Multi-source disturbance quantity and multi-pump flow matching analysis method of novel deep-sea mining vehicle

Abstract

The invention discloses a novel multi-source disturbance quantity and multi-pump flow matching analysis method for a deep-sea mining vehicle. The method comprises the following steps that the lower limit value of the water diversion quantity at a collection head gap is set; determining the upper limit value of the flow of the mixture absorbed by the dredge pump; determining a lower limit value of the flow of the mixture absorbed by the primer pump; determining the lower limit value of the flow of the mixture absorbed by the dredge pump; determining the upper limit value of the flow of the mixture absorbed by the primer pump; according to a mass conservation method, the lower limit value of the water diversion amount at the gap of the collection head, the upper limit value and the lower limit value of the flow of the mixture absorbed by the dredge pump and the upper limit value and the lower limit value of the flow of the mixture absorbed by the water diversion pump, the water diversion amount at the gap of the collection head is drawn; and determining the flow range of the mixture absorbed by the dredge pump and the flow range of the mixture absorbed by the primer pump according to an envelope diagram of the flow of the mixture absorbed by the dredge pump and the flow range of the mixture absorbed by the primer pump. The defect that the pump flow matching performance of the mining vehicle is poor is overcome.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of deep-sea mining, in particular to a multi-source disturbance quantity and multi-pump flow matching analysis method of a new deep-sea mining vehicle. BACKGROUND

[0002] With the gradual depletion of land mineral resources, the development of deep-sea mineral resources has gradually become the focus of global attention. Deep-sea mineral resources, such as polymetallic nodules and hydrothermal deposits, have great economic and strategic value. Reasonable matching of pump flow is crucial for mining efficiency, equipment performance and environmental protection. During the collection process, excessive concentration can easily cause blockage, leading to unstable pump flow and even damage to equipment; too small concentration will affect the collection efficiency and increase energy consumption. However, there is a lack of systematic research and optimization method for pump flow matching of collection head type mining vehicles in the prior art, especially under complex working conditions, how to achieve precise matching of pump flow is still a problem to be solved. SUMMARY

[0003] The purpose of the present application is to overcome the poor matching of pump flow in the prior art, and to provide a multi-source disturbance quantity and multi-pump flow matching analysis method of a new deep-sea mining vehicle.

[0004] In order to achieve the above-mentioned purpose of the application, the present application provides the following technical solutions:

[0005] A multi-source disturbance quantity and multi-pump flow matching analysis method of a new deep-sea mining vehicle, the mining vehicle comprising a collection head, a mud pump, a water pump and a track, comprising the following steps:

[0006] Setting a lower limit value of the water intake amount at the gap of the collection head;

[0007] Determining an upper limit value of the flow of the mixture absorbed by the mud pump according to a lower limit value of the volume concentration of the mixture absorbed by the mud pump, a volume of the undisturbed soil, a volume of the track suspension and a volume concentration of the undisturbed soil; determining a lower limit value of the flow of the mixture absorbed by the water pump according to an upper limit value of the volume concentration of the mixture absorbed by the water pump, the volume of the track suspension and the volume concentration of the undisturbed soil;

[0008] Determining a lower limit value of the flow of the mixture absorbed by the mud pump according to the mass conservation method, the lower limit value of the water intake amount at the gap of the collection head and the lower limit value of the flow of the mixture absorbed by the water pump;

[0009] Determining an upper limit value of the flow of the mixture absorbed by the water pump according to the mass conservation method, the lower limit value of the water intake amount at the gap of the collection head, the upper limit value of the flow of the mixture absorbed by the mud pump and the volume concentration of the undisturbed soil;

[0010] An envelope diagram is drawn with respect to the amount of water diversion at the slit of the collection head, the flow rate of the mixture absorbed by the sludge pump, and the flow rate of the mixture absorbed by the water diversion pump, according to the mass conservation method, the lower limit value of the amount of water diversion at the slit of the collection head, the upper and lower limit values of the flow rate of the mixture absorbed by the sludge pump, and the upper and lower limit values of the flow rate of the mixture absorbed by the water diversion pump, and a flow rate range of the mixture absorbed by the sludge pump and a flow rate range of the mixture absorbed by the water diversion pump are determined according to the envelope diagram.

[0011] Preferably, the lower limit value of the amount of water diversion at the slit of the collection head is 0.05 times the volume of the undisturbed soil.

[0012] Preferably, the lower limit value of the volume concentration of the mixture absorbed by the sludge pump is 0.7 times the volume concentration of the undisturbed soil.

[0013] Preferably, the calculation expression of the volume of the undisturbed soil is

[0014] Q situ,head = H head * W head * V drag

[0015] In the formula, Q situ,head is the volume of the undisturbed soil, V drag is the towing speed of the collection head, W head is the width of the collection head, H head is the digging depth of the collection head.

[0016] Preferably, the calculation expression of the volume of the track suspension is

[0017] Q situ,track = k * H track * W track * V track,drag * 2,

[0018] In the formula, Q situ,track is the volume of the track suspension, H track is the soil compacting depth of the track, W track is the width of the track, V track,drag is the walking speed of the track, and k is the track suspension coefficient.

[0019] Preferably, the track suspension coefficient k is 0.3.

[0020] Preferably, the calculation expression of the volume concentration of the undisturbed soil is

[0021]

[0022] In the formula, Vρ situis the volume concentration of the undisturbed soil, p situ is the density of the undisturbed soil, p w is the density of the water introduced at the slit of the collection head. t is the particle density of the undisturbed soil.

[0023] Preferably, the mass conservation method is expressed by the formula

[0024] Q pump * p m,pump = Q situ,head * p situ + Q ambient,track * p m,track + Q ambient,gap * p w ,

[0025] where Q pump is the flow rate of the mixture absorbed by the mud pump, p m,pump is the average density of the mixture absorbed by the mud pump, Q ambient,track is the flow rate of the mixture absorbed by the water introduction pump, p m,track is the average density of the mixture absorbed by the water introduction pump, Q situ,head is the volume of the undisturbed soil, p situ is the density of the undisturbed soil, Q ambient,gap is the volume of water introduced at the slit of the collection head, p w is the density of the water introduced at the slit of the collection head.

[0026] Preferably, the average density of the mixture absorbed by the mud pump p m,pump is expressed by the formula

[0027]

[0028] where Q pump is the flow rate of the mixture absorbed by the mud pump, p m,pump is the average density of the mixture absorbed by the mud pump, Q situ,track is the volume of the track suspension, Q situ,head is the volume of the undisturbed soil, p situ is the density of the undisturbed soil, p w is the density of the water introduced at the slit of the collection head.

[0029] Preferably, the average density of the mixture absorbed by the water introduction pump p m,track is

[0030]

[0031] where p m,track is the average density of the mixture absorbed by the water introduction pump, Q situ,trackis the volume of the mixture absorbed by the slurry pump, p situ is the density of the undisturbed soil, Q ambient,track is the flow rate of the mixture absorbed by the water diversion pump, p w is the density of the water introduced at the slit of the collection head.

[0032] Compared with the prior art, the present application has the following beneficial effects:

[0033] The present application sets the lower limit value of the water introduction amount at the slit of the collection head, determines the upper limit value of the flow rate of the mixture absorbed by the slurry pump according to the lower limit value of the volume concentration of the mixture absorbed by the slurry pump, the volume of the undisturbed soil, the volume suspended by the track and the volume concentration of the undisturbed soil, determines the lower limit value of the flow rate of the mixture absorbed by the water diversion pump according to the upper limit value of the volume concentration of the mixture absorbed by the water diversion pump, the volume suspended by the track and the volume concentration of the undisturbed soil, determines the lower limit value of the flow rate of the mixture absorbed by the slurry pump according to the mass conservation method, the lower limit value of the water introduction amount at the slit of the collection head and the lower limit value of the flow rate of the mixture absorbed by the water diversion pump, determines the upper limit value of the flow rate of the mixture absorbed by the water diversion pump according to the mass conservation method, the lower limit value of the water introduction amount at the slit of the collection head and the upper limit value of the flow rate of the mixture absorbed by the slurry pump, draws an envelope diagram about the water introduction amount at the slit of the collection head, the flow rate of the mixture absorbed by the slurry pump and the flow rate of the mixture absorbed by the water diversion pump according to the mass conservation method, the lower limit value of the water introduction amount at the slit of the collection head, the upper and lower limit values of the flow rate of the mixture absorbed by the slurry pump and the upper and lower limit values of the flow rate of the mixture absorbed by the water diversion pump, determines the flow rate range of the mixture absorbed by the slurry pump and the flow rate range of the mixture absorbed by the water diversion pump according to the envelope diagram, determines the flow rate range of the mixture absorbed by the slurry pump and the water diversion pump, realizes the accurate matching of the pump flow rate in the mining vehicle, that is, improves the matching degree of the pump flow rate in the mining vehicle, so that the mining vehicle can maintain good collection efficiency and reduce the failure rate of the mining vehicle when performing mining work. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a step block diagram of a multi-source disturbance quantity and multi-pump flow rate matching analysis method of a new type of deep sea mining vehicle;

[0035] Figure 2 is a schematic diagram of the flow rate of the mixture absorbed by the slurry pump;

[0036] Figure 3 is a schematic diagram of the water introduction flow rate at the track of the mining vehicle;

[0037] Figure 4 is a schematic diagram of the relationship between the flow rates of the slurry pump and the water diversion pump of the multi-source disturbance quantity and multi-pump flow rate matching analysis method of the new type of deep sea mining vehicle;

[0038] Figure 5This is a schematic diagram of the relationship between the mud pump, collection head, water pump and crawler. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.

[0040] like Figure 1 As shown, this embodiment provides a novel method for analyzing the matching of multi-source disturbances and multi-pump flow rates of a deep-sea mining vehicle. The mining vehicle includes a collection head, a mud pump, a water diversion pump, and crawlers, and includes the following steps:

[0041] Set the lower limit of water diversion at the gap of the collection head;

[0042] Determining the upper limit of the flow rate of the mixture absorbed by the mud pump according to the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the original soil, the volume of the crawler suspension and the volume concentration of the original soil;

[0043] Determine the lower limit of the flow rate of the mixture absorbed by the water pump according to the upper limit of the volume concentration of the mixture absorbed by the water pump, the volume suspended by the crawler track, and the volume concentration of the original soil;

[0044] Determine the lower limit of the flow rate of the mixture absorbed by the mud pump based on the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head, and the lower limit of the flow rate of the mixture absorbed by the water diversion pump;

[0045] The upper limit of the flow rate of the mixture absorbed by the water diversion pump is determined according to the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head and the upper limit of the flow rate of the mixture absorbed by the mud pump. The multi-source is the crawler and the collection head, and the multi-pump is the mud pump and the water diversion pump.

[0046] This embodiment determines the upper limit of the flow rate of the mixture absorbed by the mud pump according to the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the original soil, the volume of the crawler suspension and the volume concentration of the original soil; determines the lower limit of the flow rate of the mixture absorbed by the water diversion pump according to the upper limit of the volume concentration of the mixture absorbed by the water diversion pump, the volume of the crawler suspension and the volume concentration of the original soil; determines the lower limit of the flow rate of the mixture absorbed by the mud pump according to the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head and the lower limit of the flow rate of the mixture absorbed by the water diversion pump; determines the lower limit of the flow rate of the mixture absorbed by the mud pump according to the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head and the upper limit of the flow rate of the mixture absorbed by the mud pump. The upper limit value of the flow rate of the collected mixture is obtained, and according to the mass conservation method, the lower limit value of the water diversion amount at the gap of the collecting head, the upper and lower limits of the flow rate of the mixture absorbed by the mud pump, and the upper and lower limits of the flow rate of the mixture absorbed by the water diversion pump, an envelope diagram of the water diversion amount at the gap of the collecting head, the flow rate of the mixture absorbed by the mud pump, and the flow rate of the mixture absorbed by the water diversion pump is drawn. The flow rate range of the mixture absorbed by the mud pump and the flow rate range of the mixture absorbed by the water diversion pump are determined according to the envelope diagram, thereby achieving precise matching of the pump flow in the mining vehicle, that is, improving the matching degree of the pump flow in the mining vehicle, so that the mining vehicle can maintain a good collection efficiency during mining work and can reduce the failure rate of the mining vehicle.

[0047] In this embodiment, if Figure 2 As shown, the total flow of the mud pump comes from the volume of the original soil and the flow of the mixture absorbed by the water pump, that is, Figure 3 The water diversion flow at the middle crawler and the water diversion volume at the gap of the collection head are three parts. During the operation of the mud pump, the gap of the collection head is a free exchange port. When the mud pump flow can cover the total intake flow, seawater will be sucked into the mud pump through the gap of the collection head (suction state); when the mud pump flow cannot cover the total intake flow, the mud will escape into the seawater through the gap of the collection head (omission state). In this embodiment, the mining vehicle is in the suction state during the mining working state. The suction state means that the flow of the mixture absorbed by the mud pump exceeds the sum of the flow of the mixture absorbed by the water diversion pump and the volume of the original soil. The mud pump flow can cover the total intake flow, which is expressed by the expression:

[0048] Q pump >Q situ,head +Q ambient,track ,

[0049] Where Q pump is the flow rate of the mixture absorbed by the mud pump, Q ambient,track Q is the flow rate of the mixture absorbed by the water pump, ambient,gapThe water inflow at the gap of the collection head. When the mining vehicle is in the suction state, the mud pump can suck away almost all the undisturbed soil disturbed by the collection head, which not only can improve the efficiency of mining, but also can reduce the amount of undisturbed soil left in the sea from the gap of the collection head, and reduce the impact on the environment. Through the mass conservation expression in unit time, it can be expressed as,

[0050] Q pump *ρ m,pump =Q situ,head *ρ situ +Q ambient,track *ρ m,track +Q ambient,gap *ρ w ,

[0051] In the formula, Q pump is the flow rate of the mixture sucked by the mud pump, ρ m,pump is the average density of the mixture sucked by the mud pump, Q ambient,track is the flow rate of the mixture sucked by the water inflow pump, ρ m,track is the average density of the mixture sucked by the water inflow pump, Q situ,head is the volume of the undisturbed soil, ρ situ is the density of the undisturbed soil, Q ambient,gap is the flow rate of water inflow at the gap of the collection head, and ρ w is the density of water inflow at the gap of the collection head. The average density of the mixture sucked by the mud pump in the formula can be ρ m,pump =ρ

[0052]

[0053] In the formula, Q situ,track is the volume of the track suspension, that is, the flow rate of the plume or the flow rate of the gravity flow formed after the track disturbs the undisturbed soil, Q situ,track The calculation expression of Q

[0054] Q situ,track =k*H track *W track *V track,drag *2,

[0055] In the formula, H track is the track soil compaction depth, W track is the track width, V track,drag is the track walking speed, and k is the track suspension coefficient, that is, the proportion of the plume or gravity flow formed after the track disturbs the undisturbed soil. In this embodiment, it is preferably 0.3, but can also be other values, which is selected according to the actual situation.

[0056] Of course in actual situation, there also exists the state of missing of the mining car, that is, the flow of the mixture absorbed by the mud pump is lower than the sum of the flow of the mixture absorbed by the water pump and the volume of the undisturbed soil, that is, the flow of the mud pump cannot cover the total intake flow, which can be expressed as

[0057] Q pump <Q situ,head +Q ambient,track ,

[0058] The state of missing of the mining car makes a part of the undisturbed soil missing from the gap of the collection head and being in the sea, which can be expressed by the mass conservation expression in unit time as,

[0059] Q pump *ρ m,pump =Q situ,head *ρ situ +Q ambient,track *ρ m,track -Q spillage *ρ spillage ,

[0060] In the formula, Q spillage is the flow of the mixture missing from the gap of the collection head, and ρ spillage is the average density of the missing mixture, that is, the density of the undisturbed soil, because the undisturbed soil escapes from the gap of the collection head tooth tip or side plate when the mining car is in the missing state, the water diversion position is at the water diversion window, and thus the mixture is not fully mixed, so the density of the missing soil can be considered as the same as the density of the undisturbed soil, and because the amount of the undisturbed soil escaping is very small, it does not affect the average density of the mixture absorbed by the mud pump, so the average density of the mixture absorbed by the mud pump in the suction state is still used as the average density of the mixture absorbed by the mud pump in the missing state, and the average density of the mixture absorbed by the mud pump represents the average density of the mixture of the undisturbed soil and seawater absorbed by the mud pump, because the density of the missing mixture ρ spillage is the density of the undisturbed soil, so the flow of the mixture missing from the gap of the collection head Q spillage can be expressed as

[0061]

[0062] In the formula, the average density of the mixture absorbed by the water pump ρ m,track is

[0063]

[0064] However, the essence of the missing is that the disturbed soil, i.e. the undisturbed soil cut by the collection head, is not fully mixed, and the flow of the mud pump is not sufficient to completely suck it away, but is left around the collection head tines or the joint, or even overflowed through the tine gaps or the joint. These gaps are both the water source for the fluidized soil and the outlet for the soil overflow, and cannot be completely closed, which not only reduces the mining efficiency but also pollutes the environment, so it is necessary to match the flow of the two pumps to keep the gap in the introduction state rather than the missing state.

[0065] In some embodiments, the lower limit of the water introduction amount at the gap of the collection head is 0.05 times the volume of the undisturbed soil. If the flow of the water introduction pump is too small, the mud pump will be in a missing state, reducing the mining efficiency of the mining vehicle, so it is necessary to limit the lower limit of the flow of the water introduction pump, and the selection of 0.05 times the volume of the undisturbed soil here is only based on practical engineering experience or test, which is equivalent to the preferred value, and not limited to 0.05 times the volume of the undisturbed soil.

[0066] In some embodiments, the lower limit of the volume concentration of the mixture sucked by the mud pump is 0.7 times the volume concentration of the undisturbed soil. This is to ensure that the efficiency of the mud pump in sucking the undisturbed soil remains at a good level. If the lower limit of the volume concentration of the mixture sucked by the mud pump is too low, too much useless water will be transported, resulting in too low a transfer amount of the undisturbed soil and reducing the efficiency of transferring the undisturbed soil. The lower limit of the volume concentration of the mixture sucked by the mud pump is preferably 0.7 times the volume concentration of the undisturbed soil, and the selection of 0.7 times the volume concentration of the undisturbed soil here is only based on practical engineering experience or test, which is equivalent to the preferred value, and not limited to 0.7 times the volume concentration of the undisturbed soil.

[0067] In some embodiments, the upper limit of the flow of the mixture sucked by the mud pump is determined according to the lower limit of the volume concentration of the mixture sucked by the mud pump, the volume of the undisturbed soil, the volume of the suspended soil by the track, and the volume concentration of the undisturbed soil, and the specific calculation expression is

[0068]

[0069] In the formula, Q pump，max is the upper limit of the flow of the mixture sucked by the mud pump, Q situ,head is the volume of the undisturbed soil, Vρ stin is the volume concentration of the undisturbed soil, Vρ m,pump，min is the minimum value of the volume concentration of the mixture sucked by the mud pump, and the calculation expression of the volume of the undisturbed soil is

[0070] Q situ,head = H head * W head * V drag

[0071] Q = the volume of the undisturbed soil situ,head V = the volume of the undisturbed soil drag W = the towing speed of the collection head head H = the width of the collection head head D = the digging depth of the collection head, since the flow rates of the mud pump and the water pump are controllable, the towing speed of the collection head and the density of the undisturbed soil are variable, because the soil quality of the undisturbed soil is different, for a certain form of mining vehicle, the undisturbed soil is an external condition, that is, the implementation object is different, and thus the density of the undisturbed soil is also uncertain, since the digging width is invariable and the adjustable range of the digging depth is not large, and the towing speed is a key factor for controlling the total volume, therefore, the independent variable and the constant variable are set as follows:

[0072] Q = the volume of the undisturbed soil pump = independent variable 1

[0073] Q = the volume of the undisturbed soil ambient,track = independent variable 2

[0074] V = the volume of the undisturbed soil drag = constant variable 1

[0075] ρ = the density of the undisturbed soil situ = constant variable 2

[0076] Therefore, if the volume of the undisturbed soil is to be controlled in the running state, the towing speed can be controlled to achieve this, which is convenient, fast and easy to implement, and realizes dynamic adjustment of the flow rate of the mud pump; the calculation expression of the volume concentration of the undisturbed soil is

[0077]

[0078] In the formula, Vρ situ is the volume concentration of the undisturbed soil, ρ situ is the density of the undisturbed soil, ρ w is the density of the water entering the gap of the collection head, ρ t is the particle density of the undisturbed soil.

[0079] In some embodiments, the lower limit value of the flow rate of the mixture absorbed by the water pump is determined according to the upper limit value of the volume concentration of the mixture absorbed by the water pump, the volume suspended by the track and the volume concentration of the undisturbed soil, and the specific calculation expression is

[0080]

[0081] In the formula, Q ambient,track，min is the lower limit value of the flow rate of the mixture absorbed by the water pump, Vρ m,track,max is the upper limit value of the volume concentration of the absorbed mixture.

[0082] In some embodiments, the lower limit of the flow rate of the mixture absorbed by the sludge pump is determined according to the mass conservation method, the lower limit of the amount of water at the gap of the collection head, and the lower limit of the flow rate of the mixture absorbed by the water pump, and the specific calculation expression is

[0083] Q pump.min * p m,pump.max = Q situ,head * p situ + Q ambient,track.min * p m,track.max + Q ambient,gap.min * p w ,

[0084]

[0085] In the formula, p m,pump.max is the upper limit of the average density of the mixture absorbed by the sludge pump, p m,track.max is the upper limit of the average density of the mixture absorbed by the water pump, Q ambient,gap.min is the lower limit of the amount of water at the gap of the collection head, and thus the lower limit of the amount of water at the gap of the corresponding collection head, the upper limit of the flow rate of the mixture absorbed by the sludge pump, and the volume suspended by the track are brought into the above three expressions, so as to calculate the lower limit of the flow rate of the mixture absorbed by the sludge pump.

[0086] In some embodiments, the upper limit of the flow rate of the mixture absorbed by the water pump is determined according to the mass conservation method, the lower limit of the amount of water at the gap of the collection head, and the upper limit of the flow rate of the mixture absorbed by the sludge pump, and the specific calculation expression is

[0087] Q pump.max * p m,pump.min = Q situ,head * p situ + Q ambient,track.max * p m,track.min + Q ambient,gap.min * p w ,

[0088]

[0089] In the formula, p m,pump.min is the lower limit of the average density of the mixture absorbed by the sludge pump, p m,track.min is the upper limit of the average density of the mixture absorbed by the water pump, Q ambient,gap.min is the lower limit of the amount of water at the gap of the collection head, and thus the lower limit of the amount of water at the gap of the corresponding collection head, the upper limit of the flow rate of the mixture absorbed by the sludge pump, and the volume suspended by the track are brought into the above three expressions, so as to calculate the lower limit of the flow rate of the mixture absorbed by the sludge pump.

[0090] In some embodiments, the density of the original soil is 1200 kg / m 3 Taking the demand for a volume greater than 25t / h as an example, based on the typical collection head ratio and the limitations of the mining vehicle, the design dimensions of the collection head are 0.6m in width and 0.1m in depth; the design dimensions of each crawler are 1m in length, 0.2m in width, and 0.03m in soil compaction depth. Assuming the crawler uplift coefficient k = 30% and the mining vehicle travel speed is set at 0.1m / s, the volume of undisturbed soil excavated by the collection head + crawler is 27.48t / h. The main scale parameters of this mining meet the production capacity requirements. In addition, due to the density of water entering the gap of the collection head ρ w Take 1025kg / m 3 , which is the density of seawater at 25°C, ρ t The particle density of the original soil is 2650 kg / m 3 , so through the expression

[0091]

[0092] The calculated volume concentration of the original soil is 10.77%, so the lower limit of the volume concentration of the mixture absorbed by the mud pump is Vρ m,pump，min The volume concentration of the original soil is 70%, that is, 7.54%. According to the expression

[0093] Q situ,head =H head *W head *V drag

[0094] The calculated volume of the original soil is 21.6m 3 / h, so the lower limit of the water diversion volume at the gap of the sampling head is 1.08m when it is 5% of the volume of the original soil. 3 / h, track suspension volume Q situ,track According to the expression

[0095] Q situ,track =k*H track *W track *V track,drag *2

[0096] The calculated value is 1.3m 3 / h.

[0097] The data in Table 1 are for the mixture absorbed by the water pump at a flow rate of 8m 3 / h, the flow rate of the mixture sucked by the mud pump is different, and various data are calculated by the mass conservation method. When calculating the water diversion volume at the gap of the collection head, that is, the mining vehicle is in the suction state, and then according to the relationship between the flow rate of the mixture absorbed by the mud pump and the flow rate of the mixture absorbed by the water diversion pump, the expression is:

[0098] Q pump *ρ m,pump =Q situ,head *ρ situ +Q ambient,track *ρ m,track +Q ambient,gap *ρ w ,

[0099] The amount of water introduced at the gap of the collection head

[0100]

[0101] Further, the flow rate Q of the mixture absorbed by the mud pump needs to be determined pump , the average density p of the mixture absorbed by the mud pump m,pump , the volume Q of the undisturbed soil situ,head , the density p of the undisturbed soil situ , the flow rate Q of the mixture absorbed by the water pump ambient,track , p m,track is the average density p of the mixture absorbed by the water pump m,track , and the density p of the water entering the gap of the collection head w , and the calculation expression of the volume Q of the undisturbed soil situ,head is

[0102] Q situ,head =H head *W head *V drag ,

[0103] wherein V drag is the collection head dragging speed, W head is the collection head width, H head is the collection head digging depth, all of which are constant variables, and the volume Q of the undisturbed soil situ,head can be calculated, according to the collection head dragging speed V drag in Table 1 is 0.1 m / s, the collection head width W head is 0.6 m, the collection head digging depth H head is 0.1 m, and thus the volume of the undisturbed soil

[0104] Q situ,head =H head *W head *V drag =0.1*0.6*0.1=0.006 m 3 / s=21.6 m 3 / h, and the density of the undisturbed soil is a constant variable, which is taken as 1200 kg / m 3 in Table 1, i.e., p situ =1200 kg / m 3, the flow rate Q of the mixture absorbed by the mud pump pump The value range in Table 1 is 28m 3 / h to 33m 3 / h, the flow rate Q of the mixture absorbed by the water pump ambient,track In Table 1, it is 8m 3 / h, the average density of the mixture absorbed by the water pump ρ m,track 1053kg / m 3 , can be based on The average density of the mixture absorbed by the mud pump is calculated as ρ m,pump In Q pump =28m 3 / h is 1168.10kg / m 3 , can be based on Calculated, the water entering the gap of the collection head is generally seawater, so its density ρ w Take 1025kg / m 3 , which is the density of seawater at 25°C, so in Q pump =28m 3 / h, it can be calculated

[0105]

[0106] According to the calculation results, Q ambient,gap When the result calculated based on the values ​​of the above parameters is a negative value, it can be determined that under the above parameters, the mining vehicle is in an omission state. Then, the values ​​of the above parameters are substituted into the expression of the relationship between the flow rate of the mixture absorbed by the mud pump and the flow rate of the mixture absorbed by the water pump in the omission state, which is

[0107] Q pump *ρ m,pump =Q situ,head *ρ situ +Q ambient,track *ρ m,track -Q spillage *ρ spillage ,

[0108] Then, the expression of the flow rate of the mixture missed at the sampling head seam can be obtained as follows:

[0109]

[0110] Then Q situ,head , ρ situ , Q ambient,track , ρ m,track , Q pump and ρ m,pump Substitute the value of

[0111] In the expression of

[0112]

[0113] According to the calculation result of the flow rate of the mixture missed at the collection head, it is a positive value. It can be seen that the mining vehicle is indeed in the omission state under the conditions of the above parameters. The above parameters are respectively taken under the existing values. The flow rate Q of the water entering the joint of the collection head is ambient,gap Calculation of the mixture flow Q missed at the collection head spillage The calculation of the two is used to determine whether the mining vehicle is in the suction state or the omission state according to the positive and negative values ​​of the two. The flow rate Q of water entering the joint of the collection head is ambient,gap The flow rate Q of the mixture that is positive or missed at the collection head spillage When it is a negative value, the mining vehicle is in the suction state; the flow rate Q of water entering the joint of the collection head is ambient,gap The flow rate Q of the mixture that is negative or missed at the collection head spillage When it is positive, the mining vehicle is in the omission state. In Table 1, the flow rate Q of the mixture missed at the gap of the collection head in the dependent variable is ambient,gap The actual value should be the opposite of the corresponding value in the table. The minus sign is added to the table to indicate that the mining vehicle is in a missed state.

[0114] In fact, the average density of the mixture absorbed by the mud pump is ρ m,pump Through the expression

[0115]

[0116] The calculated volume Q of the track suspension is situ,track Through the expression

[0117] Q situ,track =k*H track *W track *V track,drag *2

[0118] It can be calculated to be 1.3m 3 / h, and then substitute the corresponding data into the formula to calculate the pump 28m 3 / h, the average density of the mixture absorbed by the pump ρ m,pump 1168.10kg / m 3 , the average density of the mixture absorbed by the water pump ρ m,track According to the expression The flow rate Q of the mixture absorbed by the mud pump can be calculated pump 28m 3 / h, the average density ρ of the mixture absorbed by the water pump m,trackAverage is 1053kg / m 3 , and the flow rate Q of the mixture not absorbed by the mud pump pump The volume concentration of the mixture absorbed by the mud pump in Table 1 is 8.81%, which is calculated according to the expression

[0119]

[0120] Calculated, where Vρ m,pump The volume concentration of the mixture absorbed by the mud pump; the volume concentration of the mixture absorbed by the water pump in Table 1 is 1.74% based on the calculation expression

[0121]

[0122] Calculated, where Vρ m,track is the volume concentration of the mixture absorbed by the water pump.

[0123] Therefore, according to the calculation expression of the upper limit of the flow rate of the mixture absorbed by the mud pump

[0124]

[0125] The upper limit Q of the flow rate of the mixture absorbed by the mud pump can be calculated pump，max 32.71m 3 / h, based on the calculation expression of the lower limit of the flow rate of the mixture absorbed by the water pump

[0126]

[0127] The lower limit value Q of the mixture flow absorbed by the water pump can be calculated ambient,track，min 6.98m 3 / h, and then according to the calculation expression of the lower limit of the flow rate of the mixture absorbed by the mud pump

[0128] Q pump.min *ρ m,pump.max =Q situ,head *ρ situ +Q ambient,track.min *ρ m,track.max +Q ambient,gap.min *ρ w ,

[0129]

[0130] The lower limit value Q of the flow rate of the mixture absorbed by the mud pump can be calculated pump，min 29.7m 3 / h, similarly, the calculation expression of the upper limit of the flow rate of the mixture absorbed by the water pump is

[0131] Q pump.max*ρ m,pump.min =Q situ,head *ρ situ +Q ambient,track.max *ρ m,track.min +Q ambient,gap.min *ρ w ,

[0132]

[0133] It can be calculated that the upper limit of the flow rate of the mixture absorbed by the water pump is 10m 3 / h, and then determined that the flow range of the mixture absorbed by the mud pump is 29.7m 3 / h to 32.71m 3 / h, the flow range of the mixture absorbed by the water pump is 6.98m 3 / h to 10m 3 / h, both of which within the corresponding range can enable the mining vehicle, that is, the mining vehicle, to maintain a high mining efficiency and reduce mechanical failures of the mining vehicle. Since the mining vehicle is always in the suction state, it can also reduce the impact of the disturbed original soil on the environment.

[0134] The flow rate Q of the mixture absorbed by the water pump ambient,track At 6.98m 3 / h、9m 3 / h and 10m 3 The relevant data at / h can also refer to the flow rate Q of the mixture absorbed by the water pump ambient,track At 8m 3 / h for corresponding calculations, which are not listed in Table 1.

[0135] Table 1

[0136]

[0137]

[0138]

[0139] According to the flow rate of the mixture absorbed by the water pump, the corresponding envelope diagram can be drawn, such as Figure 4 As shown, from Figure 4 The appropriate flow range of the two pumps can be clearly determined (green shaded area). The flow of the two pumps is maintained within this range through pump speed adjustment and real-time flow monitoring. The collection head will remain in a green and efficient collection state. The flow range of the mixture absorbed by the mud pump is: 29.7 to 32.71m 3 / h, the flow range of the mixture absorbed by the water pump is: 6.98 to 10m 3 / h.

[0140] In the above embodiments, the relationship of the mud pump, the collection head, the water pump and the caterpillar is shown as follows Figure 5 The caterpillar drives the collection vehicle to advance, and disturbs the undisturbed soil to generate plumes. The water pump absorbs the generated plumes into the collection head, mixes with the undisturbed soil collected by the collection head, and is absorbed by the mud pump.

[0141] The above merely describes the preferred embodiments of the present application, but should not be used to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A novel method for analyzing the matching of multi-source disturbance and multi-pump flow for a deep-sea mining vehicle, characterized in that: The mining vehicle includes a collection head, a mud pump, a water diversion pump, and crawlers, and includes the following steps: Setting a lower limit value of the water diversion amount at the gap of the collection head; Determining an upper limit value of the flow rate of the mixture absorbed by the dredge pump based on a lower limit value of the volume concentration of the mixture absorbed by the dredge pump, the volume of the original soil, the volume of the crawler suspension, and the volume concentration of the original soil; determining a lower limit value of the flow rate of the mixture absorbed by the water diversion pump based on an upper limit value of the volume concentration of the mixture absorbed by the water diversion pump, the volume of the crawler suspension, and the volume concentration of the original soil; Determining the lower limit of the flow rate of the mixture absorbed by the mud pump according to the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head, and the lower limit of the flow rate of the mixture absorbed by the water diversion pump; Determining the upper limit of the flow rate of the mixture absorbed by the water diversion pump according to the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head, and the upper limit of the flow rate of the mixture absorbed by the mud pump; According to the mass conservation method, the lower limit of the water diversion amount at the gap of the collection head, the upper and lower limits of the flow rate of the mixture absorbed by the mud pump, and the upper and lower limits of the flow rate of the mixture absorbed by the water diversion pump, an envelope diagram of the water diversion amount at the gap of the collection head, the flow rate of the mixture absorbed by the mud pump, and the flow rate of the mixture absorbed by the water diversion pump is drawn, and the flow range of the mixture absorbed by the mud pump and the flow range of the mixture absorbed by the water diversion pump are determined according to the envelope diagram.

2. The multi-source disturbance and multi-pump flow matching analysis method for a new deep-sea mining vehicle according to claim 1 is characterized in that: The lower limit of the water diversion amount at the gap of the collection head is 0.05 times the volume of the original soil.

3. The multi-source disturbance and multi-pump flow matching analysis method for a new deep-sea mining vehicle according to claim 1 is characterized in that: The lower limit of the volume concentration of the mixture absorbed by the mud pump is 0.7 times the volume concentration of the original soil.

4. The multi-source disturbance and multi-pump flow matching analysis method for a new deep-sea mining vehicle according to claim 1 is characterized in that: The calculation expression of the volume of the original soil is: Q situ,head =H head *W head *V drag Where Q situ,head is the volume of the original soil, V drag is the dragging speed of the collection head, W head is the width of the acquisition head, H head is the digging depth of the collection head.

5. The multi-source disturbance and multi-pump flow matching analysis method for a new deep-sea mining vehicle according to claim 4 is characterized in that: The calculation expression of the volume of the track suspension is: Q situ,track =k*H track *W track *V track,drag *2, Where Q situ,track is the volume of the track suspension, H track is the soil compaction depth of the crawler, W track is the width of the track, V track,drag is the walking speed of the crawler, and k is the lift coefficient of the crawler.

6. The novel deep-sea mining vehicle multi-source disturbance and multi-pump flow matching analysis method according to claim 5 is characterized in that: The lift coefficient k of the crawler track is 0.

3.

7. The novel deep-sea mining vehicle multi-source disturbance and multi-pump flow matching analysis method according to claim 5 is characterized in that: The calculation expression of the volume concentration of the original soil is: Where Vρ situ is the volume concentration of the original soil, ρ situ is the density of the original soil, ρ w is the density of water entering the gap of the collection head, ρ t is the particle density of the original soil.

8. The novel deep-sea mining vehicle multi-source disturbance and multi-pump flow matching analysis method according to claim 7 is characterized in that: The mass conservation method is expressed as Q pump *r m,pump =Q situ,head *r situ +Q ambient,track *r m,track +Q ambient,gap *r w , Where Q pump is the flow rate of the mixture absorbed by the mud pump, ρ m,pump is the average density of the mixture absorbed by the mud pump, Q ambient,track is the flow rate of the mixture absorbed by the water pump, ρ m,track is the average density of the mixture absorbed by the water pump, Q situ,head is the volume of the original soil, Q ambient,gap is the water diversion amount at the gap of the collection head, ρ w is the density of water introduced into the gap of the collection head.

9. The novel deep-sea mining vehicle multi-source disturbance and multi-pump flow matching analysis method according to claim 8 is characterized in that: The average density of the mixture absorbed by the mud pump is ρ m,pump The expression is Where Q situ,track is the volume suspended by the track.

10. The novel deep-sea mining vehicle multi-source disturbance and multi-pump flow matching analysis method according to claim 9 is characterized in that: The average density ρ of the mixture absorbed by the water pump m,track for

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