The Dynamics Simulation Study Of Deep-sea Miner Walking On The Dilute Soft Soil

After years of practice and demonstration,the current technical scheme of deep sea mining in China is to adopt the method of hydraulic collection,the hydraulic lifting mining system is composed of three parts: the water platform,the underwater vertical conveying system and the crawler type miner,the crawler type miner is an important equipment and core technology unit in deep sea mining system.Due to the topography of the deep-sea polymetallic nodules mining area is complicated with the fact that some properties of the dilute soft soil on the surface of the deep sea exist,such as high moisture content,tiny internal friction angle,high liquid limit,high plasticity,large void ratio,low intensity and low gravity,etc,therefore,the deep-sea miner should be provided with some functions such as good resistance to subsidence and skid resistance,good steering and climbing performance,etc,these properties are the result of the coupling between the track structure parameters and the dilute soft soil.This paper based on the Bekker model,the Janosi and Hanamoto shear models,combined with the design scheme of the new crawler type miner,according to the performance and parameters of the deep-sea dilute soft soil,established the model of dilute soft soil;And established the virtual prototype model of tracked miner in multibody dynamics software RecurDyn,and the dynamic simulation is carried out on the basic action of straight line driving,steering and climbing;In order to gain a better understanding of the dynamic behavior of the miner in the dilute soft soil,it also compares the characteristics of the miner on the clay and the heavy clay soil,the kinematics and dynamics characteristics of the miner in different soil were studied and compared,and evaluated and predicted the performance of the tracked miner.Calculation results show,first,the limit of slope climbing on the dilute soft soil is 31 degrees when the speed of the miner is 1m/s,and climbing steep slopes in heavy clay soils,according to the characteristics of landform in Chinese deep-sea mining area,the slope of the miner is not more than 15 degrees,the miner can smoothly climb on the dilute soft soil,the miner have good climbing ability.Second,in the static state,the sinkage of the miner in the heavy clay soil and the deep-sea dilute soft soil is 2mm and 19.51 mm,respectively;The sinkage of the miner in the heavy clay soil and the deep-sea dilute soft soil is 25.89 mm and 33.65 mm when the speed of the miner is 1m/s;In the dilute soft soil,when the speed of the miner is 1m/s,0.6m/s and 0.4m/s respectively,the sinkage is 33.65 mm,35.63 mm and 37.88 mm respectively,the sinkage of the miner in the dilute soft soil is less than the sinkage in the cohesive soils,there is an increasing trend of the sinkage of the miner when the velocity decreases,the subsidence resistance of the miner in the dilute soft soil is good.Third,when the relative velocity between the two sides of the miner is 0.8m/s,the turning radius of the miner in the heavy clay soil and the deep-sea dilute soft soil is 4.9m and 4.6m,respectively,the larger the relative velocity between the two sides of the miner,the smaller the turning radius of the miner,the miner turns smoothly on dilute soft soil.