考虑土体破坏模式的深海采矿车履齿牵引力研究  

Study on the traction force of deep-sea mining vehicle grousers considering soil failure modes

作　　者：李浩 席明帅 陈峰落 沙飞 卢宇 栾鲁宝 LI Hao;XI Mingshuai;CHEN Fengluo;SHA Fei;LU Yu;LUAN Lubao(China Merchants Marine and Offshore Research Institute Co.,Ltd.,Shenzhen 518067,China;China Merchants Deepsea Research Institute(Sanya)Co.,Ltd.,Sanya 572000,China;College of Engineering,Ocean University of China,Qingdao 266100,China)

机构地区：[1]招商局海洋装备研究院有限公司,广东深圳518067 [2]招商局深海装备研究院(三亚)有限公司,海南三亚572000 [3]中国海洋大学工程学院,山东青岛266100

出　　处：《海洋工程》2025年第2期155-169,共15页The Ocean Engineering

基　　金：国家自然科学基金青年项目(51909140);山东省高校青创科技支持计划项目(2021KJ034)。

摘　　要：履带作为支撑采矿车在深海沉积物上开展采集作业的关键装备,其与沉积物间的相互作用复杂。目前的研究主要集中于履带的结构参数对牵引性能的影响,对土体破坏模式与牵引性能间关系的研究不足,且牵引力的计算较少考虑不同土体破坏模式。文章研究分析了不同接地比压与土体剪切强度条件下的牵引力及土体破坏模式变化规律,讨论了土体破坏与牵引力间的关系。研究表明:履齿高度相同,接地比压在1~5 kPa范围内,最大牵引力随着接地比压的增加而增加;超过5 kPa后,由于土体破坏面积的限制,最大牵引力趋向稳定。履齿高度在8~15 cm范围内,土体破坏面积随着履齿高度的增加而增加,对应最大牵引力也随之增加。土体剪切强度与竖向应力共同影响齿后土体破坏模式的发展,仅当土体剪切强度3.20 kPa且接地比压为7、9 kPa时土体发生直剪破坏,土体剪切强度的增加和接地比压的降低使得破坏模式转变为楔形破坏。此外,文章计算了不同破坏模式下的土推力,为实际牵引力的预测提供参考。Tracks are a key component supporting deep-sea mining vehicles to carry out collection operations on deep-sea sediments,and the interaction between the tracks and the sediment is complex.Current research mainly focuses on the impact of track structural parameters on traction performance,with insufficient studies on the relationship between soil failure modes and traction performance,and traction force calculations rarely consider different soil failure modes.This study analyzes the changes in traction force and soil failure modes under different ground contact pressure and soil shear strength conditions,and discusses the relationship between soil failure and traction force.The results show that with the same grouser height and ground contact pressure ranging from 1 to 5 kPa,the maximum traction force increases with the increase in ground contact pressure.However,beyond 5 kPa,the maximum traction force tends to stabilize due to the limited soil failure area.When the grouser height is between 8 and 15 cm,the soil failure area increases with the grouser height,and the corresponding maximum traction force also increases.The soil shear strength and vertical stress jointly influence the development of the soil failure mode behind the grouser.Soil direct shear failure occurs only when the soil shear strength is 3.20 kPa and the ground contact pressure is 7 or 9 kPa.An increase in soil shear strength and a decrease in ground contact pressure cause the failure mode to shift to wedge-shaped failure.Additionally,the soil thrust under different failure modes is calculated,providing a reference for predicting actual traction force.

关 键 词：深海采矿 牵引力 土体破坏模式 相互作用 土推力 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]