Multiparameter Numerical Investigation of Two Types of Moving Interactions Between the Deep-Sea Mining Vehicle Track Plate and Seabed Soil:Digging and Rotating Motions

To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.

Turning traction force of tracked mining vehicle based on rheological property of deep-sea sediment

Based on main physical and mechanical properties of deep-sea sediment from C-C poly-metallic nodule mining area in the Pacific Ocean, the best sediment simulant was successfully prepared by mixing bentonite with a certain content of water. Compression-shear coupling rheological constitutive model of the sediment simulant was established by endochronic theory and the coupling rheological parameters were obtained by compressive and compression-shear creep tests. A new calculation formula of turning traction force of the tracked mining vehicle was first derived based on the coupling rheological model and consideration of pushing resistance and sinkage of the tracked mining vehicle. Effects of the turning velocity, crawler spacing and contacting length of crawler with deep-sea sediment on the turning traction force were analyzed. Research results can provide theoretical foundation for operation safety and optimal design of the tracked mining vehicle.

Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment

The sinkage of a moving tracked mining vehicle is greatly af fected by the combined compression-shear rheological properties of soft deep-sea sediments. For test purposes, the best sediment simulant is prepared based on soft deep-sea sediment from a C-C poly-metallic nodule mining area in the Pacific Ocean. Compressive creep tests and shear creep tests are combined to obtain compressive and shear rheological parameters to establish a combined compressive-shear rheological constitutive model and a compression-sinkage rheological constitutive model. The combined compression-shear rheological sinkage of the tracked mining vehicle at dif ferent speeds is calculated using the Recur Dyn software with a selfprogrammed subroutine to implement the combined compression-shear rheological constitutive model. The model results are compared with shear rheological sinkage and ordinary sinkage(without consideration of rheological properties). These results show that the combined compression-shear rheological constitutive model must be taken into account when calculating the sinkage of a tracked mining vehicle. The combined compression-shear rheological sinkage decrease with vehicle speed and is the largest among the three types of sinkage. The developed subroutine in the Recur Dyn software can be used to study the performance and structural optimization of moving tracked mining vehicles.

Deep-sea rock mechanics and mining technology:State of the art and perspectives

The review covers the development and the state of the art in deep-sea mining rock mechanics,equipment and challenges.It begins by introducing the significance of deep-sea mining,the types and geographical distribution of deep-sea resources.Section 2 reviews the mechanical properties and fracture mechanism of seabed and related continental rocks,which contributes to the advancement of relevant technologies and theories.Deep-sea mining systems developed by coastal countries are presented in Section 3.Seabed mineral collection systems are critically assessed in Section 4.Subsea mining vehicle is reviewed by walking mechanism and controlling system in Section 5.In Section 6,the development of subsea lifting system is detailed by dividing it into hydraulic and pneumatic lifting modes,and some technical problems in the lifting system are described.An in-depth description of surface support systems is presented in Section 7,which includes the deep-sea mining ship,dynamic positioning system,heave compensation system,launch and retrieval system,mineral disposing system as well as the storage and transferring systems.Section 8 discusses the challenges in the deep-sea mining,in terms of natural occurrence conditions,international legal framework and cooperative mining,environmental protection and economic benefits,etc.Finally,a brief summary and some aspects of prospective research are presented in Section 9.

深海矿产采集车研究进展及关键技术分析

深海矿产采集车通过执行“切割-破碎-采集”作业实现深海固体矿产资源的开发,是水力管道提升式深海矿产开采系统的重要组成部分。恶劣的深海矿区作业环境和商业化开采目标对深海矿产采集车的作业、行进等性能提出了极高要求,需要具备大水深作业、自主移动、环境与状态监测等功能。文章对深海矿产采集车的系统组成进行阐述,分析深海矿产采集车的研究现状及存在的主要问题,并围绕深海矿产采集车设计优化、高品位开采、组合定位导航等关键技术开展探讨,并据此提出采集车的发展趋势。