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 cer...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.展开更多
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 ...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.展开更多
Longwall mining continues to remain the most efficient method for underground coal recovery. A key aspect in achieving safe and productive longwall mining is to ensure that the shearer is always correctly positioned w...Longwall mining continues to remain the most efficient method for underground coal recovery. A key aspect in achieving safe and productive longwall mining is to ensure that the shearer is always correctly positioned within the coal seam. At present, this machine positioning task is the role of longwall personnel who must simultaneously monitor the longwall coal face and the shearer's cutting drum position to infer the geological trends of the coal seam. This is a labour intensive task which has negative impacts on the consistency and quality of coal production. As a solution to this problem, this paper presents a sensing method to automatically track geological coal seam features on the longwall face, known as marker bands, using thermal infrared imaging. These non-visible marker bands are geological features that link strongly to the horizontal trends present in layered coal seams. Tracking these line-like features allows the generation of a vertical datum that can be used to maintain the shearer in a position for optimal coal extraction. Details on the theory of thermal infrared imaging are given, as well as practical aspects associated with machine-based implementation underground. The feature detection and tracking tasks are given with real measurements to demonstrate the efficacy of the approach. The outcome is important as it represents a new selective mining capability to help address a long-standing limitation in longwall mining operations.展开更多
To fulfill the operational demands of deep-sea tracked mining vehicles traversing soft seabed substrates,an evaluation of the characteristics of these substrates was conducted,drawing a comparison with the land swamp ...To fulfill the operational demands of deep-sea tracked mining vehicles traversing soft seabed substrates,an evaluation of the characteristics of these substrates was conducted,drawing a comparison with the land swamp black soil found in the buffalo's habitat.Employing the principles of biomimicry,two distinct types of bionic grouser were devised,replicating the configuration of the buffalo's hooves in both the horizontal and vertical planes.Utilizing self-constructed testing platforms,exhaustive examinations of the reinforcement efficacy of these bionic track grousers were undertaken,spanning from single-grouser to multi-grouser configurations and encompassing the entire track assembly.The findings unequivocally demonstrate a pronounced and consistent enhancement in traction force for both types of bionic grousers.Notably,the W-shaped bionic grouser,mimicking the horizontal contour of the buffalo's hoof,exhibits the most substantial increase in traction force.The maximum enhancement in traction force for individual bionic grouser exceeds 30%,while the overall track achieves an increase of over 19%.This research provides a valuable reference and establishes a foundational framework for the design of equipment tailored for the locomotion of deep-sea tracked mining vehicles across soft substrates.展开更多
Deep-sea mining has emerged as a critical solution to address global resource shortages;however,the mechanical interaction between tracked mining vehicles(TMVs)and soft seabed sediments presents fundamental engineerin...Deep-sea mining has emerged as a critical solution to address global resource shortages;however,the mechanical interaction between tracked mining vehicles(TMVs)and soft seabed sediments presents fundamental engineering challenges.This study establishes a multiscale modelling framework coupling the discrete element method(DEM)with multi-body dynamics(MBD)to investigate track-seabed dynamic interactions across three operational modes:flat terrain,slope climbing,and ditch surmounting.The simulation framework,validated against laboratory experiments,systematically evaluates the influence of grouser geometry(involute,triangular,and pin-type)and traveling speed(0.2–1.0 m/s)on traction performance,slip rate,and ground pressure distribution.Results reveal rate-dependent traction mechanisms governed by soil microstructural responses:higher speeds enhance peak traction but exacerbate slip instability on complex terrain.Critical operational thresholds are established—0.7 m/s for flat terrain,≤0.5 m/s for slopes and ditches—with distinct grouser optimization strategies:involute grousers achieve 35%–40%slip reduction on slopes through progressive soil engagement,while triangular grousers provide optimal impact resistance during ditch crossing with 30%–35%performance improvement.These findings provide quantitative design criteria and operational guidelines for optimizing TMV structural parameters and control strategies,offering a robust theoretical foundation for enhancing the performance,safety,and reliability of deep-sea mining equipment in complex submarine environments.展开更多
基金Projects(51274251,11502226)supported by the National Natural Science Foundation of China
文摘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.
基金Supported by the National Natural Science Foundation of China(Nos.51274251,11502226)
文摘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.
基金the Australian Coal Association Research Program(ACARP)for their invaluable support that enabled new research and development into longwall shearer automation
文摘Longwall mining continues to remain the most efficient method for underground coal recovery. A key aspect in achieving safe and productive longwall mining is to ensure that the shearer is always correctly positioned within the coal seam. At present, this machine positioning task is the role of longwall personnel who must simultaneously monitor the longwall coal face and the shearer's cutting drum position to infer the geological trends of the coal seam. This is a labour intensive task which has negative impacts on the consistency and quality of coal production. As a solution to this problem, this paper presents a sensing method to automatically track geological coal seam features on the longwall face, known as marker bands, using thermal infrared imaging. These non-visible marker bands are geological features that link strongly to the horizontal trends present in layered coal seams. Tracking these line-like features allows the generation of a vertical datum that can be used to maintain the shearer in a position for optimal coal extraction. Details on the theory of thermal infrared imaging are given, as well as practical aspects associated with machine-based implementation underground. The feature detection and tracking tasks are given with real measurements to demonstrate the efficacy of the approach. The outcome is important as it represents a new selective mining capability to help address a long-standing limitation in longwall mining operations.
基金support of the National Natural Science Foundation of China(No.U1906234、No.52225107)the Fundamental Research Funds for the Central 410 Universities(grant 202041004).
文摘To fulfill the operational demands of deep-sea tracked mining vehicles traversing soft seabed substrates,an evaluation of the characteristics of these substrates was conducted,drawing a comparison with the land swamp black soil found in the buffalo's habitat.Employing the principles of biomimicry,two distinct types of bionic grouser were devised,replicating the configuration of the buffalo's hooves in both the horizontal and vertical planes.Utilizing self-constructed testing platforms,exhaustive examinations of the reinforcement efficacy of these bionic track grousers were undertaken,spanning from single-grouser to multi-grouser configurations and encompassing the entire track assembly.The findings unequivocally demonstrate a pronounced and consistent enhancement in traction force for both types of bionic grousers.Notably,the W-shaped bionic grouser,mimicking the horizontal contour of the buffalo's hoof,exhibits the most substantial increase in traction force.The maximum enhancement in traction force for individual bionic grouser exceeds 30%,while the overall track achieves an increase of over 19%.This research provides a valuable reference and establishes a foundational framework for the design of equipment tailored for the locomotion of deep-sea tracked mining vehicles across soft substrates.
基金financially supported by the National Key Research and Development Program of China-Young Scientist Project(No.2024YFC2815400)the National Natural Science Foundation of China(No.52588202).
文摘Deep-sea mining has emerged as a critical solution to address global resource shortages;however,the mechanical interaction between tracked mining vehicles(TMVs)and soft seabed sediments presents fundamental engineering challenges.This study establishes a multiscale modelling framework coupling the discrete element method(DEM)with multi-body dynamics(MBD)to investigate track-seabed dynamic interactions across three operational modes:flat terrain,slope climbing,and ditch surmounting.The simulation framework,validated against laboratory experiments,systematically evaluates the influence of grouser geometry(involute,triangular,and pin-type)and traveling speed(0.2–1.0 m/s)on traction performance,slip rate,and ground pressure distribution.Results reveal rate-dependent traction mechanisms governed by soil microstructural responses:higher speeds enhance peak traction but exacerbate slip instability on complex terrain.Critical operational thresholds are established—0.7 m/s for flat terrain,≤0.5 m/s for slopes and ditches—with distinct grouser optimization strategies:involute grousers achieve 35%–40%slip reduction on slopes through progressive soil engagement,while triangular grousers provide optimal impact resistance during ditch crossing with 30%–35%performance improvement.These findings provide quantitative design criteria and operational guidelines for optimizing TMV structural parameters and control strategies,offering a robust theoretical foundation for enhancing the performance,safety,and reliability of deep-sea mining equipment in complex submarine environments.
