall vehicle structure mass while ensuring the material strength and corrosion resistance of the key parts, realizes the lightweight design of the multi-system integration, reduces the overall vehicle weight, and controls the weight of the deep-sea mining vehicle in the air to be within 14-15 tons and in the water to be within 7-8 tons, and the working power is controlled to be 300-400 kW, which provides a basic guarantee for the long-term stable and efficient operation of the mining vehicle in the 4000-6000 m deep sea, high pressure and high corrosion environment.

[0017] (2) The present application proposes a welding and adhesive-mechanical fastening composite connection process based on the lightweight demand for the problem of multi-connection of various materials in the lightweight multi-system structure combination of the deep-sea mining vehicle, which significantly improves the joint strength and fatigue durability of the connection parts of different materials, avoids excessive weight increase and structural stress concentration caused by traditional welding, realizes high reliability connection under the lightweight structure system, and provides a guarantee for the vehicle weight control and deep-sea service life improvement.

[0018] (3) Based on the topological optimization method, the main bearing frame and the key connecting node are topologically lightened under the constraints of displacement, stress and characteristic size, while the safety factor (>1.5) and fatigue life of the overall structure under extreme working conditions are improved to the maximum extent.

[0019] (4) The application systematically optimizes the collection parameter combination, including jet velocity, jet angle, jet target distance, wall plate curvature radius, wall plate to seabed distance, nozzle to seabed distance and travel speed, forms a hierarchical gradient high-capacity parameter matching scheme, realizes the organic combination of collection efficiency and equipment lightening, ensures that the mining vehicle can maximize the mining vehicle capacity while ensuring the structural strength and operation stability under different capacity levels, and improves the operation efficiency and economic benefit of deep sea mining equipment. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The total flow chart of the multi-system optimization design method of the lightened high-capacity deep sea mining vehicle is shown in the figure. Figure 2 The optimization method flow chart of the multi-system lightened structure composition and welding process is shown in the figure. Figure 3 The bearing structure lightening and safety collaborative design method flow chart based on topological optimization is shown in the figure. Figure 4 The high-capacity collection parameter optimization matching method flow chart of the lightened deep sea mining vehicle is shown in the figure. DETAILED DESCRIPTION

[0021] The drawings in the embodiments describe the technical solutions in the embodiments of the application in more detail. In the drawings, the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are part of the embodiments of the application, not all. The embodiments described below by referring to the drawings are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application. The embodiments of the application are described in detail below with reference to the drawings.

[0022] It should be noted that if the directionality indication (such as up, down, left, right, front, back, etc.) is involved in the embodiments of the present application, the directionality indication is only used to explain the relative position relationship, motion condition, etc. between the components in a certain posture (as shown in the drawings), if the certain posture changes, the directionality indication also changes accordingly.

[0023] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0024] Embodiment 1

[0025] The embodiment provides a lightweight-based high-capacity deep-sea mining vehicle integrated system optimization design method, which comprises the following steps: (1) The optimization method of the lightweight structure composition and the welding process of the integrated system, the specific steps are as follows: S1, the proportion of the deep-sea mining vehicle integrated system in the whole vehicle weight, the vehicle body frame accounts for 15%, the walking track accounts for 20%, the collection system accounts for 18%, the buoyancy block accounts for 12%, the sediment diffuser accounts for 8%, the ore storage bin accounts for 13%, the driving motor accounts for 10%, and the data acquisition system accounts for 4%; S2, the vehicle body frame is composed of a vehicle body skeleton, a connecting piece and an outer shell, the vehicle body skeleton and the connecting piece are made of titanium alloy, accounting for 65% of the weight of the vehicle body frame, and the outer shell is made of carbon fiber, accounting for 35% of the weight of the vehicle body frame; S3, the walking track is composed of a track skeleton, a guide wheel, a driving wheel, a supporting wheel, a tensioning wheel and a suspension system, the track skeleton is made of titanium alloy link, accounting for 35% of the weight of the walking track, the guide wheel, the driving wheel, the supporting wheel and the tensioning wheel are all made of titanium alloy hub and carbon fiber rim, the content ratio of titanium alloy to carbon fiber is 9:1, and the total content accounts for 35% of the weight of the walking track, the suspension system includes an outer cylinder and a piston rod, and both are made of titanium alloy, accounting for 30% of the weight of the walking track; S4, the collection system includes a jet wall, a high-pressure nozzle, a pickup pump and a mineral separation and conveying system, the jet arm is made of a titanium alloy and carbon fiber mixed structure, the dosage ratio of titanium alloy to carbon fiber is 7:3, and the total content accounts for 35% of the weight of the collection system, the high-pressure nozzle and the pickup pump are made of titanium alloy, accounting for 25% of the weight of the collection system, and the mineral separation and conveying system is made of a titanium alloy outer shell and a carbon fiber cover plate, the dosage ratio of titanium alloy to carbon fiber is 9:1, and the total content accounts for 40% of the weight of the collection system; S5, the buoyancy block is made of high-performance synthetic foam material, the synthetic foam material is composed of a resin matrix and a hollow microsphere filler, the resin matrix accounts for 65% of the weight of the buoyancy block, and the hollow microsphere filler accounts for 35% of the weight of the buoyancy block; S6, the ore storage bin includes a main storage bin and a detachable cabin cover, the main storage bin is made of titanium alloy and accounts for 80% of the weight of the ore storage bin, and the detachable cabin cover is made of carbon fiber and accounts for 20% of the weight of the ore storage bin; S7, the sediment diffuser includes an outer shell and a diffusion channel, and is arranged at the tail and lower part of the deep-sea mining vehicle, the outer shell and the diffusion channel are made of carbon fiber, the outer shell accounts for 40% of the weight of the sediment diffuser, and the diffusion channel accounts for 60% of the weight of the sediment diffuser; S8, the driving motor includes an outer shell, a stator, a rotor, a bearing and a heat dissipation system, the outer shell, the stator and the rotor are made of titanium alloy and account for 80% of the weight of the driving motor, the bearing is made of carbon fiber and accounts for 10% of the weight of the driving motor, and the heat dissipation system is made of a carbon fiber-epoxy resin composite material, the ratio of the amount of carbon fiber to the amount of epoxy resin is 6:5, and together they account for 10% of the weight of the driving motor; S9, the welding process for the lightweight design of the deep-sea mining vehicle is as follows: Material interface treatment: the surface of the titanium alloy is subjected to micro-arc oxidation treatment, the thickness of the oxidation film is 15 μm, the surface roughness Ra is 1.5 μm, and a 0.25 mm thick glass fiber transition layer is introduced between the carbon fiber composite material layers; Vehicle body frame: the titanium alloy framework and connecting piece and the carbon fiber outer shell composite structure assembly are connected by structural adhesive bonding and mechanical fastening, the titanium alloys are welded by tungsten electrode argon arc welding, the welding parameters are current 110 A, voltage 14 V and speed 5 mm / s, the welding wire is a titanium alloy wire with a diameter of 2 mm, the joint form is lap joint and butt joint, the welding form is multi-layer fillet welding, and the welding size is controlled to be 6 mm in width, 5 mm in thickness and 5 mm in weld leg size; Walking track: the track framework is welded by electron beam welding, the welding parameters are as follows: vacuum degree ≤1×10⁻³ Pa, beam current 30 mA, acceleration voltage 100 kV and speed 10 mm / s, the joint form is butt joint, the welding form is single-sided penetration welding, and the welding size is controlled to be 3.5 mm in penetration depth, 4.5 mm in width and 1.5 mm in reinforcement height; Collection system: the titanium alloy and the carbon fiber composite structure are connected by bolt pre-tightening and structural adhesive bonding, the titanium alloy parts are welded by electron beam welding, the welding parameters, the joint form and the welding form are the same as those of the walking track, and the welding size of the high-pressure nozzle, the pickup pump shell and the conveying system is controlled to be 3 mm in penetration depth, 3.5 mm in width and 1.5 mm in reinforcement height; Ore storage bin: the titanium alloy structure of the main storage bin is welded by tungsten electrode argon arc welding, the welding parameters, the joint form and the welding form are the same as those of the walking track, the welding size is controlled to be 6 mm in width, 5 mm in thickness and 6 mm in weld leg size, and the detachable cabin cover is made of carbon fiber and is connected by structural adhesive bonding and mechanical fastening; The sediment diffuser: carbon fiber shell and diffusion channel are combined by structural adhesive and mechanical lock, the bonding process parameters are: curing temperature 120 ℃, pressure 0.3 MPa, curing time 100 min; the adhesive layer thickness is controlled at 0.5 mm; The drive motor: titanium alloy parts are welded by electron beam, the welding parameters, joint form and weld form are the same as those of the walking track, the weld width is 5 mm, the penetration is 4 mm, the reinforcement is 1.5 mm, the bearing carbon fiber structure is combined by adhesive and mechanical pressure, the bonding process parameters are: curing temperature 120~140 ℃, pressure 0.2~0.3 MPa, curing time 90~100 min; the adhesive layer thickness is controlled at 0.2~0.5 mm; the carbon fiber-epoxy resin composite material of the heat dissipation system adopts hot pressing forming process, the curing temperature is 150 ℃, the pressure is 0.5 MPa, and the curing time is 90 min.

[0026] S10, after the material selection, structure composition and welding process are completed, the air weight of the lightweight deep-sea mining vehicle is controlled at 14.5 tons, the water weight is controlled at 7.5 tons, and the working power is controlled at 300 kW; (2) The lightweight and safety collaborative design method of the bearing structure based on topology optimization, the specific steps are as follows: S11, taking titanium alloy, carbon fiber composite material and their mixed structure as the optimization design object, a three-dimensional topology optimization model based on solid isotropic material penalization (SIMP) is constructed, the whole vehicle structure is meshed by finite element discrete processing mode, Hex8 entity unit is adopted, the unit number is controlled at 10 4 ~10 6 order of magnitude, the optimization target is to minimize the structure mass, and the performance parameter range of the optimized whole vehicle structure composition is: material density 1.6~5 g / cm³, elastic modulus 40~120 GPa, yield strength 300~1000 MPa, and weld fatigue limit 200~300 MPa; S12, the multiple design constraints of the optimized structure to ensure the manufacturing feasibility and dynamic stability requirements: including maximum displacement limit: 0.5~1 mm of the bearing joint node and connecting parts, 2~3 mm of the non-bearing frame, equivalent stress limit: ≤60% of the material yield strength, minimum wall thickness constraint: 3~6 mm, minimum feature size limit of the structure: 10~50 mm, topology volume fraction constraint: 0.6~0.8, and structure natural frequency ≥30 Hz; S13, taking the structure fatigue life: ≥5×10 5 times, corrosion tolerance: annual corrosion depth <50 μm, and design life cycle: ≥10 years as the safety evaluation index, and taking the air weight of the deep-sea mining vehicle 14~15 tons and the underwater weight 7~8 tons as the target to meet the safety evaluation index at the same time; S14, using non-dominated sorting genetic algorithm II (NSGA-II) to solve, through population evolution in the design space, mining car weight (target value 14-15 tons), maximum displacement (0.5-3 mm), equivalent stress (≤60% of yield strength), fatigue life (≥5×10 5 times), annual corrosion depth (<50 μm), gradually screened out the Pareto optimal solution set of mutual trade-off, mutual non-superior and inferior between each target: mining car weight in air 14.5 tons, mining car weight in water 7.5 tons, maximum displacement 1.5 mm, equivalent stress (55% of yield strength), fatigue life 5×10 5 times, annual corrosion depth 50 μm, main frame safety factor (structural bearing capacity / structural load bearing) 1.9; S15, based on the optimization results, geometric reconstruction and detail design optimization, combining the welding process parameters and sealing requirements of the selected material, adjusting the weld, structure layout and connection form, forming the final structure scheme with manufacturing constraint feasibility; (3) Light weight deep sea mining car high productivity collection parameter optimization matching method: S16, the collection head of the deep sea mining car is designed as a coanda jet collection head, which is lightweight designed by using the material described in S4; S17, the collection head adopts a modular integrated system structure design, and the functional modules include a data information processing system, a collection head attitude adjusting system, an automatic adsorption system, a nodule collection system and a jet system; S18, the coanda jet collection design parameters include jet velocity, jet angle, wall-attached plate curvature radius, wall-attached plate to seabed distance, nozzle to seabed distance and travel speed; S19, using the mining parameter combination of jet velocity 10 m / s, jet angle 55°, wall-attached plate curvature radius 300 mm, wall-attached plate to seabed distance 40 mm and travel speed 0.4 m / s, the mining car mining capacity reaches 150 t / h, the lightweight level (weight in air / production capacity) is 0.097, and the unit ore production capacity energy consumption (mining capacity / power) is 2 kW*h / t.

[0027]

[0028] Example 2 A light weight-based high productivity deep sea mining car integrated system optimization design method, comprising the following steps: (1) An optimization method for the composition of the integrated system lightweight structure and the welding process, comprising the following steps: S1, the proportion of the deep-sea mining vehicle integrated system in the weight of the whole vehicle, the vehicle body frame accounts for 19%, the walking track accounts for 21%, the collection system accounts for 15%, the buoyancy block accounts for 12%, the sediment diffuser accounts for 7%, the ore storage bin accounts for 12%, the driving motor accounts for 10%, and the data collection system accounts for 4%; S2, the vehicle body frame is composed of a vehicle body skeleton, a connecting piece and an outer shell, the vehicle body skeleton and the connecting piece are made of titanium alloy and account for 60% of the weight of the vehicle body frame, and the outer shell is made of carbon fiber and accounts for 40% of the weight of the vehicle body frame; S3, the walking track is composed of a track skeleton, a guide wheel, a driving wheel, a supporting wheel, a tensioning wheel and a suspension system, the track skeleton is made of titanium alloy links and accounts for 30% of the weight of the walking track, the guide wheel, the driving wheel, the supporting wheel and the tensioning wheel are all made of titanium alloy hubs and carbon fiber rims, the proportion of titanium alloy to carbon fiber is 9:1, and they together account for 35% of the weight of the walking track, and the suspension system includes an outer cylinder and a piston rod, which are both made of titanium alloy and account for 35% of the weight of the walking track; S4, the collection system includes a jet wall, a high-pressure nozzle, a pickup pump and a mineral separation and conveying system, the jet arm is made of a titanium alloy and carbon fiber mixed structure, the proportion of titanium alloy to carbon fiber is 6.5:3.5, and they together account for 35% of the weight of the collection system, the high-pressure nozzle and the pickup pump are made of titanium alloy and account for 25% of the weight of the collection system, and the mineral separation and conveying system is made of a titanium alloy outer shell and a carbon fiber cover plate, the proportion of titanium alloy to carbon fiber is 9:1, and they together account for 40% of the weight of the collection system; S5, the buoyancy block is made of high-performance synthetic foam material, the synthetic foam material is composed of a resin matrix and hollow microsphere fillers, the resin matrix accounts for 60% of the weight of the buoyancy block, and the hollow microsphere fillers account for 40% of the weight of the buoyancy block; S6, the ore storage bin includes a main storage bin and a detachable hatch cover, the main storage bin is made of titanium alloy and accounts for 90% of the weight of the ore storage bin, and the detachable hatch cover is made of carbon fiber and accounts for 10% of the weight of the ore storage bin; S7, the sediment diffuser includes an outer shell and a diffusion channel, and is arranged at the tail and lower part of the deep-sea mining vehicle, the outer shell and the diffusion channel are made of carbon fiber, the outer shell accounts for 50% of the weight of the sediment diffuser, and the diffusion channel accounts for 50% of the weight of the sediment diffuser; S8, the driving motor includes an outer shell, a stator, a rotor, a bearing and a heat dissipation system, the outer shell, the stator and the rotor are made of titanium alloy and account for 85% of the weight of the driving motor, the bearing is made of carbon fiber and accounts for 5% of the weight of the driving motor, and the heat dissipation system is made of a carbon fiber-epoxy resin composite material, the proportion of carbon fiber to epoxy resin is 6:5, and they together account for 10% of the weight of the driving motor; S9, the lightweight design welding process of the deep-sea mining vehicle is as follows: Material interface treatment: the titanium alloy surface was treated by micro-arc oxidation, the thickness of the oxide film was 25 μm, the surface roughness Ra was 1.0 μm, and a 0.3 mm thick glass fiber transition layer was introduced between the carbon fiber composite layers; Vehicle body frame: the titanium alloy framework and connecting pieces, and the carbon fiber shell composite structure assembly were connected by structural adhesive bonding and mechanical fastening, the titanium alloys were welded by tungsten electrode argon arc welding, the welding parameters were current 90 A, voltage 12 V, and speed 3 mm / s, the welding wire was titanium alloy wire with a diameter of 1.6 mm, the joint form was lap joint and butt joint, the weld form was multi-layer fillet weld, and the weld size was controlled to be 5 mm in width, 5 mm in thickness, and 3 mm in weld leg size; Walking track: the track framework was welded by electron beam welding, the welding parameters were as follows: vacuum degree ≤1×10⁻³ Pa, beam current 20 mA, acceleration voltage 80 kV, and speed 7 mm / s, the joint form was butt joint, the weld form was single-sided penetration weld, and the weld size was controlled to be 2.5 mm in penetration depth, 3.5 mm in width, and 1 mm in reinforcement height; Collecting system: the titanium alloy and the carbon fiber composite structure were connected by bolt pre-tightening and structural adhesive bonding, the titanium alloy parts were welded by electron beam welding, the welding parameters, joint form and weld form were the same as those of the walking track, and the weld size of the high-pressure nozzle, the pickup pump shell and the conveying system was controlled to be 2.5 mm in penetration depth, 3 mm in width and 1 mm in reinforcement height; Ore storage bin: the titanium alloy structure of the main storage bin was welded by tungsten electrode argon arc welding, the welding parameters, joint form and weld form were the same as those of the walking track, the weld size was controlled to be 5 mm in width, 3 mm in thickness and 5 mm in weld leg size, and the detachable hatch cover carbon fiber part was connected by structural adhesive bonding and mechanical fastening; Sediment diffuser: the carbon fiber shell and the diffusion channel were fixed by structural adhesive bonding and mechanical locking, the adhesive bonding process parameters were as follows: curing temperature 130 ℃, pressure 0.2 MPa and curing time 90 min; and the adhesive layer thickness was controlled to be 0.3 mm; Driving motor: the titanium alloy part was welded by electron beam welding, the welding parameters, joint form and weld form were the same as those of the walking track, the weld width was 3 mm, the penetration depth was 2.5 mm, and the reinforcement height was 0.5 mm, the bearing carbon fiber structure was combined by adhesive bonding and mechanical compression, the adhesive bonding process parameters were as follows: curing temperature 120-140 ℃, pressure 0.2-0.3 MPa and curing time 90-100 min; and the adhesive layer thickness was controlled to be 0.2-0.5 mm; the carbon fiber-epoxy resin composite material of the heat dissipation system was formed by hot pressing process, the curing temperature was 150 ℃, the pressure was 0.3 MPa, and the curing time was 100 min.

[0029] S10, after the material selection, structure composition and welding process are completed, the air weight of the lightweight deep-sea mining vehicle is controlled to be 15 tons, the water weight is controlled to be 7.7 tons, and the working power is controlled to be 3350kW; (2) A lightweight and safety collaborative design method of the bearing structure based on topology optimization, the specific steps are as follows: S11, taking titanium alloy, carbon fiber composite material and their mixed structure as the optimization design object, a three-dimensional topology optimization model based on the solid isotropic material penalization (SIMP) method is constructed, the whole vehicle structure is meshed by adopting the finite element discrete processing mode, Hex8 entity unit is adopted, the number of units is controlled to be 10 4 ~10 6 orders of magnitude, the optimization target is to minimize the structure mass, and the performance parameter range of the optimized whole vehicle structure composition is: material density 1.6-5g / cm³, elastic modulus 40-120GPa, yield strength 300-1000MPa, and weld fatigue limit 200-300MPa; S12, the multiple design constraints of the optimized structure to ensure the manufacturing feasibility and dynamic stability requirements: including maximum displacement limit: 0.5-1mm of the bearing joint node and the connecting part, 2-3mm of the non-bearing frame, equivalent stress limit: ≤60% of the material yield strength, minimum wall thickness constraint: 3-6mm, structure minimum feature size limit: 10-50mm, topology volume fraction constraint: 0.6-0.8, and structure natural frequency: ≥30Hz; S13, taking the structure fatigue life: ≥5×10 5 times, corrosion tolerance: annual corrosion depth <50μm, and design life cycle: ≥10 years as the safety evaluation index, and taking the air weight of the deep-sea mining vehicle 14-15 tons and the underwater weight 7-8 tons as the target to meet the safety evaluation index at the same time; S14, the non-dominated sorting genetic algorithm II (NSGA-II) is adopted to solve, through the population evolution mode in the design space, the mining vehicle weight (target value 14-15 tons), maximum displacement (0.5-3mm), equivalent stress (≤60% of the yield strength), fatigue life (≥5×10 5 times), annual corrosion depth (<50μm) are gradually screened out to obtain the Pareto optimal solution set which is mutually balanced and not inferior to each other: air mining vehicle weight 15 tons, water mining vehicle weight 7.7 tons, maximum displacement 2.5mm, equivalent stress (50% of the yield strength), fatigue life 5×10 5 times, annual corrosion depth 50μm, main frame safety factor (structure bearing capacity / structure bearing load) 1.75; S15. Based on the optimization results, perform geometric reconstruction and detail design optimization, adjust the weld, structure layout and connection form according to the welding process parameters and sealing requirements of the selected material, and form a final structure scheme with manufacturing constraints. (3) Lightweight deep-sea mining vehicle high-capacity collection parameter optimization matching method: S16. The collection head of the deep-sea mining vehicle is designed as a Coanda jet collection head, and the material described in S4 in (1) is used for lightweight design. S17. The collection head adopts a modular integrated system structure design, and the functional modules include a data information processing system, a collection head attitude adjustment system, an automatic adsorption system, a nodule collection system, and a jet system. S18. The Coanda jet collection design parameters include jet velocity, jet angle, wall-attached plate curvature radius, wall-attached plate to seabed distance, nozzle to seabed distance, and travel speed. S19. Using the mining parameter combination of jet velocity 10 m / s, jet angle 55°, wall-attached plate curvature radius 300 mm, wall-attached plate to seabed distance 40 mm, and travel speed 0.4 m / s, the mining vehicle mining capacity reaches 150 t / h, the lightweight level (weight in air / production capacity) is 0.1, and the unit ore production energy consumption (mining capacity / power) is 2.33 kW*h / t.

[0030]

[0031] Example 3 A lightweight-based high-capacity deep-sea mining vehicle integrated system optimization design method, which is different from example 2, (3) lightweight deep-sea mining vehicle high-capacity collection parameter optimization matching method: S16. The collection head of the deep-sea mining vehicle is designed as a double-row jet collection head, and the material described in S4 in (1) of example 2 is used for lightweight design. S17. The collection head adopts a modular integrated system structure design, and the functional modules include a data information processing system, a collection head attitude adjustment system, an automatic adsorption system, a nodule collection system, and a jet system. S18. The double-row jet collection head design parameters include jet velocity, jet angle, jet target distance, nozzle to seabed distance, and travel speed. S19. Using the mining parameter combination of jet velocity 12 m / s, jet angle 55°, jet target distance 210 mm, nozzle to seabed distance 50 mm, and travel speed 0.5 m / s, the mining vehicle mining capacity reaches 150 t / h, the lightweight level (weight in air / production capacity) is 0.1, and the unit ore production energy consumption (mining capacity / power) is 2.67 kW*h / t.

[0032]

[0033] Comparative Example 1 A high-capacity deep-sea mining vehicle integrated system optimization design method based on lightweight, which is different from embodiment 1, is that comparative example 1 does not carry out the topology optimization of the bearing structure and the lightweight deep-sea mining vehicle high-capacity collection parameter optimization matching method in (2), (3).

[0034]

[0035] Comparative Example 2 A high-capacity deep-sea mining vehicle integrated system optimization design method based on lightweight, which is different from embodiments 1, 2, and 3, is that comparative example 2 is the main technical index of the existing deep-sea mining vehicle A.

[0036]

[0037] Comparative Example 3 A high-capacity deep-sea mining vehicle integrated system optimization design method based on lightweight, which is different from embodiments 1, 2, and 3, is that comparative example 3 is the main technical index of the existing deep-sea mining vehicle B.

[0038]

[0039] Through comparison, it can be seen that the deep-sea mining vehicles designed in embodiments 1-3 have achieved all-round breakthroughs in vehicle weight, mining capacity, energy consumption, and safety technical advancement, and are significantly superior to comparative examples 1-3, specifically in: in terms of lightweight, embodiments 1-3 control the air weight within 14.5-15 t and the water weight within 7.5-7.7 t, which are superior to comparative example 1 (air weight 20 t, water weight 10.3 t), comparative example 2 (air weight 90 t, water weight 75 t), and comparative example 3 (air weight 33.5 t), which do not have lightweight optimization; in terms of high capacity, the ore mining capacity of embodiments 1-3 is 150 t / h, while in the comparative examples, only comparative example 3 can reach 120 t / h in terms of mining capacity, but its unit mass capacity ratio is 0.279, which is much higher than that of embodiments 1-3; in terms of energy consumption, the unit ore capacity energy consumption (power / mining capacity) of the mining vehicles of embodiments 1-3 is 2 kW*h / t, 2.33 kW*h / t, and 2.67 kW*h / t, respectively, while the unit ore capacity energy consumption of the mining vehicles of comparative examples 1-3 is at a high level, among which comparative example 2 is as high as 11.57 kW*h / t, which is obviously at a disadvantage in terms of energy consumption; in terms of safety, the safety factor of the main frame of comparative example 1 is 1.65, while the safety factor of the main frame of embodiment 1 is as high as 1.9, which significantly improves the safety of the mining vehicle in the deep-sea 40-60 MPa operating environment.

[0040] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced, and the modifications or equivalent replacements should not depart from the spirit and scope of the technical solutions of the present application. Those skilled in the art can also make other changes in the design of the present application within the spirit of the present application, and the changes can be used in the present application as long as the technical effects of the present application are not deviated. The changes made according to the spirit of the present application should be included in the scope of protection of the present application.

Claims

1. A lightweight deep-sea mining vehicle integrated system, characterized in that: include: Vehicle frame, walking tracks, collection system, buoyancy blocks, sediment diffusers, ore storage bins, drive motors, and data acquisition and processing systems; Among them, the body frame includes the body skeleton, connecting parts and outer shell; The walking track includes a track frame, guide wheels, drive wheels, supporting wheels, tension wheels, and a suspension system; The collection system includes a jet wall, high-pressure nozzles, a pickup pump, mineral separation and transportation systems; The ore storage bin includes a main storage bin and a removable hatch; The sediment diffuser includes an outer shell and a diffusion channel, and is arranged at the rear and lower part of the deep-sea mining vehicle; The data acquisition and processing system includes a pressure sensor, a water inlet sensor, a temperature sensor, a distance sensor, and a dedicated environmental sensor; Of the total weight of a deep-sea mining vehicle, the body frame accounts for 15% to 20%, the walking tracks account for 20% to 25%, the collection system accounts for 15% to 20%, the buoyancy blocks account for 10% to 15%, the sediment diffuser accounts for 5% to 10%, the ore storage bin accounts for 10% to 15%, the drive motor accounts for 8% to 12%, and the data acquisition system accounts for 3% to 5%.

2. The lightweight deep-sea mining vehicle integrated system according to claim 1 is characterized in that: The body frame and connectors are made of titanium alloy, accounting for 60% to 65% of the body frame weight; the shell is made of carbon fiber, accounting for 35% to 40% of the body frame weight; The track skeleton uses titanium alloy links, which account for 30% to 35% of the weight of the walking track. The guide wheels, drive wheels, supporting wheels, and tensioning wheels all use titanium alloy hubs and carbon fiber rims. The ratio of titanium alloy to carbon fiber content is 9:1, accounting for 30% to 35% of the weight of the walking track. The suspension system, including the outer cylinder and piston rod, are also made of titanium alloy, accounting for 25% to 30% of the weight of the walking track. The jet arm adopts a titanium alloy and carbon fiber hybrid structure, with the titanium alloy to carbon fiber usage ratio of 6.5-7.5:3.5-2.5, accounting for 30%-35% of the collection system weight. The high-pressure nozzle and pickup pump are made of titanium alloy, accounting for 15%-25% of the collection system weight. The mineral separation and transportation system uses a titanium alloy shell and carbon fiber cover, with the titanium alloy to carbon fiber usage ratio of 8.5-9.5:1.5-0.5, accounting for 25%-40% of the collection system weight. The buoyancy block is made of high-performance synthetic foam material, which consists of a resin matrix and hollow microsphere fillers. The resin matrix accounts for 60% to 70% of the weight of the buoyancy block, and the hollow microsphere fillers account for 30% to 40% of the weight of the buoyancy block. The main storage bin is made of titanium alloy, accounting for 80% to 90% of the weight of the ore storage bin, and the removable hatch is made of carbon fiber, accounting for 10% to 20% of the weight of the ore storage bin; The outer shell and diffusion channel are made of carbon fiber. The outer shell accounts for 40% to 50% of the weight of the sediment diffuser, and the diffusion channel accounts for 50% to 60% of the weight of the sediment diffuser. The drive motor includes a casing, stator, rotor, bearings and a heat dissipation system. The casing, stator and rotor are made of titanium alloy, accounting for 75% to 85% of the weight of the drive motor. The bearings are made of carbon fiber, accounting for 5% to 10% of the weight of the drive motor. The heat dissipation system is made of carbon fiber-epoxy resin composite material with a carbon fiber to epoxy resin ratio of 6:5, accounting for 10% to 15% of the weight of the drive motor. The deep-sea mining vehicle weighs 14 to 15 tons in air and 7 to 8 tons in water, with a working power of 300 to 400kW.

3. The lightweight deep-sea mining vehicle integrated system according to claim 2, characterized in that: The titanium alloy model is TC4, and the material composition is Ti-6Al-4V; the carbon fiber model is T800 grade, and the epoxy resin model is LY1564; the resin matrix can be selected from epoxy resin, phenolic resin or polyurethane resin, and the hollow microspheres include hollow glass microspheres and ceramic microspheres.

4. The lightweight deep-sea mining vehicle integrated system according to claim 1, characterized in that: The delivery system includes a delivery pipeline, which is a carbon fiber and epoxy resin composite pipe, with a carbon fiber to epoxy resin usage ratio of 3-5:7-5, and an inner diameter of the delivery pipeline of 150-200 mm.

5. The lightweight deep-sea mining vehicle integrated system according to claim 1 is characterized in that: There are two walking tracks, symmetrically arranged on both sides of the deep-sea mining vehicle, each walking track is 2m wide and 6m long; the deep-sea mining vehicle also includes four collecting heads, each 1m wide, with a total collecting width of 4m; the high-pressure nozzle structure is circular with an inner diameter of 10mm; the peak power of the drive motor in the operating state is 500kW.

6. An optimization design method for a lightweight deep-sea mining vehicle integrated system, comprising the deep-sea mining vehicle integrated system according to any one of claims 1 to 5, characterized in that: include: 1) Optimization method of lightweight structure composition and welding process of integrated system; 2) A collaborative design method for lightweight and safe load-bearing structures based on topology optimization; 3) Parameter optimization and matching method for high-capacity acquisition of lightweight deep-sea mining vehicles; The step 1) includes the weight ratio division of the components of the mining vehicle integrated system, material selection, the structural composition and ratio of each system, and the welding process for the lightweight integrated system; the step 2) includes the topology optimization model based on SIMP and the NSGA-II genetic algorithm to solve the Pareto optimal solution set; the step 3) includes the design of a lightweight collection head with a modular integrated system structure, the classification of high-capacity gradient levels of lightweight mining vehicles and the corresponding collection parameter combinations.

7. The optimization design method for a lightweight deep-sea mining vehicle integrated system according to claim 6, characterized in that: The optimization method in step 1) includes: The material interface treatment method is as follows: micro-arc oxidation treatment is performed on the titanium alloy surface, the oxide film thickness is controlled at 10-30 μm, the surface roughness Ra is 1.0-1.5 μm, and a 0.2-0.5 mm thick glass fiber transition layer is introduced between the carbon fiber composite material layers; The titanium alloy skeleton and connectors of the vehicle body frame and the carbon fiber shell composite structural components are structurally bonded and mechanically fastened. The titanium alloys are welded together using tungsten inert gas arc welding. The welding parameters are current 90-110 A, voltage 12-14 V, speed 3-5 mm / s, and welding wire 1.6-2 mm diameter titanium alloy wire. The joints are lap and butt joints, and the welds are multi-layer fillet welds. The weld dimensions are controlled to be 4-6 mm wide, 3-5 mm thick, and 3-5 mm in leg size. The crawler frame of the walking track is welded by electron beam welding. The welding parameters are as follows: vacuum degree ≤ 1×10⁻³ Pa, beam current 20~30 mA, acceleration voltage 80~100 kV, speed 5~10 mm / s, joint form is butt joint, weld form is single-sided penetration weld, weld size is controlled to be 2.5~3.5 mm penetration, 3.5~4.5 mm width, and 0.5~1.5 mm reinforcement height. The titanium alloy and carbon fiber composite structure of the collection system is connected using bolt pre-tightening and structural adhesive bonding. The titanium alloy components are welded using electron beam welding. The welding parameters, joint form, and weld form are the same as those of the walking tracks. The weld dimensions of the high-pressure nozzle, pickup pump housing, and conveying system are controlled to have a penetration depth of 2.5-3 mm, a width of 3-3.5 mm, and a height of 0.5-1.5 mm. The titanium alloy structure of the main storage bin of the ore storage bin is welded using tungsten inert gas arc welding. The welding parameters, joint form, and weld form are the same as those of the crawler tracks. The weld size is controlled to be 4-6 mm in width, 3-5 mm in thickness, and 4-6 mm in weld leg size. The carbon fiber part of the detachable hatch cover is structurally bonded and mechanically fastened. The carbon fiber shell and diffusion channel of the sediment diffuser are fixed by structural adhesive bonding combined with mechanical locking. The adhesive bonding process parameters are: curing temperature 120-140°C, pressure 0.2-0.3 MPa, curing time 90-100 min; the adhesive layer thickness is controlled at 0.2-0.5 mm. Drive motor: The titanium alloy part is electron beam welded. The welding parameters, joint form, and weld form are the same as those of the walking track. The weld width is 3~5 mm, the penetration depth is 2.5~4 mm, and the reinforcement height is 0.5~1.5 mm. The carbon fiber structure of the bearing is bonded by bonding and mechanical compression. The bonding process parameters are: curing temperature 120~140 ℃, pressure 0.2~0.3 MPa, and curing time 90~100 min; the glue layer thickness is controlled at 0.2~0.5 mm; the carbon fiber-epoxy resin composite material of the heat dissipation system adopts a hot pressing process, with a curing temperature of 130~150 ℃, a pressure of 0.3~0.5 MPa, and a curing time ≥90 min.

8. The optimization design method for a lightweight deep-sea mining vehicle integrated system according to claim 6, characterized in that: The method of step 2) is as follows: S1. A three-dimensional topology optimization model based on the solid isotropic material penalty method was constructed for titanium alloy, carbon fiber composite, and their hybrid structures. The optimization objective was to minimize the structural mass. The performance parameters of the optimized vehicle structure were within the following ranges: material density 1.6-5g / cm³, elastic modulus 40-120GPa, yield strength 300-1000MPa, and weld fatigue limit 200-300MPa. S2. Multiple design constraints on the optimized structure to ensure structural manufacturing feasibility and dynamic stability requirements: including maximum displacement limits of 0.5-1mm for load-bearing joints and connecting components and 2-3mm for non-load-bearing structures, equivalent stress limit of ≤60% of the material yield strength, minimum wall thickness constraint of 3-6mm, minimum structural feature size limit of 10-50mm, topological volume fraction constraint of 0.6-0.8, and structural natural frequency ≥30Hz; S3. Structural fatigue life: ≥5×10 5 Second, the safety assessment indicators are corrosion tolerance: annual corrosion depth <50μm and design life cycle: ≥10 years. The goal is to meet the safety assessment indicators while the air weight of the deep-sea mining vehicle is 14-15 tons and the underwater weight is 7-8 tons. S4. Use the non-dominated sorting genetic algorithm II to solve the problem. Through population evolution, the algorithm gradually selects the Pareto optimal solution set with trade-offs among various objectives, such as mining vehicle weight, maximum displacement, equivalent stress, fatigue life, annual corrosion depth, and main frame safety factor, within the design space. The target values ​​for the mining vehicle weight are 14-15 tons, the maximum displacement range is 0.5-3 mm, the equivalent stress is ≤ 60% of the yield strength, and the fatigue life is ≥ 5×10 5 times; annual corrosion depth < 50μm; main frame safety factor: structural bearing capacity / structural load > 1.5, gradually screening out the Pareto optimal solution set that balances each other among the objectives and is not superior to or inferior to each other; S5. Perform geometric reconstruction and design optimization based on the optimization results. Combined with the welding process parameters and sealing requirements of the selected materials, adjust the welds, structural layout, and connection form to form a multi-level lightweight design method.

9. The optimization design method for a lightweight deep-sea mining vehicle integrated system according to claim 6, characterized in that: In step 3), the collection head of the deep-sea mining vehicle is divided into two types: a double-row jet collection head and a Coanda jet collection head. Both adopt a modular integrated system structure design. The functional modules include a data information processing system, a collection head posture adjustment system, an automatic adsorption system, a nodule collection system, and a jet system. The parameter optimization matching method comprises the following steps: T1: The design parameters of the double-row jet collection head include jet velocity, jet angle, jet target distance, distance between the nozzle and the seabed, and travel speed; T2: Coanda jet collection design parameters include jet velocity, jet angle, curvature radius of the wall plate, distance from the wall plate to the seabed, distance from the nozzle to the seabed, and travel speed; T3: Gradient classification of high production capacity levels: high production capacity I>90t / h, high production capacity II>120t / h, high production capacity III>150t / h; T4: Double-row jet collection parameter combination according to high production level; T5: Coanda jet collection parameter combination according to high production level.

10. The optimization design method for a lightweight deep-sea mining vehicle integrated system according to claim 9, characterized in that: The double-row jet collection parameter combination method in step T4 is as follows: High production capacity I>90t / h: jet velocity 7~9m / s, jet angle 45~55°, jet target distance 185~195mm, nozzle to seabed distance 55~65mm, travel speed 0.2~0.3m / s; High production capacity II>120t / h: jet velocity 8~10m / s, jet angle 50~55°, jet target distance 195~205mm, nozzle to seabed distance 45~55mm, travel speed 0.3~0.4m / s; High production capacity III>150t / h: jet velocity 10~12m / s, jet angle 55~60°, jet target distance 200~210mm, nozzle to seabed distance 40~50mm, travel speed 0.4~0.5m / s; The method for combining the Coanda jet acquisition parameters in step T5 is as follows: High production capacity I>90t / h: jet velocity 7~9m / s, jet angle 35~45°, cladding curvature radius 100~120mm, distance from cladding to seabed 55~65mm, travel speed 0.2~0.3m / s; High production capacity II>120t / h: jet velocity 9~11m / s, jet angle 45~55°, wall plate curvature radius 200~220mm, wall plate to seabed distance 45~55mm, travel speed 0.3~0.4m / s; High production capacity III>150t / h: jet velocity 10~12m / s, jet angle 55~65°, cladding curvature radius 300~320mm, distance from cladding to seabed 40~50mm, travel speed 0.4~0.5m / s.

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