CN106285686A - A kind of seabed cobalt bearing crust cutting depth control method and hydraulic system - Google Patents
A kind of seabed cobalt bearing crust cutting depth control method and hydraulic system Download PDFInfo
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- CN106285686A CN106285686A CN201610935879.8A CN201610935879A CN106285686A CN 106285686 A CN106285686 A CN 106285686A CN 201610935879 A CN201610935879 A CN 201610935879A CN 106285686 A CN106285686 A CN 106285686A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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Abstract
A kind of seabed cobalt bearing crust cutting depth control method and hydraulic system, this control method is to be controlled cutting depth according to cutting resistance change, this hydraulic system includes hydraulic motor, telescopic oil cylinder, the first hydraulic control unit, the second hydraulic control unit and the device for automatically regulating according to hydraulic motor operating pressure regulation telescopic oil cylinder operating pressure, when hydraulic motor operating pressure maintains predetermined value constant, it is constant that device for automatically regulating controls telescopic oil cylinder operating pressure；When hydraulic motor operating pressure is more than predetermined value, device for automatically regulating controls telescopic oil cylinder operating pressure and reduces so that Mining Head moves upward reduction cutting depth；When hydraulic motor operating pressure is less than predetermined value, device for automatically regulating controls telescopic oil cylinder operating pressure and raises so that Mining Head moves downward increase cutting depth.The present invention can effectively adapt to the mima type microrelief change in the cobalt bearing crust recovery process of seabed and crust thickness change, has with low cost, simple and reliable, it is easy to the advantages such as enforcement.
Description
Technical field
The present invention relates to Deep Sea Minerals production technique field, be specifically related to a kind of seabed cobalt bearing crust cutting depth control
Method processed and hydraulic system.
Background technology
With the exhaustion day by day of landing field mineral resources, the product resource that develops a submarine mine has become the mankind and has sought the certainty of new resources
Trend.Cobalt bearing crust, as one of the mineral resources of seabed most captivation, is generally formed in the seamount of the depth of water 400～4000m
On slope, mostly compose in speckle shape and be stored on seamount hard basement rock.Large stretch of crust aspect is long-pending sometimes up to tens of square kilometres.Rich
One of cobalt crusts and the optimal breaking method of basement rock thereof cut for spiral rotary drum type pick.But, the thickness of cobalt bearing crust layer becomes
Change differs, and it is with a varied topography, rises and falls widely different.For ensureing that enough cobalt bearing crust acquisition rate and relatively low barren rock are mixed into
Rate, when cobalt bearing crust mining vehicle is at seabed operation, it is necessary to control effectively the cutting depth of cobalt bearing crust, to adapt to sea
End mima type microrelief and crust thickness change so that it is peel off cobalt bearing crust as much as possible, reduce the cutting of basement rock simultaneously as far as possible.
The at present control of the cobalt bearing crust cutting depth in research tends to rely on mima type microrelief and cobalt bearing crust thickness
Detection, is automatically adjusted Mining Head to optimized cutting position by the microrelief information gathered, to improve cobalt bearing crust coefficient of mining.This
The method of kind is relatively costly, and control method is complicated, and the detrital grain that detection accuracy is easily produced by recovery process is affected, and is promoting
Certain difficulty is there is with in application.
Summary of the invention
The technical problem to be solved in the present invention is the deficiency overcoming prior art to exist, it is provided that a kind of seabed cobalt bearing crust is cut
That cuts that depth control method and hydraulic system, the method and hydraulic system can effectively adapt in the cobalt bearing crust recovery process of seabed is micro-
Topography variation and crust thickness change, have with low cost, simple and reliable, it is easy to the features such as enforcement.
For solve above-mentioned technical problem, the present invention by the following technical solutions:
A kind of seabed cobalt bearing crust cutting depth control method, uses mining vehicle to cut seabed cobalt bearing crust with Mining Head
Cut operation, in operation process, according to the change of the cutting resistance of Mining Head, the cutting depth of Mining Head is controlled；When cutting
Cut resistance maintain predetermined value constant time, keep the current cutting depth of Mining Head constant；When cutting resistance is more than predetermined value, control
Mining Head moves upward to reduce cutting depth；When cutting resistance is less than predetermined value, controls Mining Head and move downward to increase
Cutting depth.
A kind of hydraulic system being applicable to above-mentioned seabed cobalt bearing crust cutting depth control method, including for driving mining
The hydraulic motor of head rotary cutting motion, for driving the telescopic oil cylinder of Mining Head elevating movement, for controlling hydraulic motor work
The first hydraulic control unit made and the second hydraulic control unit being used for controlling telescopic oil cylinder work, also include according to hydraulic pressure horse
Reach the device for automatically regulating of operating pressure regulation telescopic oil cylinder operating pressure, maintain predetermined value constant in hydraulic motor operating pressure
Time, it is constant that described device for automatically regulating controls telescopic oil cylinder operating pressure；When hydraulic motor operating pressure is more than predetermined value, institute
State device for automatically regulating control telescopic oil cylinder operating pressure and reduce so that Mining Head moves upward reduction cutting depth；Hydraulic pressure horse
When reaching operating pressure less than predetermined value, described device for automatically regulating controls telescopic oil cylinder operating pressure and raises so that Mining Head is downward
Motion increases cutting depth.
Above-mentioned hydraulic system, it is preferred that described first hydraulic control unit includes the first pressure oil-source and the first commutation
Valve, two actuator ports of described hydraulic motor connect with two actuator ports of the first reversal valve respectively, described first commutation
The oil-in of valve connects with outlet and the fuel tank of the first pressure oil-source respectively with oil-out, and described second hydraulic control unit includes
Second pressure oil-source and the second reversal valve, two actuator ports of described telescopic oil cylinder are by a bidirectional hydraulic lock and the second commutation
Two actuator ports connection of valve, the oil-in of described second reversal valve and oil-out respectively with the outlet of the second pressure oil-source and
Fuel tank connects.
Above-mentioned hydraulic system, it is preferred that described device for automatically regulating is the pressure control with ratio pressure regulatory function
Valve processed, the oil-in of described pressure-control valve and the outlet of the second pressure oil-source, the oil-out of described pressure-control valve with
Fuel tank connects, the control mouth of described pressure-control valve and the outlet of the first pressure oil-source.
Above-mentioned hydraulic system, it is preferred that the control mouth of described pressure-control valve is provided with damping.
Above-mentioned hydraulic system, it is preferred that described device for automatically regulating includes electricity proportional pressure control valve, controller and for examining
Survey the pressure transducer of the outlet oil pressure of the first pressure oil-source, the oil-in of described electricity proportional pressure control valve and the second pressure oil-source
Outlet, the oil-out of described electricity proportional pressure control valve connects with fuel tank, and described pressure transducer is arranged on and the first pressure oil
In the test chamber of the outlet in source, described controller is connected with pressure transducer and believes according to the oil pressure of pressure transducer detection
Number value control electricity proportional pressure control valve spool aperture.
Above-mentioned hydraulic system, it is preferred that the outlet of described first pressure oil-source is also associated with the first safety overflow valve, institute
The outlet stating the second pressure oil-source is also associated with the second safety overflow valve.
Above-mentioned hydraulic system, it is preferred that described first pressure oil-source includes the first hydraulic oil pump and the first filter, institute
State the import of the first filter and the outlet of the first hydraulic oil pump, the outlet of described first filter and the first reversal valve
Oil-in connects；Described second pressure oil-source includes the second hydraulic oil pump and the second filter, the import of described second filter
With the outlet of the second hydraulic oil pump, the outlet of described second filter connects with the oil-in of the second reversal valve.
Above-mentioned hydraulic system, it is preferred that described Mining Head is installed on mining vehicle by a swing arm, described telescopic oil cylinder
Cylinder body and expansion link hinged with swing arm and mining vehicle respectively.
Above-mentioned hydraulic system, it is preferred that described Mining Head is rotary cutting type Mining Head.
The principle of the present invention is: there is some difference for the physico mechanical characteristic of cobalt bearing crust and basement rock, in comprcssive strength, cuts
Cutting resistance aspect, basement rock is generally individually more than cobalt crusts.Under certain operation speed of travel and cutting rotational speeds, cutting resistance is with cutting
Cut the increase of the degree of depth and increase.When Mining Head is cut to horizon d from cobalt bearing crust layer, the increase of cutting resistance and rising thereof
Trend will be apparent from.Cutting resistance directly acts on Mining Head, is then embodied directly in fluid motor-driven in hydraulic system
Operating pressure needed for Mining Head rotation, therefore, cutting resistance and the size of motor operations pressure and variation tendency are in certain journey
Current cutting depth and cutting state is reflected, the foundation that can judge as cobalt bearing crust cutting depth and control on degree.Rich
Cobalt crusts is the biggest with basement rock comprcssive strength difference, and the control effect of the present invention is the best.
Compared with prior art, it is an advantage of the current invention that: the present invention utilizes cobalt bearing crust and basement rock physico mechanical characteristic
Cutting depth, with cutting depth Changing Pattern, is controlled by difference and cobalt bearing crust cutting resistance according to cutting resistance change
System, it is not necessary to landform is detected by detecting devices with cobalt bearing crust thickness, can effectively adapt in the cobalt bearing crust recovery process of seabed
Mima type microrelief change change with cobalt bearing crust thickness, not only can reduce equipment and control cost, and simple and reliable, it is easy to real
Execute.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the hydraulic system being applicable to seabed cobalt bearing crust cutting depth control method.
Fig. 2 is the structure of the device for automatically regulating using electricity proportional pressure control valve, controller and pressure transducer combining form
Schematic diagram.
Marginal data:
1, Mining Head；2, hydraulic motor；3, telescopic oil cylinder；4, the first pressure oil-source；41, the first hydraulic oil pump；42, first filter
Device；5, the first reversal valve；6, the second pressure oil-source；61, the second hydraulic oil pump；62, the second filter；7, the second reversal valve；8、
Bidirectional hydraulic lock；9, pressure-control valve；10, electricity proportional pressure control valve；11, controller；12, pressure transducer；13, the first safety is overflow
Stream valve；14, the second safety overflow valve；100, mining vehicle；200, swing arm.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The seabed cobalt bearing crust cutting depth control method of the present embodiment, specifically, uses mining vehicle 100 with rotary cutting
Cut the Mining Head 1 of formula to move ahead and seabed cobalt bearing crust is carried out cutting operation, in operation process, according to the rotary cutting of Mining Head 1
The cutting depth of Mining Head 1 is controlled by the change cutting resistance；When cutting resistance maintains predetermined value constant, keep Mining Head
1 current cutting depth is constant；When landform or cobalt bearing crust thickness change and cause cutting resistance to increase, namely when cutting resistance is big
When predetermined value, control Mining Head 1 and move upward to reduce the cutting depth to seabed cobalt bearing crust；Landform or cobalt bearing crust are thick
When degree change causes cutting resistance to reduce, namely when cutting resistance is less than predetermined value, control Mining Head 1 and move downward to increase
To the cutting depth to seabed cobalt bearing crust.
As it is shown in figure 1, a kind of hydraulic system being applicable to above-mentioned seabed cobalt bearing crust cutting depth control method, including using
In driving the hydraulic motor 2 of Mining Head 1 rotary cutting motion, for driving the telescopic oil cylinder 3 of Mining Head 1 elevating movement, being used for
Control the first hydraulic control unit of hydraulic motor 2 work and for controlling the second hydraulic control unit of telescopic oil cylinder 3 work,
Also include the device for automatically regulating according to hydraulic motor 2 operating pressure regulation telescopic oil cylinder 3 operating pressure, in hydraulic motor 2 work
Make pressure maintain predetermined value constant time, device for automatically regulating control telescopic oil cylinder 3 operating pressure constant；Work at hydraulic motor 2
When pressure is more than predetermined value, device for automatically regulating controls telescopic oil cylinder 3 operating pressure and reduces the reduction so that Mining Head 1 moves upward
Cutting depth；When hydraulic motor 2 operating pressure is less than predetermined value, device for automatically regulating controls telescopic oil cylinder 3 operating pressure liter
It is high so that Mining Head 1 moves downward increase cutting depth.
In the present embodiment, the first hydraulic control unit includes the first pressure oil-source 4 and the first reversal valve 5, hydraulic motor 2
Two actuator ports connect with two actuator ports of the first reversal valve 5 respectively, the oil-in of the first reversal valve 5 and the first pressure
The outlet of oil sources 4, the oil-out of the first reversal valve 5 connects with fuel tank, can control hydraulic pressure horse by changing the first reversal valve 5
Reaching whether 2 rotate, the first reversal valve 5 controls hydraulic motor 2 when rotating, and the first pressure oil-source 4 flows through the first reversal valve 5 and directly drives
Hydrodynamic pressure motor 2, provides power for Mining Head 1 rotary cutting, and the operating pressure of hydraulic motor 2 is hindered by Mining Head 1 rotary cutting
Power determines.Second hydraulic control unit includes the second pressure oil-source 6 and the second reversal valve 7, two actuator ports of telescopic oil cylinder 3
Connected with two actuator ports of the second reversal valve 7 by a bidirectional hydraulic lock 8, specifically the rodless cavity work of telescopic oil cylinder 3
Hydraulic fluid port connects with two oil-outs of bidirectional hydraulic lock 8 respectively with rod chamber actuator port, two oil-ins of bidirectional hydraulic lock 8
Connect with two actuator ports of the second reversal valve 7 respectively, the oil-in of the second reversal valve 7 and the outlet of the second pressure oil-source 6
Connection, the oil-out of the second reversal valve 7 connects with fuel tank, can control the flexible fortune of telescopic oil cylinder 3 by changing the second reversal valve 7
Dynamic.Above-mentioned bidirectional hydraulic lock 8, can be by the most locked for telescopic oil cylinder 3 when not driving telescopic oil cylinder 3 stretching motion.
In the present embodiment, device for automatically regulating is the pressure-control valve 9 with ratio pressure regulatory function, and it has ratio
Relief function.The oil-in V1 of pressure-control valve 9 and the outlet of the second pressure oil-source 6, the oil-out T1 of pressure-control valve 9
Connect with fuel tank, the control mouth C1 of pressure-control valve 9 and the outlet of the first pressure oil-source 4.This pressure-control valve 9 is existing
Ripe parts, buyable obtains, and controls mouth C1 pressure according to it and is sized to control oil-in V1 desirable pressure when spool is opened,
Thus the oil pressure relief at stepless control oil-in V1, the oil-in V1 pressure size of this pressure-control valve 9 with control mouth C1 pressure
Power size is inversely proportional to.
In the present embodiment, the control mouth of pressure-control valve 9 is provided with damping, can be effectively improved its response characteristic.
In other embodiments, device for automatically regulating can also use other forms, such as, automatic tune as shown in Figure 2
Control device, this device for automatically regulating includes electricity proportional pressure control valve 10, controller 11 and for detecting the outlet of the first pressure oil-source 4
The pressure transducer 12 of oil pressure, the oil-in V2 of electricity proportional pressure control valve 10 and the outlet of the second pressure oil-source 6, electricity ratio is overflow
The oil-out V2 of stream valve 10 connects with fuel tank, and pressure transducer 12 is arranged on the detection of the outlet with the first pressure oil-source 4
In chamber, test chamber be located at electricity proportional pressure control valve 10 valve block on, test chamber is provided with a connector C2, connector C2 by oil pipe with
The outlet of the first pressure oil-source 4, the oil that controller 11 is connected with pressure transducer 12 and detects according to pressure transducer 12
Pressure signal value controls the spool aperture of electricity proportional pressure control valve 10.Pressure transducer 12 is by the fuel injection pressure signal transfer control 11 of detection
After, controller 11 controls electric current to electricity proportional pressure control valve 10 output, makes the overflow pressure at the oil-out V2 of electricity proportional pressure control valve 10
Power is inversely proportional to the outlet pressure of the first pressure oil-source 4.Use programmable controller 11, moreover it is possible to realize more abundant pressure
Control strategy.
In the present embodiment, the outlet of the first pressure oil-source 4 is also associated with the first safety overflow valve 13, for limiting the first liquid
The maximum working pressure of pressure control unit, safeguards system safety.The outlet of the second pressure oil-source 6 is also associated with the second safety overflow
Valve 14, for limiting the maximum working pressure of the second hydraulic control unit, safeguards system safety.
In the present embodiment, the first pressure oil-source 4 includes the first hydraulic oil pump 41 and the first filter 42, the first filter 42
The outlet of import and the first hydraulic oil pump 41, the outlet of the first filter 42 as the first pressure oil-source 4 outlet with
The oil-in connection of the first reversal valve 5；Second pressure oil-source 6 includes the second hydraulic oil pump 61 and the second filter 62, the second mistake
The import of filter 62 and the outlet of the second hydraulic oil pump 61, the outlet of the second filter 62 is as the second pressure oil-source 6
Outlet connects with the oil-in of the second reversal valve 7.
In the present embodiment, Mining Head 1 is installed on mining vehicle 100 by a swing arm 200, specifically swing arm 200 one end hinge
Being connected on mining vehicle 100, Mining Head 1 is arranged on swing arm 200 other end, and the cylinder body of telescopic oil cylinder 3 is hinged with mining vehicle 100, stretches
The expansion link of contracting oil cylinder 3 is hinged with swing arm 200 respectively.When the expansion link of telescopic oil cylinder 3 stretches out motion, order about swing arm 200 upwards
Swing, make Mining Head 1 move upward；During telescopic oil cylinder 3 expansion link retraction campaign, order about swing arm 200 swung downward, make Mining Head
1 moves downward.Mining vehicle 100 is suitable for seabed cobalt bearing crust orographic condition walking and carries out operation.Mining Head 1 is rotary cutting type
Mining Head.
In the present embodiment, the rotary cutting of Mining Head 1 is that counterclockwise telescopic oil cylinder 3 is adopted by rod chamber Stress control
Ore deposit 1 moves up and down, and the oil-in V1 pressure of pressure-control valve 9 is inversely proportional to oil-out C1 pressure.But in other embodiments,
Mining Head 1 can also use other direction of rotation.When Mining Head 1 and swing arm 200 mass are relatively big, can make the most under gravity
When Mining Head 1 moves downward until cutting depth reaches to require more than design, telescopic oil cylinder 3 can also pass through rodless cavity pressure control
Mining Head 1 processed moves up and down, and now the oil-in V1 pressure of pressure-control valve 9 is directly proportional, as long as can to controlling mouth C1 pressure
Controlled the operating pressure of telescopic oil cylinder 3 by the operating pressure of hydraulic motor 2, and then cobalt bearing crust is cut by control Mining Head 1
Cut the degree of depth.
The first reversal valve 5 and the second reversal valve 7 in the present embodiment use two position and four-way reversing valves or 3-position 4-way to change
To valve, but in other embodiments, the first reversal valve 5 and the second reversal valve 7 can also use other forms, as long as being capable of
Control the rotation of hydraulic motor 2 and control the extension and contraction control of telescopic oil cylinder 3.
The operation principle of the hydraulic system of the present embodiment is as follows:
In Fig. 1, A represents that cobalt bearing crust, B represent basement rock.Walk in operation process at undersea mining car 100, the first reversal valve 5 with
Second reversal valve 7 all commutates and works in right position, and hydraulic motor 2 drives Mining Head 1 to rotate, and telescopic oil cylinder 3 drives swing arm 200 to drive
Mining Head 1 moves up and down and changes cobalt bearing crust cutting depth.In cobalt bearing crust working angles, Mining Head 1 is by cutting resistance
Counteracting force, this counteracting force is acted in swing arm 200 by Mining Head 1, makes Mining Head 1 have the trend of moving upward.
Mining Head 1 suffered cutting resistance before not up to design requires cutting depth is less, and telescopic oil cylinder 3 rod chamber enters
Oil drives Mining Head 1 to continue to move downward, and now hydraulic motor 2 operating pressure is also the least, and pressure-control valve 9 spool does not leaves
Opening, telescopic oil cylinder 3 operating pressure is that the second safety overflow valve 14 sets pressure.
Along with the increase of cutting depth, cutting resistance increases therewith, when counteracting force suffered by swing arm 200 increases to flexible
When oil cylinder 3 active force reaches equalising torque state, Mining Head 1 no longer moves downward, and now Mining Head 1 cuts the cobalt bearing crust degree of depth
Reach to design requirement.Meanwhile, hydraulic motor 2 operating pressure also increases to predetermined value, the oil-in V1 pressure of pressure-control valve 9
Power makes spool open under controlling mouth C1 pressure auxiliary, and oil-in V1 starts overflow, and now telescopic oil cylinder 3 operating pressure is by pressure
Control valve 9 determines, the second safety overflow valve 14 spool is closed.
Along with seabed mima type microrelief and crust thickness change, Mining Head 1 is to the cutting depth of cobalt bearing crust and cutting resistance also
Along with change.When cutting depth requires more than design, the cutting resistance of Mining Head 1 increases, and hydraulic motor 2 operating pressure also increases
Greatly, this operating pressure acts on the control mouth C1 of pressure-control valve 9, when further reducing spool unlatching needed for oil-in V1
The active force overcome, now oil-in V1 pressure declines, and telescopic oil cylinder 3 operating pressure reduces accordingly, and Mining Head 1 is in cutting resistance
Moving upward under effect, cobalt bearing crust cutting depth reduces, until cutting resistance and telescopic oil cylinder 3 active force reach moment again
Poised state；When cutting depth requires less than design, the cutting resistance of Mining Head 1 reduces, and hydraulic motor 2 operating pressure also subtracts
Little, accordingly, the control mouth C1 pressure of pressure-control valve 9 reduces, and the oil-in V1 pressure of pressure-control valve 9 increases, flexible oil
Cylinder 3 operating pressure increases the most therewith, and telescopic oil cylinder 3 active force drives Mining Head 1 to move downward, and cobalt bearing crust cutting depth increases
Greatly, until cutting resistance and telescopic oil cylinder 3 active force reach equalising torque state again.
Cutting depth is controlled by the method and hydraulic system according to cutting resistance change, it is not necessary to detecting devices is to landform
Detect with cobalt bearing crust thickness, can effectively adapt to the mima type microrelief change in the cobalt bearing crust recovery process of seabed and cobalt bearing crust
Thickness changes, and not only can reduce equipment and control cost, and simple and reliable, it is easy to implement.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned enforcement
Example.To those of ordinary skill in the art, the improvement obtained by under without departing from the technology of the present invention concept thereof and change
Change and also should be regarded as protection scope of the present invention.
Claims (10)
1. a seabed cobalt bearing crust cutting depth control method, it is characterised in that: use mining vehicle (100) with Mining Head
(1) seabed cobalt bearing crust is carried out cutting operation, in operation process, according to the change of the cutting resistance of Mining Head (1) to adopting
The cutting depth of ore deposit head (1) is controlled；When cutting resistance maintains predetermined value constant, keep Mining Head (1) currently cutting deep
Spend constant；When cutting resistance is more than predetermined value, controls Mining Head (1) and move upward to reduce cutting depth；Work as cutting resistance
During less than predetermined value, control Mining Head (1) and move downward to increase cutting depth.
2. be applicable to a hydraulic system for seabed cobalt bearing crust cutting depth control method described in claim 1, including for
Drive the hydraulic motor (2) of Mining Head (1) rotary cutting motion, be used for driving the telescopic oil cylinder of Mining Head (1) elevating movement
(3), be used for controlling the first hydraulic control unit that hydraulic motor (2) works and for control that telescopic oil cylinder (3) works second
Hydraulic control unit, it is characterised in that: also include regulating telescopic oil cylinder (3) operating pressure according to hydraulic motor (2) operating pressure
Device for automatically regulating, when hydraulic motor (2) operating pressure maintains predetermined value constant, described device for automatically regulating controls flexible
Oil cylinder (3) operating pressure is constant；When hydraulic motor (2) operating pressure is more than predetermined value, described device for automatically regulating controls to stretch
Contracting oil cylinder (3) operating pressure reduces so that Mining Head (1) moves upward reduction cutting depth；In hydraulic motor (2) operating pressure
During less than predetermined value, described device for automatically regulating controls telescopic oil cylinder (3) operating pressure and raises so that Mining Head (1) moves downward
Increase cutting depth.
Hydraulic system the most according to claim 2, it is characterised in that: described first hydraulic control unit includes the first pressure
Oil sources (4) and the first reversal valve (5), two actuator ports of described hydraulic motor (2) respectively with two of the first reversal valve (5)
Actuator port connects, the oil-in of described first reversal valve (5) and oil-out respectively with outlet and the oil of the first pressure oil-source (4)
Case connects, and described second hydraulic control unit includes the second pressure oil-source (6) and the second reversal valve (7), described telescopic oil cylinder (3)
Two actuator ports connected with two actuator ports of the second reversal valve (7) by a bidirectional hydraulic lock (8), described second changes
Connect with outlet and the fuel tank of the second pressure oil-source (6) respectively with oil-out to the oil-in of valve (7).
Hydraulic system the most according to claim 3, it is characterised in that: described device for automatically regulating is adjusted for having ratio pressure
The pressure-control valve (9) of joint function, the oil-in of described pressure-control valve (9) and the outlet of the second pressure oil-source (6), institute
The oil-out stating pressure-control valve (9) connects with fuel tank, the control mouth of described pressure-control valve (9) and the first pressure oil-source (4)
Outlet.
Hydraulic system the most according to claim 4, it is characterised in that: the control mouth of described pressure-control valve (9) is provided with resistance
Buddhist nun.
Hydraulic system the most according to claim 3, it is characterised in that: described device for automatically regulating includes electricity proportional pressure control valve
(10), controller (11) and the pressure transducer (12) of the outlet oil pressure for detection the first pressure oil-source (4), described electricity ratio
The oil-in of overflow valve (10) and the outlet of the second pressure oil-source (6), described electricity proportional pressure control valve (10) oil-out with
Fuel tank connect, described pressure transducer (12) be arranged on in the test chamber of the outlet of the first pressure oil-source (4), described control
Device processed (11) is connected with pressure transducer (12) and the fuel injection pressure signal value that detects according to pressure transducer (12) controls electricity ratio and overflows
The spool aperture of stream valve (10).
Hydraulic system the most according to claim 3, it is characterised in that: the outlet of described first pressure oil-source (4) is also connected with
The first safety overflow valve (13), the outlet of described second pressure oil-source (6) is had to be also associated with the second safety overflow valve (14).
Hydraulic system the most according to claim 3, it is characterised in that: described first pressure oil-source (4) includes the first hydraulic pressure
Oil pump (41) and the first filter (42), the import of described first filter (42) connects with the outlet of the first hydraulic oil pump (41)
Logical, the outlet of described first filter (42) connects with the oil-in of the first reversal valve (5)；Described second pressure oil-source (6) is wrapped
Include the second hydraulic oil pump (61) and the second filter (62), the import of described second filter (62) and the second hydraulic oil pump (61)
Outlet, the outlet of described second filter (62) connects with the oil-in of the second reversal valve (7).
9. according to the hydraulic system according to any one of claim 2 to 8, it is characterised in that: described Mining Head (1) is by a pendulum
Arm (200) is installed on mining vehicle (100), the cylinder body of described telescopic oil cylinder (3) and expansion link respectively with swing arm (200) and mining
Car (100) is hinged.
10. according to the hydraulic system according to any one of claim 2 to 8, it is characterised in that: described Mining Head (1) is for rotating
Cutting type Mining Head.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109973096A (en) * | 2019-04-19 | 2019-07-05 | 中国海洋大学 | A kind of deep sea polymetallic nodule ore mining mine operating system |
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Cited By (2)
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| CN109973096A (en) * | 2019-04-19 | 2019-07-05 | 中国海洋大学 | A kind of deep sea polymetallic nodule ore mining mine operating system |
| CN109973096B (en) * | 2019-04-19 | 2023-12-22 | 中国海洋大学 | Deep sea multi-metal nodule mining operation system |
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| CN106285686B (en) | 2018-05-08 |
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