Deep-sea mining vehicle track system based on discrete tooth topology

Abstract

The invention relates to the technical field of deep-sea mining equipment, in particular to a deep-sea mining vehicle track system based on discrete tooth topology. The system is composed of a trolley frame, a track base plate, driving wheels, guide wheels and the like, a caterpillar track section on the lower side of the track base plate is in closed-loop series connection with a pin bush through a track pin, and first main teeth and auxiliary teeth are arranged on the upper side of the track base plate. When the mining vehicle works on deep sea thin and soft substrates, the hydraulic motor drives the driving wheel and drives the crawler belt to move through the driving tooth groove. The first main teeth pierce sediments, the auxiliary teeth secondarily shear and compact a soil body in gaps of the main teeth, the double teeth cooperate to form a continuous shear face, soil body creep accumulation caused by traditional vertical teeth is effectively restrained, the soil damage depth is reduced, the grounding specific pressure is stabilized, and the walking stability and operation efficiency of the mining vehicle in the deep sea complex environment are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea mining equipment, in particular to a deep-sea mining vehicle track system based on discrete tooth topology. BACKGROUND

[0002] With the increasing demand for deep-sea mineral resources development, tracked ore collection vehicles have become the key equipment for collecting polymetallic nodules. Deep-sea sediments have ultra-high porosity, water content and weakly cemented flocculent structure, resulting in low shear strength. Chinese invention patent CN116752973A provides a deep-sea efficient ore collection vehicle that is self-adaptive to seabed topography, which adopts a single vertical rectangular grousers as a representative deep-sea mining vehicle track walking device. This type of structure has a large ground contact pressure, which will cause a dramatic increase in soil elastic strain and accelerate the accumulation of creep, eventually leading to the formation of a whole plastic failure of the local shear band, increasing the resuspension of sediments and the diffusion range of the bottom plume. At the same time, the continuous tooth groove structure lacks a self-cleaning mechanism and is prone to silt high liquid limit clay, reducing the traction and increasing the slip rate. SUMMARY

[0003] To solve the technical problem of the dramatic increase in soil elastic strain and the acceleration of creep accumulation caused by the use of single vertical rectangular grousers in the prior art, the present application provides a deep-sea mining vehicle track system based on discrete tooth topology, To this end, the present application provides the following technical solutions: A deep-sea mining vehicle track system based on discrete tooth topology, comprising a trolley frame, a track base plate, a drive wheel, a guide wheel and a track link, the trolley frame is located below the mining vehicle and on the left and right sides of the mining vehicle, a vehicle frame cross beam is connected between the two trolley frames, the vehicle frame cross beam is installed at the bottom of the mining vehicle, the drive wheel and the guide wheel are rotatably installed at the front and rear ends of the trolley frame through bearings, a hydraulic motor is installed on the trolley frame, and the output end of the hydraulic motor is connected with the rotating shaft of the drive wheel; two track links are installed in parallel on the lower side of each track base plate, the track links on the lower sides of different track base plates are connected in series in a closed loop by penetrating the track pins into the pin sleeves, the track links on the lower side of the same track base plate and the pin sleeves form a driving tooth groove, the drive wheel is provided with driving teeth that mesh with the driving tooth groove, the guide wheel is provided with slag removal teeth that mesh with the driving tooth groove, and the upper side of the track base plate is provided with first main teeth and auxiliary teeth installed side by side in the movement direction of the track base plate.

[0004] Further, the track base plate is provided with slag removal holes corresponding to the slag removal teeth.

[0005] Further, it further comprises a second main tooth, which is installed on the upper side of the track base plate, and the second main tooth comprises two main tooth plates with a wide lower side and a narrow upper side, and the two main tooth plates are integrally formed with an included angle therebetween.

[0006] Further, the first main tooth and the auxiliary tooth are both in the shape of upper flat and lower wide.

[0007] Further, a tensioning shaft is installed in the trolley frame, a tensioning frame is slidingly installed on the tensioning shaft, a guide wheel is rotatably installed on the tensioning frame through a bearing, a tensioning baffle is installed on the tensioning shaft, and a tensioning spring is installed on the tensioning shaft between the tensioning baffle and the tensioning frame.

[0008] Further, a support wheel is rotatably installed on the bottom of the trolley frame through a bearing, the support wheel is in abutment with a track link passing below the support wheel, a tow wheel support is installed on the top of the trolley frame, a chain wheel is rotatably installed on the tow wheel support through a bearing, and the chain wheel is in abutment with a track link passing above the chain wheel.

[0009] Further, a sealing ring is installed on the track pin in the pin sleeve, a sealing cavity is formed between the track pin, the pin sleeve and the sealing ring, and lubricating oil is injected into the sealing cavity.

[0010] Further, the included angle between the front and rear tooth surfaces of the first main tooth, the second main tooth and the auxiliary tooth and the horizontal direction is 86°, and the included angle between the two main tooth plates is 120°.

[0011] Advantages and positive effects of the present application: When the mining vehicle track system is dynamically working in deep-sea soft bottom, the hydraulic motor drives the driving wheel to rotate, the driving teeth groove drives the track to move linearly, the first main tooth penetrates into the sediment first, the auxiliary tooth then performs secondary shearing at the gap between adjacent main teeth, the root of the auxiliary tooth compacts and loosens the soil, and the creep accumulation caused by the first main tooth is blocked, the double teeth cooperatively generate a continuous shearing surface, and the ground contact pressure is stable. This process inhibits the creep accumulation of the soil caused by the traditional vertical tooth, and reduces the soil damage depth. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0013] Figure 1 A whole structure diagram of a deep-sea mining vehicle track system based on a discrete tooth topology is provided.

[0014] Figure 2 A trolley frame internal structure of a deep-sea mining vehicle track system based on a discrete tooth topology is provided.

[0015] Figure 3An explosion structure diagram of a track base plate and a connecting assembly of a track system of a deep-sea mining vehicle based on a discrete tooth topology is provided.

[0016] Figure 4 An explosion structure diagram of a track system of a deep-sea mining vehicle based on a discrete tooth topology is provided.

[0017] In the figure: 1, chain sprocket; 2, guide wheel; 3, tensioning frame; 4, tensioning spring; 5, trolley frame; 6, supporting wheel; 7, track; 8, drive wheel; 9, sealing ring; 10, pin sleeve; 11, chain link; 12, track pin; 13, first main tooth; 14, secondary tooth; 15, slag hole; 16, track base plate; 17, slag tooth; 18, tensioning shaft; 19, drag wheel support; 20, trolley cross beam; 21, hydraulic motor; 22, tensioning baffle; 23, main tooth plate; 24, second main tooth; 25, drive tooth; 26 drive tooth groove. DETAILED DESCRIPTION

[0018] In order to make the personnel in the art better understand the application scheme, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the application.

[0019] The application provides a deep-sea mining vehicle track system based on a discrete tooth topology, as Figures 1-4As shown, including the trolley frame 5, track base plate 16, drive wheel 8, guide wheel 2 and track link 11, the trolley frame 5 is located below the mining car and on both sides of the mining car, two trolley frames 5 are connected by the car cross beam 20, which is installed at the bottom of the mining car, and the car cross beam 20 can be filled with light density composite foam to keep the car body neutral buoyancy in deep sea environment. The trolley frame 5 is rotatably installed with drive wheel 8 and guide wheel 2 at both ends, and hydraulic motor 21 is installed on the trolley frame 5, and the output end of the hydraulic motor 21 is connected with the rotating shaft of the drive wheel 8; the lower side of each track base plate 16 is parallelly installed with two track links 11, and the track links 11 on the lower side of different track base plates 16 are connected in series by track pin 12 penetrating into the pin sleeve 10 to form a closed loop track 7, and a sealing ring 9 is installed in the pin sleeve 10 on the track pin 12, and a sealed cavity is formed between the track pin 12, the pin sleeve 10 and the sealing ring 9, and the sealed cavity is filled with lubricating oil. The track links 11 on the lower side of the same track base plate 16 and the pin sleeve 10 form a drive tooth groove 26, and the drive wheel 8 is provided with a drive tooth 25 engaged with the drive tooth groove 26, and the guide wheel 2 is provided with a slag removal tooth 17 engaged with the drive tooth groove 26, and the upper side of the track base plate 16 is installed with a first main tooth 13 and a secondary tooth 14 along the movement direction of the track base plate 16.

[0020] As shown in Figures 3-4 , the track base plate 16 is provided with a slag removal hole 15 corresponding to the slag removal tooth 17. The track system further comprises a second main tooth 24 installed on the upper side of the track base plate 16, and the second main tooth 24 comprises two upper flat and lower wide tooth plates 23, and the two tooth plates 23 are integrally formed with an included angle therebetween. The shapes of the first main tooth 13 and the secondary tooth 14 are both upper flat and lower wide. The included angles between the front and rear tooth surfaces of the first main tooth, the second main tooth and the secondary tooth and the horizontal direction are all 86°, which can make the tooth surface produce downward component force when inserted into deep sea sediments, enhance the gripping effect, and at the same time avoid the accumulation of sediments due to the angle being too large or the gripping force being insufficient due to the angle being too small; the included angle between the two tooth plates is 120°, which can provide stable support force in both transverse and longitudinal directions, further improving the adaptability of the track 7 on irregular terrain.

[0021] As shown in Figure 2 , 4 , the trolley frame 5 is installed with a tensioning shaft 18, the tensioning shaft 18 is slidably installed with a tensioning frame 3, the guide wheel 2 is rotatably installed on the tensioning frame 3 through a bearing, the tensioning shaft 18 is installed with a tensioning baffle 22, and the tensioning shaft 18 is installed with a tensioning spring 4 between the tensioning baffle 22 and the tensioning frame 3.

[0022] As shown in Figure 2As shown, the bottom of the trolley frame 5 is rotatably mounted with bearings to support the wheels 6, which abut the chain track links 11 passing below. The top of the trolley frame 5 is mounted with a drag wheel support 19, on which the sprocket 1 is rotatably mounted with bearings, which abut the chain track links 11 passing above.

[0023] Working principle: When the mining vehicle track system is working in the deep-sea soft bottom, the hydraulic motor 21 drives the driving wheel 8 to rotate, which drives the track 7 to move linearly through the chain track links 11. The driving teeth 25 of the driving wheel 8 engage the driving tooth grooves 26 to convert torque into linear traction of the track 7, and the track 7 is driven to rotate in a cycle. The first main teeth 13 first penetrate into the sediment, and the inclined surface of each tooth decomposes the vertical impact force into tangential shear force to form a primary shear zone in the soft bottom. The secondary teeth 14 then perform secondary shearing in the gap between adjacent first main teeth 13, and the tooth root compacts and loosens the soil body, blocking the creep accumulation caused by the first main teeth behind. The double teeth cooperatively generate a continuous shear surface to stabilize the ground pressure.

[0024] When the track 7 is wound to the wrap angle area of the guide wheel 2, the slag teeth 17 on the guide wheel 2 accurately penetrate into the slag holes 15 of the track base plate 16, and the clay is pushed out to the outside of the track 7, realizing active dredging of the track 7 every cycle. The track tooth surface after the slag teeth 17 is cleaned, avoiding the traction force decay caused by accumulation, so that the slip ratio is stable in a lower range, realizing the self-cleaning mechanism of the track driving structure. The cleaning process is synchronized with the engagement process of the driving teeth 25 and the driving tooth grooves 26, reducing the friction coefficient and improving the transmission efficiency.

[0025] The second main teeth 24 are distributed in a triangular shape around the slag holes 15. In the turning or obstacle crossing working condition, the angle between the main tooth plates 23 of the second main teeth 24 can provide multi-directional shear resistance, so that the lateral slip ratio is controlled in a lower range. When the single-sided track 7 sinks into the low-strength bottom, the second main teeth 24 increase the ground contact area to prevent the settlement from exceeding the design threshold. At this time, the tension spring 4 dynamically compensates for the change in track length, so that the tensioning frame 3 slides along the movement direction of the track 7, keeping the track system tension fluctuation range within an acceptable range, preventing the chain track links 11 from falling off.

[0026] The skilled person can adjust the parameters according to the actual working condition, such as increasing the height of the main and secondary teeth to expand the bearing surface in the super-high water content bottom; adding a blade to the top of the tooth for gravel hard bottom to enhance the crushing capacity; coating the surface of the slag teeth 17 with a tungsten carbide coating for strong corrosion areas; the slag teeth 17 can be changed to a split structure, and the tooth root is fixed by screws, which can be replaced individually after wear. These variations all belong to the equivalent implementation of the technical concept of the present application.

[0027] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A deep-sea mining vehicle track system based on a discrete tooth topology, characterized in that, The mining vehicle comprises a trolley frame (5), a track base plate (16), a driving wheel (8), a guide wheel (2) and a track link (11), the trolley frame (5) is arranged below and on both sides of the mining vehicle, a trolley beam (20) is arranged between the two trolley frames (5), the trolley beam (20) is arranged at the bottom of the mining vehicle, the driving wheel (8) and the guide wheel (2) are rotatably arranged at the front and rear ends of the trolley frame (5) through bearings, a hydraulic motor (21) is arranged on the trolley frame (5), and the output end of the hydraulic motor (21) is connected with the rotating shaft of the driving wheel (8); two track links (11) are arranged on the lower side of each track base plate (16) in parallel, the track links (11) on the lower sides of different track base plates (16) are connected in series in a closed loop through the track pin (12) penetrating into the pin sleeve (10) to form a track (7), the track links (11) on the lower side of the same track base plate (16) and the pin sleeve (10) form a driving tooth groove (26), the driving wheel (8) is provided with a driving tooth (25) engaged with the driving tooth groove (26), the guide wheel (2) is provided with a slag cleaning tooth (17) engaged with the driving tooth groove (26), and the upper side of the track base plate (16) is provided with a first main tooth (13) and an auxiliary tooth (14) arranged side by side along the movement direction of the track base plate (16).

2. A deep-sea mining vehicle track system based on a discrete tooth topology according to claim 1, characterized in that, The track base plate (16) is provided with a slag cleaning hole (15) corresponding to the slag cleaning tooth (17).

3. A deep-sea mining vehicle track system based on discrete tooth topology according to claim 1, characterized in that, The mining vehicle further comprises a second main tooth (24), the second main tooth (24) is arranged on the upper side of the track base plate (16), and the second main tooth (24) comprises two main tooth plates (23) which are integrally formed and have an included angle therebetween.

4. A deep-sea mining vehicle track system based on discrete tooth topology according to claim 1, characterized in that, The first main tooth (13) and the auxiliary tooth (14) are both in the shape of an upper flat and lower wide shape.

5. A deep-sea mining vehicle track system based on discrete tooth topology according to claim 1, characterized in that, A tensioning shaft (18) is arranged in the trolley frame (5), the tensioning shaft (18) is slidably provided with a tensioning frame (3), the guide wheel (2) is rotatably arranged on the tensioning frame (3) through a bearing, a tensioning baffle (22) is arranged on the tensioning shaft (18), and a tensioning spring (4) is arranged on the tensioning shaft (18) between the tensioning baffle (22) and the tensioning frame (3).

6. A deep-sea mining vehicle track system based on discrete tooth topology according to claim 1, characterized in that, A supporting wheel (6) is rotatably arranged on the bottom of the trolley frame (5) through a bearing, the supporting wheel (6) abuts against the track link (11) passing below, a towing wheel support (19) is arranged on the top of the trolley frame (5), a chain wheel (1) is rotatably arranged on the towing wheel support (19) through a bearing, and the chain wheel (1) abuts against the track link (11) passing above.

7. A deep-sea mining vehicle track system based on discrete tooth topology according to claim 1, characterized in that, A sealing ring (9) is arranged on the track pin (12) in the pin sleeve (10), a sealing cavity is formed between the track pin (12), the pin sleeve (10) and the sealing ring (9), and lubricating oil is injected into the sealing cavity.

8. A deep-sea mining vehicle track system based on discrete tooth topology according to claim 3, characterized in that, The included angle between the front and rear tooth surfaces of the first main tooth (13), the second main tooth (24) and the auxiliary tooth (14) and the horizontal direction is 86°, and the included angle between the two main tooth plates (23) is 120°.

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