Experimental research on grouser traction of deep-sea mining machine

The traction characteristics of the grouser, cutting the simulative soil of deepsea sediment, with different tooth widths, tooth heights, and ground pressures are studied with traction characteristic test apparatus. A traction-displacement model is obtained by combining the analysis of the cutting mechanism. The results show that the tractiondisplacement curves of grousers with different tooth widths, tooth heights, and ground pressures have the same changing trend, which matches the Wong traction model. Their sensitivity coefficient and shear modulus are slightly fluctuated. Therefore, the average values can be used as the traction model parameters. The maximum traction of the grouser with a two-side edge and a 10 mm tooth width increment changing with the tooth height and ground pressure can be determined according to the grousers with different tooth widths. By combining the traction model parameters, the traction-displacement curve of the grouser with a certain group values of tooth width, tooth height, and ground pressure can be predicted. Therefore, the slip of the mining machine can be prevented to improve the mining efficiency.

Theoretical analysis of effect of solid phase on cavitation performance of deep-sea mining pump

In view of the present situation of low cavitation performance of deep-sea mining slurry pump, the effect of solid phase on the cavitation performance of deep-sea mining pump is analyzed theoretically. The relationship between gas and liquid phases are established by cavitation nucleon theory and mass energy equation as well as solid phase and liquid phase, and then we explored the relationship between gas phase and solid phase. The results show that the critical bubble radius and solid-phase concentration flow rate during the cavitation can be related to the liquid pressure. Eq.(19) show that the larger the solid particle concentration and the solid phase flow, the earlier the cavitation will occur, and pump anti-cavitation performance will decline.

Design and Strength Analysis of A Spherical Connector for Lifting Subsystem in Deep Sea Mining System

A flexible connector of lifting pipes in a deep sea mining system is designed. The buttress thread （ based on API standard） is used and foreign experience in connector design is referred to. With this kind of connector, the lifting pipe wiU only bear the axial force, free of moment. The strength of the connector is analyzed in detail, including the connecting strength of the buttress thread, the dynamic load of the pipe system, pressures inside and outside of the pipe, the lateral stress of the pipe wall and so on. Especially, a geometric model is built for 3-D contact stress analysis. The distribution graph of contact stress is presented. It is indicated that the strength of the spherical connector meets the demand.

Experiment and Simulation for Articulated Lifting Subsystem of 1000 m Deep Sea Mining System

The experiment system of 1000 m deep sea mining system is built up with the similarity theory. Sine mechanism is used to simulate mining ship to generate lateral shock excitation by ocean wave. Simulation and experiment of spherical joint connecting deep sea mining system has been done in band six marine conditions. The results indicate that the moment of spherical joint connecting deep sea mining is smaller than that of the thread connected ones, the lifting pipe of sphelical joint is ＂flexible pipe＂. The flexural torque of the articulated lifting pipe system in pump and buffer is generally periodic variation with some irregularity, the value is stable on 60 N·S, and it is obviously smaller than that of the fixed lifting pipe system; The total displacement exhibits cyclic variation pattern, and the periodicity of them is longer than that of sea current. The results of experiment and simulation are basically consistent. And the analysis in the paper offers theoretical foundation of 1000 m deep sea mining system in China.

Future Trends of Deep Sea Bed Mining Technology

The present status of deep sea bed mining technology for polymetallic nodules has been critically examined in light of its history of development the UNCLoS (the United Nation Convention on the Law of the Sea) regime and the current trends in research.The critical technologies have been highlighted and the need for system integration underscored. The deep sea bed environment and the engineering challenge were presented and the necessary features of the deep sea bed mining system for commercial mining was analyzed. The key accomplishments, problems and future bends in research in the development of the mining system are also discussed. Finally, it points out that the technology gaps can be filled by the bine commercial mining is undertaken as a result of market conditions in its favor.

基于Sea-thru和Mask R-CNN的深海多金属结核图像处理

利用现代图像处理技术探测矿区内矿物基本形态结构、分布状态以及多金属结核的其他赋存数据时,为了进一步提高深海矿物评估精度,提出了基于Sea-thru和Mask R-CNN相结合的深海矿物图像分割系统。实验结果表明,Sea-thru能够对海底矿物图像进行有效增强,还原衰退的矿物图像,Mask R-CNN可提高矿物颗粒分割准确率,进而获取更加准确的矿物颗粒信息,提升矿物资源的评估精度。

Development of Mining Technology and Equipment for Seafloor Massive Sulfide Deposits

Seafloor massive sulfide（SMS） deposits which consist of Au, Ag, Cu, and other metal elements, have been a target of commercial mining in recent decades. The demand for established and reliable commercial mining system for SMS deposits is increasing within the marine mining industry. The current status and progress of mining technology and equipment for SMS deposits are introduced. First, the mining technology and other recent developments of SMS deposits are comprehensively explained and analyzed. The seafloor production tools manufactured by Nautilus Minerals and similar mining tools from Japan for SMS deposits are compared and discussed in turn. Second, SMS deposit mining technology research being conducted in China is described, and a new SMS deposits mining tool is designed according to the environmental requirement. Finally, some new trends of mining technology of SMS deposits are summarized and analyzed. All of these conclusions and results have reference value and guiding significance for the research of SMS deposit mining in China.

粗颗粒-壁面碰撞试验分析及随机反弹模型构建

为了揭示深海采矿水力输送过程中不规则粗颗粒与壁面碰撞的特征,建立了相应的随机反弹概率模型,为粗颗粒与壁面相互作用的数值分析提供了基础模型。采用粗颗粒自由落体试验和图像识别技术,对不同入射速度和入射角度下粗颗粒的随机反弹过程进行了试验研究。通过自定义MATLAB程序实现了粒子运动参数的自动提取与分析。基于概率统计分析和非线性回归方法,建立了不同入射速度和入射角度下粗颗粒随机反弹的解析预测模型。最后进行数值模拟,获得特定撞击条件下颗粒的随机反弹信息,并将文中模型预测与现有研究中模型给出的预测进行了比较。研究表明:正态分布和广义极值分布均可较好地描述粗颗粒随机反弹运动特征;粗颗粒在低入射角碰撞下除反弹模式外还有滑移-偏转的模式,随入射角的增加,随机反弹角的均值先略有下降,然后逐渐增加,而反弹角的离散度随入射角增加呈指数增加;对于速度恢复系数,随着入射角的增加,能量耗散增加,速度恢复系数减小,恢复系数的离散度略有增加;随着入射角的增加,角速度变化的均值遵循半正弦波函数,当入射角为45°时旋转最显著,旋转角速度的标准差先增大后减小。此外,数值重构时,应使用截断值以避免不合理的样本数据。

基于深海矿车-稀软土相互作用的矿车触底过程分析

多金属结核赋存在深海5.0 km左右的平原区域,该区域的稀软沉积物含水率高、承载力低。深海采矿车在触底过程中,矿车下方稀软沉积物受到冲击后易发生扰动破坏,从而极易引发矿车沉陷,这将严重影响矿车的正常作业,甚至会导致停机。矿车是否沉陷与其触底后的应力分布形式密切相关,但尚无理论对其进行分析。通过开展采矿模型车不同触底速度下的触底试验,揭示了矿车触底后下方土体竖向应力随时间的变化规律及分布范围。在传统理论基础上,推导并验证了一种考虑履齿影响的竖向应力值的理论公式。研究发现,触底后下方土体的应力值会快速增长并趋稳定,且达到稳定应力值所需时间与触底速度成反比。随着触底速度增大,矿车下方应力泡形状会从平滑单峰向单峰两侧有平台的形状变化,车体正下方的应力传播得最远。相对于平板,履齿板应力影响深度显著增加。经误差分析,改进的理论公式比传统理论与试验结果吻合效果更好,提升了深海矿车触底后应力计算精度。文中研究围绕矿车触底后的海床应力分布进行了一系列讨论,可为深海矿车低扰动、防沉陷设计提供理论参考。

深海采矿流-固耦合软管系统的非线性动力学模型

软管在深海采矿系统中是连接中继舱和集矿机的输送枢纽，目前国内外研究途径通常直接采用离散的有限元方法，没有建立严格的系统的数学模型且计算中提出了许多限制性假设。本文针对这一缺陷，在广泛综合考虑各种因素的基础上，放弃了一些特殊的假定，考虑了应变表达式中位移高阶量的影响与横向剪力的作用，提出了适合大位移几何非线性、流·－固耦合的弹性杆件结构所需满足的三维空间不定常连续性偏微分方程。本文提出的数学模型可应用于任意细长圆截面结构的静力或动力非线性分析。

转动型3-UPU并联机构的奇异构形分析

使用四元数变换推导出转动型3-UPU并联机构的雅可比矩阵,根据该机构的几何特点和雅可比矩阵的特点,提出了转动型3-UPU并联机构的奇异构形判别准则.在转动型3-UPU并联机构中,当沿三个连杆的直线相交于一点时(初始构形),或者当动平台方向是由初始构形绕与静平台三角形三边平行的轴线转动而得到时,其构形为奇异;或者在给定的阈值下,当动平台方向是由初始构形绕与静平台平面平行的轴线旋转而得到时,易接近奇异构形.

转动型3-UPU并联机构的刚度分析

根据由并联机构的Jacobian矩阵表达的刚度矩阵,本文分析了转动型3-UPU并联机构刚度矩阵的特点和刚度矩阵主轴的变化规律。结果表明,最大刚度方向占据了相对稳定和集中的部分,并且当动平台平面和静平台平面接近平行时,并联机构的刚度较高。转动型3-UPU并联机构刚度矩阵分析对并联机构的设计具有一定的指导作用。

极端工况下深海扬矿泵CFD-DEM耦合仿真与试验研究

深海扬矿电泵是深海采矿提升系统的重要设备,其形式为多级离心泵,负责将含有粗颗粒的矿浆提升至水面。其内部流动为复杂的粗颗粒-海水二相流,通过普通的试验难以观测内部流动特征。通过CFD-DEM耦合模拟仿真,获得了深海扬矿电泵在超过额定浓度、输送极端大颗粒、偏移额定流量以及电力故障矿浆回流时的泵内流动特征。开展了清水和矿浆试验,验证了仿真的正确性。泵在流量偏离50%,矿浆浓度超过额定值100%,当颗粒直径超过最大粒径100%时仍旧具有良好的输送和一定的回流性能。

移动型3-UPU并联机构静态稳定性分析

使用最小势能原理,对刚性支撑3-UPU并联机构进行了静态稳定性分析。稳定性分析中,将并联机构的连杆分解为包含油液在内的三部分,通过建立并联机构的Lagrange势能函数,得到反映机构静态稳定性的Hes-sian矩阵,并由此提出了机构不同稳定性状态的比较判据。分析和计算表明,在工作空间中,移动型3-UPU并联机构在由几何构型所确定的工作空间中的静平衡基本上稳定。

基于GWO-SVR的深海采矿海试区海浪高度预测

基于ERA5再分析资料,取海试区中心区域海洋环境数据构建输入特征,使用灰狼优化算法(GWO)对支持向量回归(SVR)算法进行参数寻优,并将GWO-SVR算法和传统SVR算法及基于粒子群算法(PSO)的PSO-SVR浪高预测效果进行比较和分析。为进一步探究周围环境及海浪状态对GWO-SVR预测效果的影响,构建3种数据模型进行了63组试验。结果表明,GWO-SVR能够对海浪高度进行有效预测,且预测精度较高;当使用较大空间范围的海洋环境数据构建特征作为算法输入时,能够有效提高GWO-SVR算法对海浪高度预测的精度。

深海多金属结核集矿装置水力输送流场分析与试验

对深海多金属结核集矿装置水力输送流场进行了理论计算,得到了多金属结核粒径与输送通道最小输送速度的关系;仿真分析了喷嘴射流速度分别为15、20、25 m/s时输送通道内水流流态分布,给出了流道下表面30 mm处的流速。在实验室进行了输送喷嘴不同射流速度的采集试验,实验结果与理论计算及仿真分析结果相符。

深海采矿提升硬管受力特性影响因素敏感性分析

管道提升式深海采矿系统已逐渐成为深海采矿的主流系统,其系统中提升硬管流固耦合力学特性的分析成为深海矿产开发的关键问题。以适用于6 000 m水深深海采矿系统的提升硬管为研究对象,建立包括采矿船、提升硬管、提升泵与中继站等的全系统耦合模型,对硬管运动响应进行时域分析,研究不规则波引起的船舶运动以及水动力作用、海流以及浪流耦合作用对于提升硬管力学性能的影响和各影响因素的敏感性分析。结果表明管系受轴向张力为主,采矿船在波浪影响下的大幅运动将增加张力变化范围,改变管系受力特性,是影响管系受力特性最关键的因素。

深海采矿柔性管力学性能及加工工艺研究综述

海洋蕴藏着储量丰富的矿产资源,深海矿产资源开发逐渐成为学术界和工程界的研究热点。管道提升式开采方案是目前公认的最具商业前景的海洋矿产开发方案。矿产输运管道作为连接海底中继舱和海上采矿平台的纽带,需要承受恶劣的风、浪、流环境载荷和复杂作业工况的工作载荷,其设计制造和力学性能分析一直备受关注。相比于刚性管道,柔性管道的弯曲刚度小、便于安装与回收、使用寿命较长。然而,柔性管道的结构复杂,各层之间相互影响,金属柔性管道由于自身结构的限制,在深海采矿行业中难以广泛应用,人们开始把目光放在非金属柔性管的设计与应用上。本文回顾了柔性管的发展历程,总结阐述了柔性管设计及加工制造中的力学性能分析方法和力学特性,并对柔性管设计制造的未来发展提供力所能及的展望。

旋转水力提升多金属结核运动特性数值模拟

采用CFD-DEM耦合方法对多金属结核提升进行模拟,研究了垂直管道中不同旋转流场旋流比对水力提升多金属结核输运特性的影响。结果表明,随着旋转流场旋流比增大,旋转强度显著增强,流体流速最大值增大,颗粒群轴向平均速度增大。旋转流场的旋转强度明显影响管道内颗粒的速度分布:速度大的颗粒逐步分布在管壁周围,速度较小的颗粒分布在管道中心处。旋转流场可降低颗粒群局部浓度,有利于降低因颗粒滞留效应引起局部浓度升高造成的输送管堵塞风险。

基于尾流振子模型的柔性悬挂立管涡激振动分析

为了分析深海采矿柔性立管涡激振动响应特性,提出了一种高效的针对特殊边界的处理方法.基于欧拉梁模型和尾流振子模型,结合有限差分方法,系统研究不同边界条件、中间仓质量和海流剪切参数对深海采矿立管涡激振动的影响规律.结果表明:悬挂立管底部会产生较大位移,与传统两端铰接立管相比,相同激励下悬挂立管会激发出更高阶的振动模态,从原本5阶模态升至6阶;随着中间仓质量增加,立管振动的主导模态会随之降低,在同一模态下,悬挂立管底部位移逐渐减小,从0.460降至0.405,当模态转换时,底部位移均方根会迅速增大,由0.405升至0.413;底部位移随着均匀流速的增加呈现出波动趋势,在一定流速范围内,位移随流速线性变化;随着剪切参数增大,在同一模态下,立管底部的位移逐渐减小,当模态转换时,底部位移会增加.