Design And Research Of Deep-sea Mineral Cutting And Sampling System Based On Jiaolong

With the increasing lack of land resources,deep-sea ore mining and sampling has become a new focus of national research.With the development and maturity of ROV technology,the use of deep submersible sampling has become a trend of deep sea exploration.With China's jiaolong sea trial success,has been put into voyage use,for deep-sea cobalt crusts and polymetallic sulfide sampling,can be equipped with the jiaolong's new sampling equipment has important practical significance.Firstly,this paper describes the research and development of deep-sea ore sampling equipment,according to deep sea operating conditions and requirements design a deep-sea electric cutting knife.Think of ROV manipulator and work tools as deep-sea cutting sampling systems,and complete the overall three-dimensional modeling.The paper selects and designs the transmission system,the static and dynamic seal and the main components of the deep sea cutter,used the ansys finite element software to complete the design of O-ring groove of cutting tool,analysis of the pressure resistance of the package of the motor control element and calculation of external pressure compensator.Through the analysis of the force of the jiaolong's submersible on several different operating postures,get the ultimate load that the submersible can bear when the cutting position is different,it is instructive to grasp the posture of the cutting tool when positioning the bottom of the submersible and the cutting operation.Simulated the cutting process of the deep sea ore by LS-dyna,analyze the stress condition when cutting different forms of ore,by comparison with the limit load that the dragon can bear,optimum the cutting speed.The flow field and water resistance of circular saw blade were analyzed by Fluent software,and The variation law of water resistance of saw blade under different sea depths and different speeds was studied,The modal analysis of saw blade and output shaft is carried out by Ansys,get its frequency and vibration mode,it is of great practical significance for the use of diamond circular saw blades in deep-sea mining and the use of cutting knives for the completion of deep-sea operations.In this paper,the solution and inverse solution of the manipulator are carried out by D-H method,and the working space and the trajectory of the cutting sampling system are studied.The torque and force of the manipulator under different attitude of grasping cutter are analyzed by ADAMS kinematics analysis software,optimize manipulator gripping attitude,for the future operation of the tool equipped with submersible for deep-sea operations to adjust the attitude of the robot to provide the basis.