The oil jet lubrication performance of a high-speed and heavy-load gear drive is significantly influenced and determined by the oil jet nozzle layout, as there is extremely limited meshing clearance for the impinging oil stream and an inevitable blocking effect by the rotating gears. A novel mathematical model for calculating the impingement depth of lubrication oil jetting on an orthogonal face gear surface has been developed based on meshing face gear theory and the oil jet lubrication process, and this model contains comprehensive design parameters for the jet nozzle layout and face gear pair. Computational fluid dynamic (CFD) numerical simulations for the oil jet lubrication of an orthogonal face gear pair under different nozzle layout parameters show that a greater mathematically calculated jet impingement depth results in a greater oil volume fraction and oil pressure distribution. The influences of the jet nozzle layout parameters on the lubrication performance have been analyzed and optimized. The relationship between the measured tooth surface temperature from the experiments and the corresponding calculated impingement depth shows that a lower temperature appears in a situation with a greater impingement depth. Good agreement between the mathematical model with the numerical simulation and the experiment validates the effectiveness and accuracy of the method for evaluating the face gear oil jet lubrication performance when using the impingement depth mathematical model.

The deep-sea is rich in mineral resources, and deep-sea polymetallic nodules are considered to be the most likely resource for commercial exploitation. Since the discovery of polymetallic nodules by mankind, researchers around the world have made long and arduous explorations in the exploitation of deep-sea polymetallic nodules and have proposed various mining methods, such as the dragging bucket type, the continuous bucket rope type, the automatic shuttle boat type, and the pipeline -lifting type, and have carried out technical verification accordingly. In the collection of seabed polymetallic nodules, the development and testing of towed type, spiral-driven type, crawler self-propelled type, and suspended type technologies have been carried out, basically realizing the mining technology verification of seabed polymetallic nodules and providing technical support for commercial development. However, according to the demand for commercial development, there are still many technical difficulties in polymetallic nodule-collecting technology, and more focus needs to be placed on the efficiency, environmental protection, intelligence, safety, and reliability of the collecting system in the future. This paper compares the existing progress in collection technology and equipment, and provides ideas and references for the research and development of deep-sea polymetallic nodule-mining technology and equipment.

The transportation pipeline subsystem is an essential part of the deep-sea mining system. In order to explore the internal flow field of the pipeline, the internal flow simulation is carried out by CFD-DEM coupling method. The pressure and wall shear stress of the pipe are computed to show the influence of internal flow on the pipelines. Moreover, a novel multi-body dynamic model of the pipeline system is established by the lumped-mass finite element method (LM_FEM) considering both internal and external flow to investigate its dynamic performance. The model includes a 900 m lifting rigid pipe, a 400 m conveying flexible hose and a simplified buffer. The results show that the dynamic performance of pipeline system is greatly affected by ocean current angle, sea depth and buoyancy module distribution. As the ocean current angle increases, the maximum bending moment of rigid pipe is significantly reduced, and the value of flexible hose is gradually increased. This study provides an important theoretical basis and technical references for the pipeline design, performance evaluation and coordinated motion control of the practical deep-sea mining system.

The capability of path tracking largely determines the operational efficiency of deep-sea mining vehicles. In this paper, the relationships of vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish the computational fluid dynamics (CFD) model of the vehicle, and the spatial hydrodynamic distribution was calculated in different motion states. Based on the above research, a multi-body dynamic (MBD) model of the mining vehicle was developed, which considered the spatial hydrodynamic effects and the mechanical interaction between vehicle and sediment. In addition, a path-tracking controller based on fuzzy logic control was proposed. A genetic algorithm optimized the fuzzy rules through co-simulation between the controller and the MBD model. Finally, the co-simulation results of the vehicle which moved along the expected path indicated that the performance of the optimized fuzzy controller was preferable to the original fuzzy controller.

To provide a basic guidance for the selection of nozzle layout, a mathematical model of the impingement depth for helical gears under oil jet lubrication is established. Furthermore, computational fluid dynamics (CFD) methods are adopted to validate the effectiveness and accuracy of the derived impingement model. Firstly, the distribution characteristics of the oil volume fraction and oil-gas pressure in meshing area were obtained in flow field simulation. Meanwhile, the influence of spray angle, jet velocity, and gear ratio on lubrication effect was obtained. Then, the transient temperature field of the tooth surface was simulated by the method of thermal-fluid coupling analysis, and the lowest temperature distribution and the corresponding oil jet velocity were determined. Finally, experiments on the temperature characteristics measured by an infrared thermal imager of helical gears with different nozzle parameters were carried out in a gear test rig. The simulation results of transient temperature field are in good agreement with those obtained by experiments, and it indicates that the thermal-fluid coupling analysis method is correct and feasible to predict the temperature field of the helical gear pair under oil injection jet lubrication.