A walking device for an all-terrain seabed mining vehicle

Abstract

The present invention discloses a traveling device of an all-terrain seabed mining vehicle, comprising a vehicle frame, a steering mechanism and two crawler traveling units, wherein the two crawler traveling units are symmetrically arranged on the left and right sides of the vehicle frame. The crawler traveling unit comprises a crawler support, a driving wheel, a guide wheel, a chain and a supporting roller, wherein the driving wheel and the guide wheel are respectively arranged at the front and rear ends of the crawler support. There are multiple groups of supporting rollers, and each group of supporting rollers is movably connected to the crawler support through a hairspring suspension mechanism. The driving wheel and the guide wheel are both meshed with the inner side of the chain, and the outer surface of the chain has a plurality of regularly arranged square grooves. Two steering mechanisms are symmetrically arranged on both sides of the vehicle frame, and the two crawler traveling units can be independently driven or braked. The present invention has good climbing and obstacle crossing capabilities, and the chain makes the soil body self-compact and reinforced, which can effectively prevent the occurrence of sinking and slipping. The traveling device of the all-terrain seabed mining vehicle has a small turning radius and high steering maneuverability, and can achieve full coverage collection in the mining area.

Description

Technical Field

[0001] The invention relates to the technical field of marine mining equipment, and in particular to a walking device of an all-terrain seabed mining vehicle. Background Art

[0002] Energy is the foundation of economic and social development. With the continuous development of modern industry and the increasing scarcity of land-based mineral resources, countries around the world are gradually stepping up the development and utilization of marine resources. Compared with land, the deep ocean contains rich resource treasures. In addition to oil and gas resources, the deep sea (water depth greater than 5000m) also contains rich polymetallic nodules and sulfides. The development and utilization of deep-sea seabed solid mineral resources are also favored by countries around the world. Because crawler mining vehicles have a larger ground contact area than other mining mechanisms, can generate greater traction, have better drivability and maneuverability, and their impact on the seabed environment can meet the requirements of seabed driving, crawler mining vehicles have become the preferred form of seabed mining.

[0003] According to the geological conditions of deep-sea polymetallic nodule deposits, the working environment of submarine crawler mining vehicles is very different from that of traditional crawler walking mechanisms, mainly in terms of soft soil, high porosity, high compressibility, and low base bearing capacity. Therefore, deep-sea soil cannot provide the power required by traditional crawler mining machines. In addition, the seabed terrain conditions are relatively complex, and there are often certain terrain slopes or obstacles in nodule mining areas, which makes mining vehicles prone to sinking, slipping, and difficulty in overcoming obstacles, which in turn causes driving difficulties and reduces mining efficiency.

[0004] Prior to the present invention, the improvement of crawler-type seabed mining vehicles was mainly focused on the improvement of the grouser structure. For example, the Chinese patent with patent number CN202110269215.3 discloses a segmented seabed mining vehicle crawler, which includes a middle crawler and two side crawlers, each crawler can operate independently without interfering with each other; the middle crawler is provided with fixed shearing grousers, and the side crawlers are provided with angle-adjustable grousers; the adjustable grousers are composed of a rotating tooth body and an assembly rod. This patent can solve the sinking and slipping problems that are prone to occur in seabed mining vehicles, but for mining areas with obstacles, it can only be achieved by changing the mining trajectory. However, the minimum turning radius of the walking mechanism of a traditional seabed mining vehicle is 15m. Therefore, the technical solution of changing the mining trajectory to bypass obstacles for mining will not be able to achieve full coverage of the mining area, affecting the mining efficiency. Therefore, the prior art needs to be further improved and enhanced. Summary of the invention

[0005] In view of the above-mentioned deficiencies of the prior art, one object of the present invention is to propose an all-terrain seabed mining vehicle traveling device to solve the problems of sinking, slipping, difficulty in overcoming obstacles, large turning radius, poor maneuverability, etc. that are prone to occur in the existing mining vehicle traveling devices.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A traveling device of an all-terrain seabed mining vehicle comprises a vehicle frame, a steering mechanism and two crawler traveling units, wherein the two crawler traveling units are symmetrically arranged on the left and right sides of the vehicle frame.

[0008] The crawler walking unit comprises a crawler frame, a driving wheel, a guide wheel, a chain and a supporting wheel. The frame is fixedly connected to the two crawler frames, and the driving wheel and the guide wheel are respectively arranged at the front and rear ends of the crawler frames.

[0009] There are multiple groups of supporting rollers, which are arranged in sequence from front to back under the crawler support, and each group of supporting rollers is movably connected to the crawler support through a hairspring suspension mechanism.

[0010] The chain is sleeved on the outside of the track support, the driving wheel, the guide wheel and each supporting wheel. The driving wheel and the guide wheel are both engaged with the inner side of the chain. The outer surface of the chain has a plurality of regularly arranged square grooves.

[0011] A dual-output shaft motor is arranged on the front side of the vehicle frame, and two steering mechanisms are symmetrically arranged on the left and right sides of the dual-output shaft motor. Each steering mechanism can act on the driving wheel on the same side to realize its driving or braking.

[0012] Furthermore, the frame is a steel frame structure, which includes a plurality of longitudinal beams arranged in parallel longitudinally and a plurality of cross beams arranged in sequence and at intervals along the length direction of the longitudinal beams. Each cross beam is fixedly connected to the longitudinal beam as a whole, and the longitudinal beams located on the left and right sides are respectively fixedly connected to the two crawler brackets as a whole.

[0013] Furthermore, each group of the supporting rollers includes two supporting rollers spaced apart from each other on the left and right sides, and the two supporting rollers in the same group are connected via a rotating shaft, and a bearing seat is sleeved on the rotating shaft.

[0014] The hairspring suspension mechanism is located between the rotating shaft and the crawler support, with the upper end of the hairspring suspension mechanism being rotationally connected to the crawler support and the lower end of the hairspring suspension mechanism being rotationally connected to the rotating shaft.

[0015] Furthermore, the hairspring suspension mechanism includes a connecting rod, a hydraulic shock absorber and a hairspring spring. The connecting rod and the hydraulic shock absorber are arranged in a "V" structure one after the other. The upper ends of the connecting rod and the hydraulic shock absorber are rotatably connected to the bottom of the crawler bracket, and the lower ends are rotatably connected to the bearing seat.

[0016] The hairspring spring is sleeved on the hydraulic shock absorber and is always in a compressed state.

[0017] Furthermore, the chain is composed of multiple chain plates connected in rotation end to end, the main part of the chain plate is a rectangular flat plate, the chain plate has at least one extension on one side of its travel direction, and the other side has accommodating grooves equal to the number of extensions and located in corresponding matching positions.

[0018] The extension portion of any one chain plate can extend into the receiving groove of another adjacent chain plate and be rotatably connected with the other adjacent chain plate through a pin shaft.

[0019] Furthermore, each chain plate has at least one transverse grouser and a plurality of longitudinal grousers perpendicularly intersecting the transverse grouser on its outer surface, and the plurality of longitudinal grousers are arranged at equal intervals along the extension direction of the transverse grouser.

[0020] The roots of the transverse grousers and the longitudinal grousers are integrally formed with the chain plate. The cross-section of the transverse grouser is a wedge-shaped structure with a wide root and a narrow end. The square groove is formed between any two adjacent transverse grousers and each longitudinal grouser.

[0021] Furthermore, two driving wheels are arranged opposite to each other on the left and right sides of the front end of the crawler support, and the two driving wheels are fixedly connected by a first connecting shaft.

[0022] Two guide wheels are arranged opposite to each other on the left and right sides of the rear end of the crawler bracket. The two guide wheels are fixedly connected through a second connecting shaft. The first and second connecting shafts are both rotatably matched with the crawler bracket.

[0023] The driving wheel and the guide wheel are both gear structures, and the inner surface of each chain plate is provided with tooth grooves matching with the gear teeth of the driving wheel or the guide wheel.

[0024] Furthermore, the steering mechanism includes a rotating flywheel, a clutch drive disc, a clutch brake disc and a spline shaft. The rotating flywheel is fixed on the outer wall of the dual output shaft motor on the side close to the drive wheel. One end of the spline shaft is coaxially fixedly connected to the corresponding output end of the dual output shaft motor.

[0025] The clutch drive disc is arranged at the other end of the spline shaft by means of a spline connection, and the clutch drive disc can drive the driving wheel to rotate by means of a clutch.

[0026] The clutch brake disc is sleeved on the outside of the clutch drive disc, and the clutch brake disc can brake the drive wheel in a clutch manner.

[0027] By adopting the above technical solution, the beneficial technical effect of the present invention is as follows: the supporting wheels of the present invention are connected to the frame by a hairspring suspension mechanism, and the height of the supporting wheels can be adjusted automatically according to the terrain and obstacles, and have good climbing and obstacle-crossing capabilities. The outer surface of the chain adopts a combination structure of transverse grousers and cross-intersecting transverse grousers, which makes the soil self-compacting and reinforced, effectively preventing the occurrence of sinking and slipping, and enabling the mining vehicle to walk safely on the soft soil layer on the seabed. In addition, it has a small turning radius and high steering maneuverability, and can achieve 360° turning on the spot, achieving full coverage collection in the mining area, and greatly improving mining efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a traveling device of an all-terrain seabed mining vehicle of the present invention.

[0029] Figure 2 yes Figure 1 A structural schematic diagram of a part of the vehicle shows a crawler walking unit and related parts.

[0030] Figure 3 yes Figure 1 An enlarged view of part A of the present invention.

[0031] Figure 4 yes Figure 2 Schematic diagram of the structure of the middle crawler walking unit without the chain.

[0032] Figure 5 yes Figure 1 The structural schematic diagram of another part in the figure shows the steering mechanism.

[0033] Figure 6 yes Figure 1 The structural schematic diagram of another part shows a partial assembly of the chain.

[0034] Figure 7 yes Figure 6 Schematic diagram of the back side of the partial assembly of the middle chain.

[0035] Figure 8 It is a line graph of the displacement response of the soil in the x, y and z directions.

[0036] Fig. 9 It is a structural schematic diagram of the vehicle frame in the present invention. DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with the accompanying drawings:

[0038] Example, combined with Figures 1 to 9A walking device of an all-terrain seabed mining vehicle comprises a vehicle frame 1, a steering mechanism 3 and two crawler walking units 2. The vehicle frame 1 is a steel frame structure. The vehicle frame 1 comprises three longitudinal beams 11 arranged in parallel in the longitudinal direction and three cross beams 12 arranged in sequence and at intervals along the length direction of the longitudinal beams 11. Each cross beam 12 is fixedly connected to the three longitudinal beams 11 to form a plane frame of an integrated structure. The two crawler walking units 2 are symmetrically arranged on the left and right sides of the vehicle frame 1, and the left and right sides of the vehicle frame 1 are fixedly connected to the two crawler walking units 2 respectively.

[0039] The crawler travel unit 2 includes a crawler support 21, a driving wheel 22, a guide wheel 23, a chain 4 and a supporting wheel 24. The two longitudinal beams 11 on the left and right sides of the frame 1 are fixedly connected to the two crawler supports 21 as a whole. The crawler supports 21 are located at the upper part of the crawler travel unit 2. The driving wheel 22 and the guide wheel 23 are respectively arranged at the front and rear ends of the crawler support 21, and are rotatably connected to the crawler support 21. The frame 1 has a certain height from the ground to achieve a good obstacle crossing ability. The walking device of the seabed mining vehicle can prevent sinking and slipping, adapt to the terrain fluctuations of the shallow seabed, and can achieve a 360° turn on the spot.

[0040] There are multiple groups of supporting rollers 24, which are arranged in sequence from front to back below the track frame 21. Each group of supporting rollers 24 is movably connected to the track frame 21 through a hairspring suspension mechanism. Each group of supporting rollers 24 and the hairspring suspension mechanism above them support the track frame 21, the frame 1, and the equipment located on the frame 1. Each group of supporting rollers 24 includes two supporting rollers 24 arranged at intervals on the left and right. The two supporting rollers 24 in the same group are connected by a rotating shaft 241, and a bearing seat 242 is sleeved on the rotating shaft 241.

[0041] The hairspring suspension mechanism is located between the rotating shaft 241 and the crawler support 21, and its upper end is connected to the crawler support 21 for rotation, and its lower end is connected to the rotating shaft 241 for rotation. Specifically, the hairspring suspension mechanism includes a connecting rod 51, a hydraulic shock absorber 52 and a hairspring spring 53. The connecting rod 51 and the hydraulic shock absorber 52 are arranged in a "V" structure one after the other. The upper ends of the connecting rod 51 and the hydraulic shock absorber 52 are respectively connected to the bottom of the crawler support 21 for rotation, and the lower ends of the connecting rod 51 and the hydraulic shock absorber 52 are connected to the bearing seat 242 for rotation. The hairspring spring 53 is sleeved on the hydraulic shock absorber 52, and the hairspring spring 53 is always in a compressed state. When the seabed mining vehicle works in a mining area with slopes or obstacles, the large-stroke suspension mechanism can ensure the stability of the seabed mining vehicle and make it have good maneuverability. The hairspring suspension mechanism can automatically adjust the height change of each supporting wheel 24 according to the terrain conditions, and has stronger slope and obstacle crossing capabilities.

[0042] The chain 4 is sleeved on the outside of the crawler frame 21, the driving wheel 22, the guide wheel 23 and each supporting roller 24. The chain 4 is a closed structure composed of a plurality of chain plates 41 connected in rotation in sequence. The main part of the chain plate 41 is a rectangular flat plate. The chain plate 41 has two extensions 411 arranged at intervals on one side of the moving direction, and the other side has the same number of receiving grooves 412 as the extensions 411 and located in corresponding matching positions. The extension 411 of any chain plate 41 can extend into the receiving groove 412 of another adjacent chain plate 41, and is connected in rotation with another adjacent chain plate 41 through a pin.

[0043] The driving wheel 22 and the guide wheel 23 are both gear structures, and the inner surface of each chain plate 41 has a tooth groove 42 that matches the gear teeth of the driving wheel 22 or the guide wheel 23. The driving wheel 22 and the guide wheel 23 are both meshed with the inner side of the chain 4, and the outer surface of the chain 4 has a plurality of regularly arranged square grooves.

[0044] Specifically, each chain plate 41 has a transverse grouser 43 and five longitudinal grousers 44 perpendicularly intersecting the transverse grouser 43 on its outer surface, and the five longitudinal grousers 44 are arranged at equal intervals along the extension direction of the transverse grouser 43. The transverse grouser 43 is located in the middle of the chain plate 41, and the two longitudinal grousers 44 are respectively located at the left and right ends of the chain plate 41.

[0045] The roots of the transverse grouser 43 and the longitudinal grouser 44 are integrally formed with the chain plate 41 . The cross-section of the transverse grouser 43 is a wedge-shaped structure with a wide root and a narrow end. The square groove is formed between any two adjacent transverse grousers 43 and each longitudinal grouser 44 .

[0046] However, the walking process of crawler mining vehicles is a complex structure-soil interaction problem. Studies have shown that when a mining vehicle is working, it will not only cause stress redistribution in the seabed soil layer and generate force, but also cause corresponding strain redistribution and displacement. Laying out transverse and longitudinal grousers of appropriate length in the crawler can limit the displacement of the soil within a certain range, thereby playing a certain role in compacting and reinforcing the soil, and effectively preventing slippage and subsidence.

[0047] The improved method of this embodiment is derived from strict mathematical analysis.

[0048] The following assumptions are introduced in the process of establishing the analytical model: the soil is a viscoelastic material, and the deformation of the stabilized structure and soil system under load is small. According to the elastic dynamics theory and the continuous medium theory, the soil motion equation under the moving load can be established as:

[0049]

[0050] In the formula, u iis the displacement tensor of the soil (m), λ and μ are the Lame constants of the soil (MPa), ε kk,i is the strain tensor of the soil, ρ is the density of the soil (kg / m3),

[0051] By introducing Fourier transform and combining boundary conditions, the displacement responses u, v and w of the soil in the x, y and z directions during the walking of the crawler mining vehicle can be derived as follows:

[0052]

[0053]

[0054]

[0055] Where u, v and w are displacements in the x, y and z directions respectively, (x, y, z) is a point in the spatial coordinate system, ξ, η and ω are the wave numbers of x, y and z respectively, n1, d1, d2, τ and k are the intermediate quantities of the analytical process respectively, is the load, and i is the imaginary unit. From equations (2), (3), (4) and Figure 8 It can be seen that when the crawler mining vehicle is working, under the action of load, the soil will move along the three directions of x, y and z. Limiting the displacement in the x, y and z directions will make the soil self-compact, which will play a role of reinforcement to a certain extent and help prevent sinking and slipping.

[0056] As a preferred solution of the present invention, the front end of the crawler frame 21 has two driving wheels 22 arranged opposite to each other on both sides, and the two driving wheels 22 are fixedly connected by a first connecting shaft. The rear end of the crawler frame 21 has two guide wheels 23 arranged opposite to each other on both sides, and the two guide wheels 23 are fixedly connected by a second connecting shaft, and the first and second connecting shafts are both rotatably matched with the crawler frame 21.

[0057] A dual-output shaft motor is provided on the front side of the vehicle frame 1, and two steering mechanisms 3 are symmetrically provided on the left and right sides of the dual-output shaft motor. Each steering mechanism 3 can act on the driving wheel 22 on the same side to realize driving or braking thereof.

[0058] The steering mechanism 3 includes a rotating flywheel 31, a clutch drive disc 32, a clutch brake disc 33 and a spline shaft 34. The rotating flywheel 31 is fixed on the outer wall of the dual output shaft motor on the side close to the drive wheel 22. One end of the spline shaft 34 is coaxially fixedly connected to the corresponding output end of the dual output shaft motor.

[0059] The clutch drive disc 32 is arranged at the other end of the spline shaft 34 by a spline connection, and the clutch drive disc 32 can drive the drive wheel 22 to rotate by a clutch mode. The clutch brake disc 33 is sleeved on the outside of the clutch drive disc 32, and the clutch brake disc 33 can brake the drive wheel 22 by a clutch mode.

[0060] Specifically, a spline sleeve 35 is provided on the outer side of the spline shaft 34, and the spline sleeve 35 is axially slidably matched with the spline sleeve 35. The end of the spline sleeve 35 away from the dual output shaft motor is coaxially fixedly connected to the clutch drive disk 32 as a whole. The spline sleeve 35 moves synchronously with the clutch drive disk 32. An annular groove 351 is provided on the circumferential surface of the end of the spline sleeve 35 close to the dual output shaft motor. A shift fork 36 is provided on one side of the spline sleeve 35, and a support seat 361 is provided at the lower middle part of the shift fork 36. The shift fork 36 is rotatably connected to the upper end of the support seat 361, and the shift fork 36 can rotate horizontally around the upper end of the support seat 361.

[0061] The notched end of the shift fork 36 is inserted into the annular groove 351 of the spline sleeve 35. A thrust bearing 37 is provided on both sides of the shift fork 36 along the axial direction of the spline sleeve 35. The two thrust bearings 37 are respectively located in the annular groove 351. There is a movable gap between the shift fork 36 and the two thrust bearings 37. The other end of the shift fork 36 is hinged with a drive rod 362, which can be connected to the operating mechanism. Its function is to provide a force for rotating the shift fork 36. The spline sleeve 35 is driven by the lever action of the shift fork 36 to drive the clutch drive disc 32 to move toward the rotating flywheel 31 and press it, and the drive wheel 22 is driven to rotate by the friction force to realize the forward or backward movement of the crawler walking unit 2.

[0062] In addition, a guide support sleeve 38 is provided on the side of the clutch brake disc 33 close to the dual output shaft motor. The guide support sleeve 38 is a cylindrical structure and is coaxially arranged with the clutch brake disc 33. One end of the guide support sleeve 38 is sleeved on the inner side of the corresponding end of the clutch brake disc 33. The inner wall of the clutch brake disc 33 is splined with the outer wall of the guide support sleeve 38. The end of the guide support sleeve 38 away from the clutch brake disc 33 is fixedly connected to the support seat 361, and the clutch brake disc 33 can slide along its axial direction relative to the guide support sleeve 38. Three oil cylinders 39 are provided on the circumferential outer wall of the guide support sleeve 38. The three oil cylinders 39 are evenly arranged in a ring shape. The cylinder body of the oil cylinder 39 is fixedly connected to the guide support sleeve 38, and the end of the piston rod thereof is fixedly connected to the outer wall of the clutch brake disc 33. The signal ends of the three oil cylinders 39 are connected to the controller signal. The controller adopts an existing controller, which controls the three oil cylinders 39 to extend and retract synchronously and drives the clutch brake disc 33 to approach or move away from the rotating flywheel 31. When the clutch brake disc 33 contacts the rotating flywheel 31 and keeps pressing the rotating flywheel 31, the friction force of the clutch brake disc 33 on the rotating flywheel 31 decelerates and brakes it.

[0063] The walking and steering process of a walking device of an all-terrain seabed mining vehicle is as follows: when walking, a driving rod 362 applies a pulling force to one end of a fork 36, and the notch end of the fork 36 drives the spline sleeve 35 to drive the clutch drive disc 32 to press the rotating flywheel 31. At the same time, the output end of the dual-output shaft motor drives the clutch drive disc 32 to rotate through the spline sleeve 35, and the clutch drive disc 32 drives the driving wheel 22 to rotate through the friction force. The driving wheel 22 is meshed with the tooth groove 42 on the inner side of the chain plate 41 and drives the chain 4 to move, thereby realizing the crawler walking unit 2. During this process, the clutch brake disc 33 is separated from the rotating flywheel 31 and does not contact.

[0064] When turning, the crawler walking unit 2 on one side remains in the moving state, and the crawler walking unit 2 on the other side remains in the braking state. The braking process of the crawler walking unit 2 on the other side is as follows: the driving rod 362 applies a thrust to one end of the fork 36, and the slot end of the fork 36 drives the spline sleeve 35 to drive the clutch driving disc 32 to separate from the rotating flywheel 31, thereby releasing the driving force on the driving wheel 22. At the same time, the piston rods of the three oil cylinders 39 extend synchronously to drive the clutch brake disc 33 to contact the rotating flywheel 31 and keep pressing the rotating flywheel 31. The friction force of the clutch brake disc 33 on the rotating flywheel 31 causes it to brake quickly, and stops the chain 4 of the crawler walking unit 2 on the other side. The walking device of the all-terrain seabed mining vehicle turns toward the stopped crawler walking unit 2, achieving a smaller turning radius and having higher turning maneuverability.

[0065] Parts not described in the present invention can be implemented by adopting or drawing on existing technologies.

[0066] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0067] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0068] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A walking device for an all-terrain seabed mining vehicle, characterized in that: It includes a frame, a steering mechanism and two crawler walking units, and the two crawler walking units are symmetrically arranged on the left and right sides of the frame; The crawler walking unit includes a crawler frame, a driving wheel, a guide wheel, a chain and a supporting wheel. The frame is fixedly connected to the two crawler frames, and the driving wheel and the guide wheel are respectively arranged at the front and rear ends of the crawler frames; There are multiple groups of supporting rollers, which are arranged in sequence from front to back under the crawler support, and each group of supporting rollers is movably connected to the crawler support through a hairspring suspension mechanism; The chain is sleeved on the outside of the track support, the driving wheel, the guide wheel and each supporting wheel, the driving wheel and the guide wheel are meshed with the inner side of the chain, and the outer surface of the chain has a plurality of regularly arranged square grooves; A dual-output shaft motor is provided on the front side of the frame, and two steering mechanisms are symmetrically provided on the left and right sides of the dual-output shaft motor, and each steering mechanism can drive or brake the driving wheel on the same side; The chain is composed of a plurality of chain plates connected in rotation from end to end. The main part of the chain plate is a rectangular flat plate. The chain plate has at least one extension on one side of the moving direction and a corresponding matching receiving groove on the other side, which is equal in number to the extension. The extension portion of any one chain plate can extend into the receiving groove of another adjacent chain plate and be rotatably connected with the other adjacent chain plate through a pin shaft; The outer surface of each chain plate is provided with at least one transverse grouser and a plurality of longitudinal grousers perpendicularly intersecting the transverse grouser, and the plurality of longitudinal grousers are arranged at equal intervals along the extending direction of the transverse grouser; The roots of the transverse grousers and the longitudinal grousers are integrally formed with the chain plate. The cross-section of the transverse grouser is a wedge-shaped structure with a wide root and a narrow end. The square groove is formed between any two adjacent transverse grousers and each longitudinal grouser.

2. The all-terrain seabed mining vehicle travel device according to claim 1, characterized in that: The frame is a steel frame structure, which includes a plurality of longitudinal beams arranged in parallel longitudinally and a plurality of cross beams arranged in sequence and at intervals along the length direction of the longitudinal beams. Each cross beam is fixedly connected to the longitudinal beam as a whole, and the longitudinal beams located on the left and right sides are respectively fixedly connected to the two crawler track brackets as a whole.

3. The all-terrain seabed mining vehicle travel device according to claim 1, characterized in that: Each group of the supporting rollers includes two supporting rollers spaced apart from each other on the left and right sides, and the two supporting rollers in the same group are connected by a rotating shaft, and a bearing seat is sleeved on the rotating shaft; The hairspring suspension mechanism is located between the rotating shaft and the crawler support, with the upper end of the hairspring suspension mechanism being rotationally connected to the crawler support and the lower end of the hairspring suspension mechanism being rotationally connected to the rotating shaft.

4. The all-terrain seabed mining vehicle travel device according to claim 3, characterized in that: The hairspring suspension mechanism includes a connecting rod, a hydraulic shock absorber and a hairspring spring. The connecting rod and the hydraulic shock absorber are arranged in a "V" structure one after the other. The upper ends of the connecting rod and the hydraulic shock absorber are rotatably connected to the bottom of the crawler bracket, and the lower ends are rotatably connected to the bearing seat. The hairspring spring is sleeved on the hydraulic shock absorber and is always in a compressed state.

5. The all-terrain seabed mining vehicle travel device according to claim 1, characterized in that: Two driving wheels are arranged opposite to each other on the left and right sides of the front end of the crawler support, and the two driving wheels are fixedly connected by a first connecting shaft; Two guide wheels are arranged opposite to each other on the left and right sides of the rear end of the crawler bracket. The two guide wheels are fixedly connected by a second connecting shaft. Both the first and second connecting shafts are rotatably matched with the crawler bracket. The driving wheel and the guide wheel are both gear structures, and the inner surface of each chain plate is provided with tooth grooves matching with the gear teeth of the driving wheel or the guide wheel.

6. The all-terrain seabed mining vehicle travel device according to claim 1, characterized in that: The steering mechanism includes a rotating flywheel, a clutch drive disc, a clutch brake disc and a spline shaft. The rotating flywheel is fixed to the outer wall of the dual output shaft motor on one side close to the drive wheel. One end of the spline shaft is coaxially fixedly connected to the corresponding output end of the dual output shaft motor. The clutch drive disc is arranged at the other end of the spline shaft by means of a spline connection, and the clutch drive disc can drive the driving wheel to rotate by means of a clutch; The clutch brake disc is sleeved on the outside of the clutch drive disc, and the clutch brake disc can brake the drive wheel in a clutch manner.

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