Abstract

Trafficability criterion of a tracked miner is investigated when walking across deep-sea floor with obstacles by analyzing the mechanical property of deep-sea sediment and geometrical conditions of obstacles. Trafficability criterion can help predict and estimate the mining efficiency and working safety of the tracked miner on the deep-sea sediment. Deep-sea sediment has an obvious rheological property and its compression-sinkage-time relationship was adopted to describe the sinkage shape of track under different grounding pressure distributions. The area of the sinkage shape was classified and redefined according to the relationships with different traction forces based on work-energy theorem concept. A new trafficability criterion is then established based on the areas of sinkage shapes and the physical meaning of parameters in the criterion was explained diagrammatically in detail. As an application, a trafficable deep-sea ditch width and slope angle were calculated theoretically by combining the trafficability criterion and sinkage shapes analyses. The trafficability criterion is proved to be convenient and intuitive for quickly judging the trafficability problem of deep-sea tracked miner for common obstacles.

摘要

通过分析深海沉积物的力学特性和障碍物的几何条件，研究了履带式矿工在有障碍物的深海海底行走时的通过性判据。通行性准则可以帮助预测和估计被跟踪的矿工在深海沉积物上的开采效率和工作安全性。深海沉积物具有明显的流变特性，采用其压缩-下沉-时间关系来描述轨道在不同地压分布下的下沉形态。基于功-能定理概念，根据与不同牵引力的关系对下沉形状的面积进行分类和重新定义。然后根据沉陷形状的面积建立了新的通行性标准，并详细图解说明了标准中参数的物理意义。作为应用，结合通行性判据和沉陷形状分析，从理论上计算了通行性深海沟渠宽度和坡角。证明该通行性判据对于快速判断深海履带式矿机常见障碍物通行性问题方便、直观。