基于深海稀软底质流变分析的履带式集矿机行走特性及结构优化研究

This program aims at study on driving performance and structural optimization of the tracked mining collector based on rheological analysis of the soft seabed sediments in deep ocean, for standing on the research frontier of terrain vehicle mechainics in the world and meeting the requirement of mid-long term strategic development of deep-ocean resource exploitation in China. Nonlinear rheologic constitutive equation of hydraulic-mechanical coupling of the soft seabe sediments is established firstly based on the rheological mechanics and hydradynamics theory. Rheological properties of the soft seabed sediments are analysed and its rheological parameters are determined by hydraulic-mechanical coupling rheological tests of the simulated soft seabed sediments. Interaction model of the tracked mining collector and the soft seabed sediments are established and lab tests of prototyping were carried out to study the law of settlement and adhesion of the mining collector driving on the softed seabed sediments as well as influencing factors. Calculation program of the nonlinear rheological deformation of the soft seabed sediments under hydraulic-mechanical coupling condition is developed based on ADAMS/ATV software in order to simulate the driving performance of the mining collector with different track structural parameters and under different terrain conditions and to propose the optimal design of the tracked mining collector which can be verified by simple tests. Research findings are of theoretical and practical meanings for developing the terrain vehicle mechainics and deep-sea mining technology.

本项目瞄准地面车辆力学领域国际研究前沿，面向我国深海资源开发中长期发展战略需求，针对目前深海采矿技术中存在的忽略稀软底质流变效应问题，首次运用流变力学、车辆地面力学、水动力学等多学科理论，开展基于稀软底质流变分析的履带式集矿机海底行走特性及结构优化研究。通过流变力学、水动力学理论，建立深海复杂环境下稀软底质水-力耦合非线性流变本构关系；通过模拟稀软底质材料的水-力耦合流变试验，分析稀软底质的流变特性并确定其流变参数；通过建立集矿机履带-地面力学模型、压陷和剪切试验，揭示出集矿机在稀软底质上沉陷和产生附着力的规律以及影响因素；利用ADAMS/ATV软件平台，开发出稀软底质水-力耦合非线性流变分析计算程序，实现对具有不同履带结构参数的集矿机在多种复杂工况下行走特性的动力学仿真计算，提出集矿机履带结构优化方案。研究结果对促进车辆地面力学发展和我国深海采矿技术研究与开发具有重要的理论与实际意义。