深海底采矿机器人多领域系统协同建模与集成优化设计研究

Development of the deep seafloor mineral resources has great significance for enhancing China’s strategic resources reserves and enlarging the strategic space. This project focus on the researches of the deep seafloor mining robot which is a key and important equipment in the whole deep ocean mineral resources development system. The mobility mechanism on the seafloor for the mining robot will be ascertained, and a mathematical model for analyzing and evaluating the stable mobility trafficability of the mining robot will be built, with which the structural optimization design theory and method for improving the seafloor mobility trafficability of the mining robot will be established. The coupled numerical model for the robot’s cutter crushing the massive poly-metallic sulfides will be built. The matching law and design theory between the cutter’s structural design parameters, cutting condition and ore’s mechanics properties, cutting particle size will be explored, with which a technical prototype for the cutting and collecting system of the mining robot will be formed. The mechanical system’s multi-body dynamic model, the hydraulic system model and control system model of the mining robot will be established, and the collaborate simulation among the multi-domain systems will be achieved. The mobility trafficability performance, cutting performance, obstacle crossing performance and control performance of the mining robot under the seafloor multi-factor environmental loads will be mastered, evaluated and optimized comprehensively. The researches in this project has significant reference value for the seafloor mining robot’s self-design and manufactured, the deep seafloor mineral resources development and seafloor engineering operation fields, and will further expand and enrich the multi-disciplinary crossing research field and research connotation.

开发深海矿产资源具有增强我国战略资源储备和扩展战略空间的重大意义。本项目针对海底采矿机器人这一深海矿产资源开发系统中必不可少的关键重要装备开展研究。探明采矿机器人海底行走力学机理，构建稳态行走通过性能分析评估数学模型，建立提高海底行走通过性能的采矿机器人结构优化设计理论与方法；构建采矿机器人采掘头切削破碎多金属硫化物矿耦合数值模型，探索双采掘头结构设计参数、切削工况与矿石力学特性、切削粒度之间匹配规律及设计理论，形成机器人切削采集系统技术原型；构建海底采矿机器人机械系统多体动力学模型、液压系统模型及控制系统模型，实现多领域系统间协同仿真计算；全面掌握与评价优化深海底多因素环境载荷下采矿机器人行走通过性、采集性能、越障性及操控性等全方面性能。本项目研究对于我国海底采矿机器人自主设计研制、深海矿产资源高效开发以及海底工程作业领域具有参考价值，并将进一步拓展和丰富多学科交叉的研究领域与研究内涵。

该项目针对深海底采矿机器人这一深海矿产资源开发系统中必不可少的关键重要装备，分别开展了海底底质车辆地面力学性能研究、深海底采矿机器人通过性能评价及行走系统优化设计研究、采矿机器人采掘系统结构优化设计研究、采矿机器人多领域系统协同建模与集成性能研究以及小型样车行走采集综合性能试验研究。通过该项目研究，深入探明了海底采矿机器人行走力学机理，系统建立了提高海底通过性能的采矿机器人行走系统优化设计理论与方法；掌握了双采掘头结构设计参数、切削工况与矿石力学特性、切削粒度间匹配规律及设计理论，形成了采矿机器人切削采集系统技术原型；实现了采矿机器人多体动力学模型、液压系统模型及控制系统模型间的信息交互与协同计算，建立了采矿机器人多领域系统协同设计优化理论与方法；全面掌握与优化了海底多因素载荷下采矿机器人行走通过性、采集性及操控性等全方面性能。该项目共发表学术论文12篇，其中SCI论文10篇（包括TOP1期刊3篇）；培养了研究生6人。该项目的研究对于我国深海底采矿机器人的自主设计研制、深海矿产资源的高效开发以及海底工程作业领域均具有价值与意义，并进一步拓展和丰富了海洋工程、矿业工程与机械工程等多学科交叉的研究领域与研究内涵。