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

Abstract

The application discloses a multi-source disturbance quantity and multi-pump flow matching analysis method of a novel deep-sea mining vehicle, and comprises the following steps: setting a lower limit value of water diversion quantity at a gap of a collection head; determining an upper limit value of flow of a mixture absorbed by a mud pump; determining a lower limit value of flow of the mixture absorbed by the water diversion pump; determining a lower limit value of flow of the mixture absorbed by the mud pump; determining an upper limit value of flow of the mixture absorbed by the water diversion pump; drawing an envelope diagram about the water diversion quantity at the gap of the collection head, the flow of the mixture absorbed by the mud pump and the flow of the mixture absorbed by the water diversion pump according to a mass conservation method, the lower limit value of the water diversion quantity 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 mud pump and the upper limit value and the lower limit value of the flow of the mixture absorbed by the water diversion pump; and determining a flow range of the mixture absorbed by the mud pump and a flow range of the mixture absorbed by the water diversion pump according to the envelope diagram. The problem of poor pump flow matching of the mining vehicle is solved.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining, and in particular to a novel method for matching and analyzing the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle. Background Technology

[0002] With the gradual depletion of terrestrial mineral resources, the development of deep-sea mineral resources has become a global focus. Deep-sea mineral resources, such as polymetallic nodules and hydrothermal deposits, possess immense economic and strategic value. Proper matching of pump flow rates is crucial for mining efficiency, equipment performance, and environmental protection. Excessive concentration during extraction can easily lead to blockages, unstable pump flow rates, and even equipment damage; conversely, insufficient concentration will affect extraction efficiency and increase energy consumption. However, current technologies lack systematic research and optimization methods for pump flow rate matching in head-type mining vehicles, especially under complex operating conditions. Achieving precise pump flow rate matching remains a pressing issue. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of poor pump flow matching in the prior art and to provide a novel method for analyzing the matching of multi-source disturbance and multi-pump flow of a deep-sea mining vehicle.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0005] A novel method for matching multi-source disturbance and multi-pump flow rate of a deep-sea mining vehicle, the mining vehicle comprising a sampling head, a mud pump, a water pump, and tracks, comprising the following steps:

[0006] Set a lower limit for the water flow rate at the gap of the collection head;

[0007] The upper limit of the flow rate of the mixture absorbed by the mud pump is determined based on the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the undisturbed soil, the volume of the track suspension, and the volume concentration of the undisturbed soil.

[0008] The lower limit of the flow rate of the mixture absorbed by the water pump is determined based on the upper limit 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.

[0009] The lower limit of the flow rate of the mixture absorbed by the mud pump is determined based on the mass conservation method, the lower limit of the water diversion volume at the gap of the collection head, and the lower limit of the flow rate of the mixture absorbed by the water pump.

[0010] The upper limit of the flow rate of the mixture absorbed by the water pump is determined based on the mass conservation method, the lower limit of the water intake at the gap of the collection head, and the upper limit of the flow rate of the mixture absorbed by the mud pump.

[0011] Based on the mass conservation method, the lower limit of the water diversion at the gap of the sampling 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 pump, an envelope diagram is plotted regarding the water diversion at the gap of the sampling head, the flow rate of the mixture absorbed by the mud pump, and the flow rate of the mixture absorbed by the water pump. The flow rate range of the mixture absorbed by the mud pump and the flow rate range of the mixture absorbed by the water pump are determined based on the envelope diagram.

[0012] Preferably, the lower limit of the water diversion volume at the gap of the collection head is 0.05 times the volume of the original soil.

[0013] Preferably, the lower limit of the volume concentration of the mixture absorbed by the mud pump is 0.7 times the volume concentration of the undisturbed soil.

[0014] Preferably, the formula for calculating the volume of the undisturbed soil is as follows:

[0015]

[0016] In the formula, The volume of the undisturbed soil. The dragging speed of the acquisition head. The width of the acquisition head. The depth of the sampling head.

[0017] Preferably, the formula for calculating the volume of the track suspension is as follows:

[0018] ,

[0019] In the formula, The volume of the track suspension. The soil compaction depth of the track is [not specified]. The width of the track. The speed at which the tracks travel. The lifting coefficient of the track.

[0020] Preferably, the track's lift coefficient Take 0.3.

[0021] Preferably, the formula for calculating the volume concentration of the undisturbed soil is as follows:

[0022] ,

[0023] In the formula, The volume concentration of the undisturbed soil. The density of the undisturbed soil. The density of the water entering through the gap in the collection head. This represents the particle density of the undisturbed soil.

[0024] Preferably, the mass conservation method is expressed by the following expression:

[0025] ,

[0026] In the formula, The flow rate of the mixture absorbed by the mud pump. The average density of the mixture absorbed by the mud pump. The flow rate of the mixture absorbed by the priming pump. The average density of the mixture absorbed by the water pump. The volume of the undisturbed soil. The density of the undisturbed soil. This refers to the water flow rate through the gap in the collection head. The density of water entering through the gap in the collection head.

[0027] Preferably, the average density of the mixture absorbed by the mud pump is The expression is

[0028] ,

[0029] In the formula, The flow rate of the mixture absorbed by the mud pump. The average density of the mixture absorbed by the mud pump. The volume of the track suspension. The volume of the undisturbed soil. The density of the undisturbed soil. The density of water entering through the gap in the collection head.

[0030] Preferably, the average density of the mixture absorbed by the water pump is... for

[0031] ,

[0032] In the formula, The average density of the mixture absorbed by the water pump. The volume of the track suspension. The density of the undisturbed soil. The flow rate of the mixture absorbed by the priming pump. The density of water entering through the gap in the collection head.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] This invention determines the upper limit of the flow rate of the mixture absorbed by the mud pump based on the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the undisturbed soil, the volume of the suspension on the track, and the volume concentration of the undisturbed soil. It also determines the lower limit of the flow rate of the mixture absorbed by the water pump based on the upper limit of the volume concentration of the mixture absorbed by the water pump, the volume of the suspension on the track, and the volume concentration of the undisturbed soil. Finally, it determines the lower limit of the flow rate of the mixture absorbed by the water pump based on the mass conservation method, the lower limit of the water intake at the gap of the sampling head, and the lower limit of the flow rate of the mixture absorbed by the water pump. The upper limit of the flow rate of the mixture is determined by using the mass conservation method, the lower limit of the water diversion at the gap of the sampling 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 pump. Envelope diagrams are then drawn for the water diversion at the gap of the sampling head, the flow rate of the mixture absorbed by the mud pump, and the flow rate of the mixture absorbed by the water pump. Based on the envelope diagrams, the flow rate ranges of the mixture absorbed by the mud pump and the water pump are determined. This establishes the precise matching of pump flow rates in the mining vehicle, thereby improving the matching degree of pump flow rates in the mining vehicle. This allows the mining vehicle to maintain good sampling efficiency and reduce the failure rate of the mining vehicle during mining operations. Attached Figure Description

[0035] Figure 1 A flowchart illustrating the steps of a novel method for matching multi-source disturbance and multi-pump flow rate in a deep-sea mining vehicle.

[0036] Figure 2 A schematic diagram showing the flow source of the mixture absorbed by the mud pump;

[0037] Figure 3 A schematic diagram showing the water flow rate at the tracks of a mining vehicle;

[0038] Figure 4 This is a schematic diagram showing the relationship between the flow rates of the mud pump and the priming pump in the multi-source disturbance and multi-pump flow matching analysis method of the novel deep-sea mining vehicle of the present invention.

[0039] Figure 5 This is a schematic diagram showing the relationship between the mud pump, the collection head, the water pump, and the tracks. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0041] like Figure 1 As shown in the figure, this embodiment provides a novel method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle. The mining vehicle includes a sampling head, a mud pump, a water pump, and tracks. The method includes the following steps:

[0042] Set the lower limit value of the water diversion volume at the gap of the collection head;

[0043] The upper limit of the flow rate of the mixture absorbed by the mud pump is determined based on the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the undisturbed soil, the volume of the track suspension, and the volume concentration of the undisturbed soil.

[0044] The lower limit of the flow rate of the mixture absorbed by the water pump is determined based on the upper limit 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.

[0045] The lower limit of the flow rate of the mixture absorbed by the mud pump is determined based on the mass conservation method, the lower limit of the water intake at the gap of the sampling head, and the lower limit of the flow rate of the mixture absorbed by the water pump.

[0046] The upper limit of the flow rate of the mixture absorbed by the priming pump is determined based on the mass conservation method, the lower limit of the water intake at the gap of the sampling head, and the upper limit of the flow rate of the mixture absorbed by the mud pump. The multi-source pumps are the track and the sampling head, and the multi-pump pumps are the mud pump and the priming pump.

[0047] This embodiment determines the upper limit of the flow rate of the mixture absorbed by the mud pump based on the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the undisturbed soil, the volume of the suspension on the track, and the volume concentration of the undisturbed soil. It also determines the lower limit of the flow rate of the mixture absorbed by the priming pump based on the upper limit of the volume concentration of the mixture absorbed by the priming pump, the volume of the suspension on the track, and the volume concentration of the undisturbed soil. Finally, it determines the lower limit of the flow rate of the mixture absorbed by the priming pump based on the mass conservation method, the lower limit of the water intake at the gap of the sampling head, and the lower limit of the flow rate of the mixture absorbed by the priming pump. The upper limit of the flow rate of the collected mixture is determined by using the mass conservation method, the lower limit of the water diversion 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 pump. An envelope diagram is then drawn for the water diversion 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 pump. Based on the envelope diagram, the flow rate range of the mixture absorbed by the mud pump and the flow rate range of the mixture absorbed by the water pump are determined. This achieves precise matching of the pump flow rate in the mining vehicle, which improves the matching degree of the pump flow rate in the mining vehicle. This allows the mining vehicle to maintain good collection efficiency and reduce the failure rate of the mining vehicle during mining operations.

[0048] In this embodiment, as Figure 2 As shown, the total flow rate of the mud pump comes from the volume of the undisturbed soil and the flow rate of the mixture absorbed by the water pump. Figure 3 The water flow rate consists of three parts: the water intake flow rate at the track and the water intake flow rate at the gap in the sampling head. During the operation of the mud pump, the gap in the sampling head is a free exchange port. When the mud pump flow rate can cover the total intake flow rate, seawater will be drawn into the mud pump through the gap in the sampling head (intake state); when the mud pump flow rate cannot cover the total intake flow rate, mud will escape into the seawater through the gap in the sampling head (leakage state). In this embodiment, the mining vehicle is in the intake state during mining operations. The intake state refers to the situation where the flow rate of the mixture absorbed by the mud pump exceeds the sum of the flow rate of the mixture absorbed by the water pump and the volume of the undisturbed soil. The mud pump flow rate can cover the total intake flow rate, which can be expressed by the following expression:

[0049] ,

[0050] In the formula, The flow rate of the mixture absorbed by the mud pump. The flow rate of the mixture absorbed by the priming pump. This represents the water intake volume at the gap in the sampling head. When the mining vehicle is in suction mode, the mud pump will suck away almost all the disturbed undisturbed soil from the sampling head. This not only improves mining efficiency but also reduces the amount of undisturbed soil leaking into the sea through the gap in the sampling head, thus reducing environmental impact. This can be expressed by the mass conservation expression per unit time as follows:

[0051] ,

[0052] In the formula, The flow rate of the mixture absorbed by the mud pump. The average density of the mixture absorbed by the mud pump. The flow rate of the mixture absorbed by the priming pump. The average density of the mixture absorbed by the priming pump, The volume of the undisturbed soil. The density of the undisturbed soil. To collect the flow rate of water entering through the gap in the head, The density of the water entering through the gap in the sampling head. The average density of the mixture absorbed by the mud pump in the formula can be... for

[0053] ,

[0054] In the formula, This refers to the volume suspended by the tracks, which is the flow rate of the plume or gravity flow formed after the tracks disturb the undisturbed soil. The calculation expression is as follows

[0055] ,

[0056] In the formula, This refers to the depth of soil compaction by the tracks. For track width, For the track travel speed, The lifting coefficient of the track is the proportion of the undisturbed soil that is lifted by the track to form a plume or gravity flow. In this embodiment, it is preferably 0.3, but it can also be other values, selected according to the actual situation.

[0057] Of course, in reality, there may be instances where the mining truck is missed, meaning the flow rate of the mixture absorbed by the mud pump is less than the sum of the flow rate of the mixture absorbed by the water pump and the volume of the undisturbed soil. In other words, the mud pump flow rate cannot cover the total intake flow rate, which can be expressed as:

[0058] ,

[0059] The mining vehicle's malfunction resulted in some undisturbed soil leaking into the sea through gaps in the mining head. This can be expressed using the mass conservation expression per unit time.

[0060] ,

[0061] In the formula, To collect the flow rate of the mixture leaking from the head gap, The average density of the omitted mixture is the density of the undisturbed soil. This is because when the mining vehicle is in the omitted state, the undisturbed soil escapes from gaps in the tips of the mining head teeth or side plates, and the water intake is located at the water intake window, so it is not fully mixed. Therefore, the density of the omitted soil can be considered to be the same as the density of the undisturbed soil. Furthermore, since the amount of undisturbed soil escaping is very small, it does not affect the average density of the total compound absorbed by the mud pump. Therefore, the average density of the compound absorbed by the mud pump during the suction state is still used as the average density of the compound absorbed by the mud pump during the omitted state. The average density of the compound absorbed by the mud pump represents the average density of the mixture of undisturbed soil and seawater sucked in by the mud pump. The density of the missing mixture is the same as that of the undisturbed soil, therefore the flow rate of the missing mixture in the sampling head gap is... It can be expressed as

[0062] ,

[0063] The average density of the mixture absorbed by the pump in the formula. for

[0064] .

[0065] However, the essence of leakage is that the disturbed soil, namely the undisturbed soil cut by the extraction head, is not fully mixed, and the flow rate of the mud pump is insufficient to suck it all away, leaving it around the rake teeth or joints of the extraction head, or even overflowing through the gaps between the rake teeth or joints. These gaps are both the source of water for fluidized soil and the outlet for soil overflow, and cannot be completely sealed. This not only reduces mining efficiency but also pollutes the environment. Therefore, it is necessary to adjust and match the flow rates of the two pumps to ensure that the gaps are always in a state of introduction rather than leakage.

[0066] In some embodiments, the lower limit of the water diversion volume at the gap of the sampling head is 0.05 times the volume of the undisturbed soil. If the flow rate of the water pump is too low, the mud pump will be in a state of leakage, reducing the mining efficiency of the mining vehicle. Therefore, it is necessary to limit the lower limit of the water pump flow rate. The selection of 0.05 times the volume of the undisturbed soil here is only based on actual engineering experience or experiments, which is equivalent to a preferred value, and is not limited to 0.05 times the volume of the undisturbed soil.

[0067] In some embodiments, the lower limit of the volume concentration of the mixture absorbed by the mud pump is 0.7 times the volume concentration of the undisturbed soil. This setting is to ensure that the efficiency of the mud pump in absorbing the undisturbed soil remains at a good level. If the lower limit of the volume concentration of the mixture absorbed by the mud pump is too low, too much useless water will be transported, resulting in too little undisturbed soil being transported, thus reducing the efficiency of undisturbed soil transport. The lower limit of the volume concentration of the mixture absorbed by the mud pump is preferably 0.7 times the volume concentration of the undisturbed soil. The selection of 0.7 times the volume concentration of the undisturbed soil here is only based on actual engineering experience or experiments, and is equivalent to a preferred value, not a limitation to 0.7 times the volume concentration of the undisturbed soil.

[0068] In some embodiments, the upper limit of the flow rate of the mixture absorbed by the mud pump is determined based on the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the undisturbed soil, the volume of the track suspension, and the volume concentration of the undisturbed soil. The specific calculation expression is as follows:

[0069] ,

[0070] In the formula, This is the upper limit of the flow rate of the mixture absorbed by the mud pump. The volume of the undisturbed soil. This represents the volume concentration of the undisturbed soil. The minimum volume concentration of the mixture absorbed by the mud pump, where the volume of undisturbed soil is calculated using the following expression:

[0071]

[0072] In the formula, The volume of the undisturbed soil. The drag speed of the acquisition head. The width of the acquisition head. For the excavation depth of the sampling head, since the flow rates of the mud pump and water pump are controllable, the dragging speed of the sampling head and the density of the undisturbed soil are constant variables. Because the soil quality of the undisturbed soil varies greatly, for a specific type of mining vehicle, the undisturbed soil is an external condition, meaning the density of the undisturbed soil is uncertain depending on the specific application. Since the excavation width is fixed and the adjustable range of the excavation depth is limited, while the dragging speed is the key factor in controlling the overall volume, the independent and constant variables are set as follows:

[0073] ;

[0074] ;

[0075] ;

[0076] ;

[0077] Therefore, to control the volume of undisturbed soil during operation, this can be achieved by adjusting the towing speed, which is convenient, quick, and easy to implement, enabling dynamic adjustment of the mud pump flow rate; the formula for calculating the volume concentration of undisturbed soil is:

[0078] ,

[0079] In the formula, This represents the volume concentration of the undisturbed soil. The density of the undisturbed soil. To measure the density of water entering through the gaps in the sampling head, This represents the particle density of the undisturbed soil.

[0080] In some embodiments, the lower limit of the flow rate of the mixture absorbed by the water pump is determined based on the upper limit 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. The specific calculation expression is as follows:

[0081] ,

[0082] In the formula, The lower limit of the flow rate of the mixture absorbed by the priming pump. This represents the upper limit of the volume concentration of the absorbed mixture.

[0083] In some embodiments, the lower limit of the flow rate of the mixture absorbed by the mud pump is determined based on the mass conservation method, the lower limit of the water intake at the gap of the sampling head, and the lower limit of the flow rate of the mixture absorbed by the water pump. The specific calculation expression is as follows:

[0084] ,

[0085] ,

[0086] ,

[0087] In the formula, This represents the upper limit of the average density of the mixture absorbed by the mud pump. The upper limit of the average density of the mixture absorbed by the priming pump. The lower limit of the water volume at the gap of the sampling head is given. Therefore, by substituting the lower limit of the water volume at the gap of the corresponding sampling head, the lower limit of the flow rate of the mixture absorbed by the water pump, and the volume of the track suspension into the above three expressions, the lower limit of the flow rate of the mixture absorbed by the mud pump can be calculated.

[0088] In some embodiments, the upper limit of the flow rate of the mixture absorbed by the priming pump is determined based on the mass conservation method, the lower limit of the water intake at the gap of the sampling head, and the upper limit of the flow rate of the mixture absorbed by the mud pump. The specific calculation expression is as follows:

[0089] ,

[0090] ,

[0091] ,

[0092] In the formula, This is the lower limit of the average density of the mixture absorbed by the mud pump. The lower limit of the average density of the mixture absorbed by the priming pump. This represents the lower limit of the water volume at the slit of the sampling head.

[0093] By substituting the lower limit of the water diversion volume at the gap of the corresponding sampling head, the upper limit of the flow rate of the mixture absorbed by the mud pump, and the volume of the track suspension into the above three expressions, the upper limit of the flow rate of the mixture absorbed by the water diversion pump can be calculated.

[0094] In some embodiments, the density of the undisturbed soil is 1200 kg / m³. 3 Taking a demand with a volume greater than 25t / h as an example,

[0095] Based on the typical head proportions and the limitations of the mining vehicle, the design dimensions of the head are taken as follows: excavation width 0.6m, excavation depth 0.1m; each track is designed to be 1m long, 0.2m wide, and have a compaction depth of 0.03m. Assuming a track lifting coefficient k=30% and a mining vehicle travel speed of 0.1m / s, the excavation volume of the original soil from the head and track is 27.48t / h. The main dimensional parameters of this mining operation meet the production capacity requirements. Furthermore, considering the density of water entering through the gaps in the head... Take 1025 This is the density of seawater at 25°C. The particle density of the undisturbed soil is taken as 2650. Therefore, through the expression

[0096]

[0097] The calculated volume concentration of the undisturbed soil is 10.77%. Therefore, the lower limit of the volume concentration of the mixture absorbed by the mud pump is... It is 70% of the volume concentration of the undisturbed soil, which is 7.54%, according to the expression.

[0098]

[0099] The calculated volume of the undisturbed soil is 21.6. Therefore, the lower limit for water diversion at the gap of the sampling head is 1.08 when it is 5% of the volume of the undisturbed soil. The volume of track suspension According to the expression

[0100]

[0101] The calculated value is 1.3m. 3 / h.

[0102] The data in Table 1 shows the flow rate of the mixture absorbed by the priming pump as 8 m³ / s. 3 / h, various data calculated using the mass conservation method for different flow rates of the mixture sucked in by the mud pump. When calculating the water intake at the gap of the sampling head, i.e., when the mining car is in the suction state, 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 is then used.

[0103] ,

[0104] The amount of water drawn through the gap in the collection head can be determined.

[0105] ,

[0106] Therefore, it is necessary to determine the flow rate of the mixture absorbed by the mud pump. The average density of the mixture absorbed by the mud pump Volume of undisturbed soil Density of undisturbed soil Flow rate of the mixture absorbed by the priming pump , The average density of the mixture absorbed by the priming pump and the density of water entering through the gaps in the sampling head. The value, and the volume of the undisturbed soil. The calculation expression is as follows

[0107] ,

[0108] in, The drag speed of the acquisition head. The width of the acquisition head. The excavation depth of the sampling head is a constant variable, and thus the volume of the undisturbed soil is... The drag speed of the acquisition head can be calculated based on the data in Table 1. The speed is 0.1 m / s, and the width of the acquisition head is... The depth of the data collection head is 0.6m. The depth is 0.1m, from which the volume of the undisturbed soil can be calculated.

[0109] ,

[0110] The density of the undisturbed soil is a constant, and is taken as 1200 in Table 1. ,Right now =1200 The flow rate of the mixture absorbed by the mud pump The range of values ​​in Table 1 is 28. Up to 33 The flow rate of the mixture absorbed by the priming pump The value in Table 1 is 8. The average density of the mixture absorbed by the priming pump 1053 According to The calculated average density of the mixture absorbed by the mud pump exist =28 It is 1168.10 According to The calculations show that the water entering through the gaps in the sampling head is generally seawater, therefore its density... Take 1025 This is the density of seawater at 25°C, therefore... =28 At that time, it can be calculated

[0111]

[0112] According to the calculation results, it can be seen that Since the calculated results based on the values ​​of the above parameters are negative, it can be determined that the mining car is in a state of leakage under the above parameters. Therefore, substituting the values ​​of the above-set parameters into the expression relating the flow rate of the mixture absorbed by the mud pump to the flow rate of the mixture absorbed by the sump pump under the leakage state, we get...

[0113] ,

[0114] Therefore, the expression for the flow rate of the mixture missed at the head seam can be obtained as follows:

[0115] ,

[0116] Furthermore , , , , as well as Substitute the value

[0117]

[0118] From the expression, it can be calculated that

[0119]

[0120] The calculated flow rate of the mixture leaking at the sampling head is positive, indicating that the mining truck is indeed in a leaking state under the aforementioned parameter values. Furthermore, the flow rates of water entering through the sampling head joint under the suction state were measured under the existing parameter values. The calculation of the flow rate of the mixture missed at the sampling head. The calculation determines whether the mining vehicle is in a suction or leakage state based on the positive or negative values ​​of the two values, and the flow rate of water entering at the joint of the collection head. The flow rate of the mixture that is positive or missed at the sampling head. When the value is negative, the mining vehicle is in a suction state; the flow rate of water entering at the joint of the collection head. Negative values ​​or flow rates of mixtures missed at the sampling head When the value is positive, the mining vehicle is in a state of leakage. Table 1 shows the flow rate of the mixture leaking through the sampling head gap as the dependent variable. The actual value should be the opposite of the corresponding value in the table. Adding a negative sign to the table indicates that the mining vehicle is missing.

[0121] The average density of the mixture absorbed by the mud pump is actually... Through expressions

[0122] ,

[0123] The calculated volume of the track suspension is... Through expressions

[0124]

[0125] The calculated value is 1.3. Then, by substituting the corresponding data into the formula, the result can be calculated. 28 At that time, the average density of the mixture absorbed by the pump It is 1168.10 The average density of the mixture absorbed by the priming pump According to the expression The flow rate of the mixture absorbed by the mud pump can be calculated. 28 At that time, the average density of the mixture absorbed by the priming pump The average is 1053 And the flow rate of the mixture not absorbed by the mud pump The concentration of the mixture absorbed by the mud pump in Table 1, which is 8.81%, varies with the changes. This concentration is based on the calculated formula.

[0126]

[0127] It is calculated, in the formula The volume concentration of the mixture absorbed by the mud pump; the volume concentration of the mixture absorbed by the priming pump in Table 1, 1.74%, is based on the calculation expression.

[0128]

[0129] It is calculated, in the formula The volume concentration of the mixture absorbed by the priming pump.

[0130] Therefore, the calculation formula is based on the upper limit of the flow rate of the mixture absorbed by the mud pump.

[0131]

[0132] The upper limit of the flow rate of the mixture absorbed by the mud pump can be calculated. 32.71m 3 / h, calculated according to the lower limit of the flow rate of the mixture absorbed by the priming pump.

[0133]

[0134] The lower limit of the flow rate of the mixture absorbed by the priming pump can be calculated. It is 6.98m 3 / h, and then based on the calculation expression of the lower limit of the flow rate of the mixture absorbed by the mud pump.

[0135] ,

[0136] ,

[0137] ,

[0138] The lower limit of the flow rate of the mixture absorbed by the mud pump can be calculated. It is 29.7m 3 / h, similarly, the calculation expression for the upper limit of the flow rate of the mixture absorbed by the priming pump is used.

[0139] ,

[0140] ,

[0141] ,

[0142] The upper limit of the flow rate of the mixture absorbed by the priming pump can be calculated to be 10 m³ / s. 3 / h, thus determining the flow rate range of the mixture absorbed by the mud pump to be 29.7m³. 3 / h to 32.71m 3 / h, the flow rate of the mixture absorbed by the priming pump ranges from 6.98m³ / h. 3 / h to 10m 3 / h, both within their respective ranges, enable the mining truck to maintain high mining efficiency and reduce mechanical failures. Since the mining truck is always in a suction state, it can also reduce the impact of disturbed undisturbed soil on the environment.

[0143] The flow rate of the mixture absorbed by the priming pump At 6.98 9 and 10 Relevant data can also be referenced from the flow rate of the mixture absorbed by the priming pump. In 8 The corresponding calculations are performed, and will not be listed in Table 1.

[0144] Table 1

[0145]

[0146] By sequentially changing the flow rate of the mixture absorbed by the priming pump, a corresponding envelope diagram can be drawn, such as... Figure 4 As shown, from Figure 4 The appropriate flow range for both pumps can be clearly determined (green shaded area). By adjusting the pump speed and monitoring the flow rate in real time, the flow rate of both pumps is maintained within this range. The sampling head will remain in a green and efficient sampling state. The flow rate range of the mixture absorbed by the mud pump is 29.7 to 32.71 m³. 3 / h, the flow rate of the mixture absorbed by the priming pump ranges from 6.98 to 10 m³ / h. 3 / h.

[0147] In the above embodiments, the relationship between the mud pump, the collection head, the water pump, and the track is as follows: Figure 5 As shown, the tracked vehicle moves forward, disturbing the undisturbed soil in its path and generating a plume. The water pump absorbs the plume into the collection head, where it mixes with the undisturbed soil collected by the collection head and is then absorbed by the mud pump.

[0148] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for matching and analyzing multi-source disturbances and multi-pump flow rates of a deep-sea mining vehicle, characterized in that, The mining vehicle includes a mining head, a mud pump, a water pump, and tracks, and includes the following steps: Set a lower limit for the water flow rate at the gap of the collection head; The upper limit of the flow rate of the mixture absorbed by the mud pump is determined based on the lower limit of the volume concentration of the mixture absorbed by the mud pump, the volume of the undisturbed soil, the volume of the track suspension, and the volume concentration of the undisturbed soil. The lower limit of the flow rate of the mixture absorbed by the water pump is determined based on the upper limit 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. The lower limit of the flow rate of the mixture absorbed by the mud pump is determined based on the mass conservation method, the lower limit of the water diversion volume at the gap of the collection head, and the lower limit of the flow rate of the mixture absorbed by the water pump. The upper limit of the flow rate of the mixture absorbed by the water pump is determined based on the mass conservation method, the lower limit of the water diversion volume at the gap of the collection head, and the upper 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 at the gap of the sampling 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 pump, an envelope diagram is plotted regarding the water diversion at the gap of the sampling head, the flow rate of the mixture absorbed by the mud pump, and the flow rate of the mixture absorbed by the water pump. Based on the envelope diagram, the flow rate range of the mixture absorbed by the mud pump and the flow rate range of the mixture absorbed by the water pump are determined. The mass conservation method is expressed by the following expression: ， In the formula, The flow rate of the mixture absorbed by the mud pump. The average density of the mixture absorbed by the mud pump. The flow rate of the mixture absorbed by the priming pump. The average density of the mixture absorbed by the water pump. The volume of the undisturbed soil. The water volume diverted through the gap in the collection head. The density of the water entering through the gap in the collection head; This refers to the density of the original soil.

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

3. The method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle according to claim 1, 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 undisturbed soil.

4. The method for matching and analyzing the multi-source disturbance and multi-pump flow rates of a deep-sea mining vehicle according to claim 1, characterized in that, The formula for calculating the volume of the undisturbed soil is as follows: In the formula, The volume of the undisturbed soil. The drag speed of the acquisition head. The width of the acquisition head. The depth of the sampling head.

5. The method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle according to claim 4, characterized in that, The formula for calculating the volume of the track suspension is as follows: ， In the formula, The volume of the track suspension. The soil compaction depth of the track is [not specified]. The width of the track. The speed at which the tracks travel. The lifting coefficient of the track.

6. The method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle according to claim 5, characterized in that, The track's lifting coefficient Take 0.

3.

7. The method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle according to claim 5, characterized in that, The formula for calculating the volume concentration of the undisturbed soil is as follows: ， In the formula, The volume concentration of the undisturbed soil. The density of the undisturbed soil. The density of the water entering through the gap in the collection head. This represents the particle density of the undisturbed soil.

8. The method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle according to claim 1, characterized in that, The average density of the mixture absorbed by the mud pump The expression is ， In the formula, The volume of the track suspension.

9. The method for matching the multi-source disturbance and multi-pump flow of a deep-sea mining vehicle according to claim 8, characterized in that, The average density of the mixture absorbed by the water pump for 。

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