Crawler soil interaction test device applied to deep-sea mining vehicle

Abstract

The application provides a crawler soil interaction test device applied to a deep-sea mining vehicle, comprising a test bench, a simulated sediment unit, a simulated crawler device, a horizontal movement mechanism, a vertical movement mechanism and a rotary movement mechanism; the simulated sediment unit is placed at the bottom of the test bench, and the simulated crawler device is arranged at the lower part of the test bench and is in transmission connection with the horizontal movement mechanism, the vertical movement mechanism and the rotary movement mechanism. The application of the crawler soil interaction test device applied to the deep-sea mining vehicle can realize the experimental research on the interaction between the deep-sea mining vehicle and the seabed sediment, and can obtain the motion response of the crawler plate of the deep-sea mining vehicle under different working conditions, the disturbance to the flow field, the generation, diffusion and settlement of the plume and other key technical researches, thereby providing a technical basis for the development of the deep-sea mining vehicle.

Description

Technical Field

[0001] This invention relates to the field of civil engineering and water conservancy, and in particular to a test device for track-soil interaction of a deep-sea mining vehicle. Background Technology

[0002] The vast ocean floor holds abundant mineral resources. Proven deep-sea mineral resources with development potential include polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides, with reserves of metals such as manganese, nickel, and cobalt far exceeding those on land. If safe and efficient commercial mining can be carried out, and the impact on the marine ecosystem during operations is well controlled, these abundant marine minerals can become a substitute for terrestrial mineral resources, meeting the future economic development needs of human society.

[0003] Subsea mining vehicles are the most advanced and critical equipment in deep-sea mineral resource development systems. Their underwater mobility directly determines the continuous operational performance of the entire deep-sea mining system. Subsea tracked vehicles, due to their high traction, low ground pressure, strong load-bearing capacity, and excellent maneuverability, are suitable for long-term, high-load, and wide-range free movement on extremely rarefied and soft seabeds. They have significant application value and broad application prospects in the fields of subsea mineral resource development and underwater engineering operations.

[0004] According to current exploration results, the seabed sediments in deep-sea polymetallic nodule mining areas are mainly extremely fine silica mud containing a large amount of water. Due to the extremely small internal friction angle, the driving force of vehicles on the seabed sediments cannot rely on the friction force used by ground vehicles; it mainly depends on the shear resistance of the sediments. On the other hand, deep-sea tracked heavy-duty mining vehicles weigh tens of tons and are subjected to various external forces, resulting in complex subsidence on the soft seabed sediments. Because the seabed sediments are relatively soft, the movement of the tracked structure disturbs the sediments, including linear shearing, rotational shearing, vertical subsidence, and the effects on the sediments when traversing terrain obstacles, resulting in complex interactions. Furthermore, sediment disturbance affects the movement performance of the heavy-duty equipment itself, easily causing dangerous conditions such as subsidence, slippage, and rollover, which affect the walking efficiency and are detrimental to the safety and stability of tracked heavy-duty mining vehicles on the seabed, thus greatly reducing the operational efficiency of deep-sea mining. Therefore, research on the coupling mechanism of deep-water current-solid-soil multi-physics fields is very important.

[0005] The shortcomings of existing technology are as follows:

[0006] 1. When tracked heavy-duty deep-sea mining vehicles actually travel on the seabed surface in mining areas, due to the complex seabed topography and ocean currents, and the extremely soft surface sediments, the mining vehicles are prone to slippage and large sinking due to insufficient traction. To enable mining vehicles to perform mining operations better, it is necessary to design a tracked walking system with sufficient power performance and stable safety. Therefore, it is essential to investigate the interaction between the track and sediment under various motion conditions (speed, acceleration, trajectory, etc.), track conditions (track tooth shape, height, thickness, and track plate dimensions, etc.), terrain conditions (simulating sediment physical and mechanical parameters, terrain features, and stratification, etc.), and load conditions (load weight, loading and unloading, etc.). Existing underwater tracked experimental devices, when testing track walking performance, do not comprehensively investigate the working conditions and cannot accurately and comprehensively reveal the interaction between the track and the seabed surface sediments during mining vehicle movement. This results in the lack of an experimental device that can accurately measure the ground mechanical properties of vehicles in seabed sediments.

[0007] 2. When tracked heavy-duty deep-sea mining vehicles actually travel on the seabed surface in mining areas, the actual seabed surface is not absolutely uniform and flat. The physical and mechanical properties of seabed sediments exhibit a certain degree of heterogeneity, and the seabed surface topography also has certain slope undulations and gullies. Existing underwater tracked testing equipment can only test a limited number of surface working conditions, and it is impossible to conduct multiple working condition tests in a single experiment. Moreover, changing to different working conditions for testing is quite complex. Therefore, it is impossible to study the interaction between the track and sediments under different topographical conditions and sediments with different physical and mechanical parameters, resulting in an inaccurate and comprehensive understanding of the interaction between the track and the seabed surface sediments when the mining vehicle is moving.

[0008] 3. When a tracked heavy-duty deep-sea mining vehicle actually travels on the seabed surface in a mining area, the traction force generated by the entire track is the sum of the traction forces generated by each track unit. Therefore, to more accurately and completely study the interaction between the track and seabed sediments, it is best to study the interaction principle between a single track unit and the sediment. Existing underwater track testing devices all use the entire track or a section of track containing multiple teeth, which cannot accurately study the interaction between a single track unit and seabed sediments, and cannot accurately and comprehensively reveal the interaction relationship between the track and the seabed surface sediments when the mining vehicle is moving.

[0009] 4. When tracked heavy-duty deep-sea mining vehicles actually travel on the seabed surface in mining areas, they experience both vertical subsidence and horizontal shearing, as well as rotational shearing at the bow and stern ends of the tracks. Existing underwater track testing equipment mostly analyzes the vertical subsidence and horizontal shearing relationships between the tracks and seabed sediments, but does not study the interaction during rotational shearing. Therefore, existing underwater track testing equipment cannot accurately and comprehensively reveal the interaction between the tracks and the seabed surface sediments during mining vehicle movement, resulting in the lack of a testing device that can accurately measure the vehicle's ground mechanical properties against seabed sediments.

[0010] 5. When tracked heavy-duty deep-sea mining vehicles actually travel on the seabed surface in mining areas, the driving performance of the mining vehicle is affected not only by the interaction between the tracks and seabed sediments, but also by the three-phase coupling interaction between the mining vehicle tracks, the deep-water current field, and the seabed sediments. Existing underwater tracked test devices all study the interaction between the tracks and sediments, but there are few test devices that comprehensively consider the mutual coupling effects of the current field, sediments, and tracks, making it impossible to accurately study the coupling mechanism of the deep-water current-solid-soil multi-physics field.

[0011] 6. When tracked heavy-duty deep-sea mining vehicles actually travel on the seabed surface in mining areas, the interaction between the tracks and sediments disturbs the undisturbed seabed sediments. The disturbed sediments may become suspended in the nearby flow field, forming plumes and causing problems such as increased turbidity. Simultaneously, redeposited sediments can clog the feeding and respiratory tracts of plankton, thus damaging biodiversity and the ecological environment. Existing underwater tracked testing devices, when testing the track's walking performance, do not consider incorporating the flow field, and therefore cannot simultaneously analyze and study the disturbance to seabed sediments caused by track movement, or the environmental impacts of the plumes generated by sediment disturbance. Summary of the Invention

[0012] To address the shortcomings of the existing technology, this invention provides a track-soil interaction test device for deep-sea mining vehicles. This device solves the problems of existing underwater track test devices, which lack comprehensive consideration of motion conditions, track conditions, load conditions, and terrain conditions when testing track walking performance. These problems include the inability to accurately study the interaction between a single track unit and seabed sediments, the inability to study track rotation and shear interaction, the complexity of operation when changing different working conditions, the inability to accurately study the coupling mechanism of deep-water flow, solid, and soil multi-physics fields, and the inability to analyze the disturbances generated by walking.

[0013] To achieve the above objectives, the present invention provides a track-soil interaction test device for deep-sea mining vehicles, comprising: a test bench, a simulated sediment unit, a simulated track device, a horizontal motion mechanism, a vertical motion mechanism, and a rotary motion mechanism; the simulated sediment unit is placed at the bottom of the test bench, and the simulated track device is disposed at the lower part of the test bench and is connected to the horizontal motion mechanism, the vertical motion mechanism, and the rotary motion mechanism in a transmission connection.

[0014] Preferably, the simulated sediment unit includes a sediment tank and a water tank; the sediment tank is disposed inside the water tank and maintains a gap between the sediment tank and the water tank; the sediment tank and the water tank are connected by steel cables; multiple partitions are detachably connected inside the sediment tank, and the partitions divide the sediment tank into multiple areas.

[0015] Preferably, the test bench includes a bottom frame, a top frame, and several vertical frames connected between the bottom frame and the top frame; the bottom of the bottom frame is equipped with multiple casters, and the casters are equipped with wheel-fixing switches.

[0016] Preferably, the simulated track device includes a simulated track unit and a force sensor; the simulated track unit consists of track plates and a single track tooth; the simulated track unit and the force sensor are connected by a guide rod and bolts.

[0017] Preferably, the horizontal motion mechanism includes: a first horizontal guide rail, a second horizontal guide rail, a horizontal rotating rod, two rotors, a first motion controller, a first drive motor, a third horizontal guide rail, a second motion controller, and a second drive motor;

[0018] The first horizontal guide rail and the second horizontal guide rail are bolted to opposite sides of the top frame; the two ends of the horizontal rotating rod are rotatably connected to one end of the first horizontal guide rail and the second horizontal guide rail respectively via a rotor; the two ends of the third horizontal guide rail are respectively mounted on the first horizontal guide rail and the second horizontal guide rail; the first drive motor is connected to the first motion controller and is driven by the horizontal rotating rod; the horizontal rotating rod is driven by the third horizontal guide rail.

[0019] The vertical motion mechanism is mounted on the third horizontal guide rail via the rotary motion mechanism, and the simulated track device is connected to the vertical motion mechanism; the second drive motor is connected to the second motion controller and is transmitted to the rotary motion mechanism.

[0020] Preferably, the rotary motion mechanism includes a rotating component, two rotating blocks, a rotation angle sensor, a first load platform, several first load blocks, and a first load block locking block;

[0021] The bottom of the first load platform is mounted on the third horizontal guide rail and is connected to the second drive motor; the two sides of the rotating component are rotatably connected to one end of the first load platform through the rotating block, and the other end of the first load platform is fixed with the first load block clamping block; the middle part of the rotation angle sensor is connected to the bottom of the first load platform; one end of the rotating component and the rotation angle sensor is connected to the vertical motion mechanism; the first load block has a first through slot and is clamped on the first load block clamping block through the first through slot.

[0022] Preferably, the vertical motion mechanism includes an upper fixing member, a lower fixing member, a clamping member, a second load platform, several second load block clamps, several second load blocks, a force-bearing block, a third drive motor, a hook, a main guide rod, an auxiliary guide rod, a thrust rod, a fixed pulley, a cable, a cable key, and a cable device.

[0023] The main guide rod passes through the upper fixing member, the lower fixing member, the clamping member, the force-bearing block, and the second load-bearing platform from top to bottom. The main guide rod can move relative to the upper fixing member and the lower fixing member. The lower end of the main guide rod is connected to the upper end of the three-part force sensor by bolts.

[0024] The auxiliary guide rod includes a vertical rod and a sleeve rod. The bottom of the vertical rod is connected to the top of the sleeve rod by bolts. The top of the vertical rod is equipped with the fixed pulley. The sleeve rod is sleeved over the thrust rod, and the end of the thrust rod extends out of the sleeve rod. The sleeve rod passes through and connects the upper fixing member, the rotating member, and the lower fixing member sequentially from top to bottom. The bottom of the sleeve rod is fixedly connected to the top of the third drive motor by bolts. The thrust rod passes through the third drive motor and is driven by the third drive motor. The end of the thrust rod is engaged with the force-receiving block. The force-receiving block is a triangular prism screwed onto the main guide rod.

[0025] The clamping member is bolted to the lower fixing member; the clamping member is used to lock and unlock the main rod.

[0026] The second load-bearing platform is evenly distributed and fixedly connected with the second load-bearing block clamps; the second load-bearing block has a second through groove and is clamped to the second load-bearing block clamps through the second through groove;

[0027] The cable device is fixed to the rotating component. The cable device includes a cable box and a wheel disposed in the cable box. The cable is wound and connected to the wheel, and the end of the cable passes around the fixed pulley and is connected to the hook. The hook is connected to the force-bearing block. The cable key is disposed in the cable box for locking and unlocking the cable.

[0028] Because the present invention adopts the above technical solution, it has the following beneficial effects:

[0029] 1. This experimental setup enables the study of the interaction principles between individual track units and sediments, and allows for the investigation of interaction patterns under different track operating conditions. It allows for convenient and quick replacement of simulated track units of different shapes, thus facilitating better experimental research on the interaction between tracks and sediments under various track operating conditions. Furthermore, the experimental data can be used to optimize the design of mining vehicle tracked systems, resulting in better power performance and safer, more stable movement.

[0030] 2. The vertical motion mechanism of this experimental device can drive the simulated track to move in the vertical plane at a certain speed and acceleration, and release it at a certain height for free fall. This better reproduces the vertical sinking interaction between the track and the sediment when the mining vehicle is moving and being deployed and lowered, allowing us to more comprehensively reveal the interaction between the track and the seabed sediment when the mining vehicle is moving.

[0031] 3. The horizontal motion mechanism of this experimental device can drive the simulated track unit to move in the horizontal plane at a certain speed and acceleration in the x-direction, y-direction, combined x and y-direction motion (e.g., circular motion), combined path motion (e.g., straight line + arc), and oblique shear motion in the horizontal and vertical directions. This better reproduces the horizontal straight shear and compression-shear coupling interaction between the track and the sediment when the mining vehicle moves in a straight line, turns, or moves up and down slopes in a straight line and turns.

[0032] 3. This experimental device can drive the simulated track unit to rotate at a certain angular velocity and angular acceleration. This allows us to study the interaction between the simulated track unit and the sediment during rotation, thus better reproducing the interaction between the bow and stern ends of the track mechanism and the seabed sediment when the mining vehicle is moving. This enables us to more comprehensively reveal the interaction between the track and the seabed sediment.

[0033] 4. This experimental setup, by adding a second load block of a certain weight to the second load platform, allows for the study of the interaction between the track and sediment under different load conditions. Furthermore, by loading and unloading the second load block during movement, it can better recreate the changes in the mining vehicle's own load during mining operations, enabling a more comprehensive understanding of the interaction between the track and seabed sediment. The placement and removal of the load block on the load platform is convenient and simple, reducing workload and simplifying experimental operations.

[0034] 5. The partitions in the sediment chamber of this experimental setup divide the entire sediment tank into six sections (2*3). This allows for the study of the interaction between the track and sediment under multiple working conditions, including sediments with different topographical conditions and physical and mechanical parameters, in a single experiment. This better reflects the unevenness of the actual seabed surface and the slope of the seabed when the mining vehicle is moving, enabling a more comprehensive understanding of the interaction between the track and seabed sediments during mining vehicle movement. Furthermore, the segmentation of the sediment chamber significantly reduces the amount of sediment required for each section. This not only meets the sediment requirements of the simulated track unit but also reduces the workload of configuring simulated sediments and setting up the simulated surface within the sediment chamber. It also reduces the workload when changing working conditions, making the transition between different conditions more convenient and faster.

[0035] 6. This experimental setup can incorporate a flow field into the track and sediment layers to explore the coupling effect among the flow field, sediment, and track. Furthermore, while conducting experiments on the flow field-sediment-track coupling effect, it allows for the observation of plumes and other phenomena generated by simulated sediment suspended in the flow field due to disturbance by the simulated track unit, using instruments such as a turbidimeter and a high-definition camera. This enables a better analysis of the damage to the seabed ecosystem caused by the mining vehicle during its operation and provides experimental data for the future design and manufacture of mining vehicles that meet the requirements of low-damage and low-disturbance operation.

[0036] 8. When operations are required on the sediment tank and water tank, the wheel locking switches of all moving wheels can be opened, allowing the frame, motion system, and simulated track device mounted on it to be moved through the gaps in the frame. After the operations are completed, the previously removed frame can be moved back above the sediment tank and water tank, and then the wheel locking switches of all moving wheels can be locked to secure the entire device. This design ensures that there are no obstructions around the sediment tank and water tank during operations. The filling and cleaning of sediment and water, the removal of baffles in the sediment tank, the setup of the terrain, and the installation of disturbance observation devices become very convenient and quick. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the first direction of the track-soil interaction test device applied to a deep-sea mining vehicle according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the second direction of the track-soil interaction test device applied to a deep-sea mining vehicle according to an embodiment of the present invention;

[0039] Figure 3 This is a third-angle structural schematic diagram of the track-soil interaction test device applied to a deep-sea mining vehicle according to an embodiment of the present invention. Detailed Implementation

[0040] The following is based on the attached diagram. Figures 1-3 The present invention provides preferred embodiments and describes them in detail to enable a better understanding of the functions and features of the invention.

[0041] 1. Please refer to Figures 1-3 An embodiment of the present invention provides a test device for track-soil interaction of a deep-sea mining vehicle, comprising: a test bench, a simulated sediment unit, a simulated track device, a horizontal motion mechanism, a vertical motion mechanism, and a rotary motion mechanism; the simulated sediment unit is placed at the bottom of the test bench, and the simulated track device is disposed at the lower part of the test bench and is connected to the horizontal motion mechanism, the vertical motion mechanism, and the rotary motion mechanism for transmission.

[0042] 2. The simulated sediment unit includes a sediment tank 2 and a water tank 1; the sediment tank 2 is placed inside the water tank 1 and maintains a gap between them; the sediment tank 2 and the water tank 1 are connected by steel cables; multiple partitions are detachably connected inside the sediment tank 2, and the partitions divide the sediment tank 2 into multiple areas.

[0043] In this embodiment, water tank 1 is a hollow cuboid with an open top, made of transparent glass and a metal frame. Sediment tank 2 is a hollow sheet metal cuboid with an open top, used to store simulated seabed sediments. Simulated seawater can be added into the gaps. The bottom of sediment tank 2 has grooves for inserting removable partitions, dividing the entire sediment tank 2 into six parts (2*3). This allows for the study of the interaction between the track and sediment under multiple working conditions, such as sediments with different terrain conditions and sediments with different physical and mechanical parameters, in a single experiment.

[0044] 3. The test bench includes a bottom frame 10, a top frame 3, and several vertical frames 9 connected between the bottom frame 10 and the top frame 3. The bottom of the bottom frame 10 is equipped with multiple casters 11. Each caster 11 is equipped with a wheel fixing switch 12. When the wheel fixing switch 12 is turned on, the caster 11 can move. When the wheel fixing switch 12 is turned off, the caster 11 is locked and cannot move. This allows the entire test bench to be fixed above the simulated sediment unit, removed from the simulated sediment unit, and moved back to the top of the simulated sediment unit from elsewhere.

[0045] The test bench is made of approximately square steel tubes that are fixed together with screws and bolts; a gap is left in the bottom frame 10 on one side of the test bench.

[0046] 4. The simulated track device includes a simulated track unit 15 and a force sensor 16; the simulated track unit 15 consists of track plates and a single track tooth; the simulated track unit 15 and the force sensor 16 are connected by a guide rod through bolts.

[0047] The simulated track unit 15 consists of track plates and individual track teeth. The force sensor 16 records data such as the magnitude of forces acting on the simulated track unit 15 in the X, Y, and Z directions and transmits it to the connected computer. The simulated track unit 15 and the force sensor 16 are connected by a guide rod and bolts, allowing for convenient and quick disassembly and replacement of the simulated track unit 15.

[0048] 5. The horizontal motion mechanism includes: a first horizontal guide rail 5, a second horizontal guide rail 27, a horizontal rotating rod 4, two rotors 6, a first motion controller 7, a first drive motor 8, a third horizontal guide rail 29, a second motion controller 13, and a second drive motor 14.

[0049] The first horizontal guide rail 5 and the second horizontal guide rail 27 are bolted to opposite sides of the top frame 3; the two ends of the horizontal rotating rod 4 are rotatably connected to the same side of the first horizontal guide rail 5 and the second horizontal guide rail 27 via a rotor 6; the two ends of the third horizontal guide rail 29 are respectively mounted on the first horizontal guide rail 5 and the second horizontal guide rail 27, and can move on the horizontal plane along the direction of the first horizontal guide rail 5 and the second horizontal guide rail 27; the first drive motor 8 is connected to the first motion controller 7 and is driven by the horizontal rotating rod 4; the horizontal rotating rod 4 is driven by the third horizontal guide rail 29.

[0050] The vertical motion mechanism is mounted on the third horizontal guide rail 29 via the rotary motion mechanism, and the simulated track device is connected to the vertical motion mechanism; the second drive motor 14 is connected to the second motion controller 13 and is connected to the rotary motion mechanism for transmission.

[0051] 6. The rotary motion mechanism includes a rotating component 25, two rotating blocks 35, a rotation angle sensor 39, a first load platform 36, several first load blocks 37, and a first load block locking block 38.

[0052] The bottom of the first load platform 36 is mounted on the third horizontal guide rail 29 and is connected to the second drive motor 14. The two sides of the rotating component 25 are rotatably connected to one end of the first load platform 36 via rotating blocks 35. The rotating component 25 can rotate clockwise (front view) around the rotating blocks 35 from a vertical position. A first load block locking block 38 is fixed to the other end of the first load platform 36. The middle part of the rotation angle sensor 39 is connected to the bottom of the first load platform 36. One end of the rotating component 25 and the rotation angle sensor 39 is connected to a vertical motion mechanism. The first load block 37 has a first through slot and is locked onto the first load block locking block 38 through the first through slot. Simultaneously, the first load block 37 can also be removed from the first load platform 36 or replaced with a load block of different weight. The addition of the first load block 37 increases the stability of the device during rotation.

[0053] 7. The vertical motion mechanism includes an upper fixing member 26, a lower fixing member 24, a clamping member 23, a second load platform 17, several second load block clamps 18, several second load blocks 19, a force-bearing block 20, a third drive motor 22, a hook 21, a main guide rod 31, an auxiliary guide rod 28, a thrust rod 40, a fixed pulley 30, a cable 32, a cable key 33, and a cable device 34;

[0054] The main rod 31 is a solid cylindrical metal rod that passes through the upper fixing member 26, the lower fixing member 24, the clamping member 23, the force-bearing block 20, and the second load platform 17 from top to bottom. The main rod 31 can move relative to the upper fixing member 26 and the lower fixing member 24. The lower end of the main rod 31 is connected to the upper end of the three-part force sensor 16 by bolts.

[0055] The auxiliary guide rod 28 includes a vertical rod and a sleeve rod. The bottom of the vertical rod is connected to the top of the sleeve rod by bolts. A fixed pulley 30 is installed on the top of the vertical rod. The sleeve rod is sleeved over the thrust rod 40, and the end of the thrust rod 40 extends out of the sleeve rod. The sleeve rod passes through and connects the upper fixing member 26, the rotating member 25 and the lower fixing member 24 from top to bottom. The bottom of the sleeve rod is fixedly connected to the top of the third drive motor 22 by bolts. The thrust rod 40 passes through the third drive motor 22 and is driven by the third drive motor 22. The end of the thrust rod 40 is in a push-fitting engagement with the force-receiving block 20. The force-receiving block 20 is a flat triangular prism with rounded side edges screwed onto the main guide rod 31.

[0056] The clamping member 23 is bolted to the lower fixing member 24; the clamping member 23 is used to lock and unlock the main rod 31.

[0057] The clamping member 23 is a cube with a hole and a switch, through which the main guide rod 31 passes. The top of the clamping member 23 is fixed to the bottom surface of the lower fixing member 24 by screws and bolts. When the switch is open, the main guide rod 31 can move freely along the clamping member 23. When the switch is closed, there should be no relative movement between the main guide rod 31 and the clamping member 23. All switches should be opened before the vertical movement begins and closed after the vertical movement ends.

[0058] The upper fixing member 26 comprises two cubes with two holes each. The main guide rod 31 and the auxiliary guide rod 28 pass through the two holes respectively. The two cubes are fixedly connected by bolts and nuts, so that the upper fixing member 26 covers the main guide rod 31 and the auxiliary guide rod 28. The lower fixing member 24 comprises two cubes with two holes each. The main guide rod 31 and the auxiliary guide rod 28 pass through the two holes respectively. The two cubes are fixedly connected by bolts and nuts, so that the lower fixing member 24 covers the main guide rod 31 and the auxiliary guide rod 28. The presence of the upper fixing member 26 and the lower fixing member 24 allows the main guide rod 31 and the auxiliary guide rod 28, which were not originally connected, to move horizontally and rotate together, and increases the stability of the entire device, effectively preventing the two rods from wobbling during movement.

[0059] The second load platform 17 is evenly distributed and fixedly connected with the second load block clamping block 18; the second load block 19 has a second through groove and is clamped to the second load block clamping block 18 through the second through groove; at the same time, the second load block 19 can also be removed from the second load platform 17 or replaced with a load block of different weight, thereby providing different load working conditions.

[0060] The cable device 34 is fixed to the rotating part 25. The cable device 34 includes a cable box and a wheel set inside the cable box. The cable 32 is a steel cable that is wound and connected to the wheel. The end of the cable 32 passes over the fixed pulley 30 and is connected to the hook 21. The hook 21 is connected to the force-bearing block 20 and is a vertical steel round hole connected to the force-bearing block 20. The cable key 33 is set in the cable box for locking and unlocking the cable 32.

[0061] In this embodiment, the cable key 33 is a flat metal key with an opening at the top that passes through the upper surface of the cable box and inserts into the inside of the cable box. One end of the cable key 33 inserted into the cable box is partially fixed inside the cable box with a bolt.

[0062] The cable key 33 has two positions: vertical and inclined, and can be moved left and right. When the cable key 33 is in the vertical position, the cable 32 in the cable box is fixed and cannot move freely. This causes the hook 21 on the force block 20 to experience an upward vertical pull, fixing the force block 20 and the connected main rod 31 to the simulated track device in the vertical direction. When the cable key 33 is moved to the inclined position, the cable 32 in the cable box is no longer fixed and can move freely. If the switch on the clamping member 23 is in the open state at this time, the force fixing the simulated track device in the vertical direction disappears, allowing the main rod 31 and its connected simulated track device to undergo free fall.

[0063] When the third drive motor 22 is not operating, its internal structure constrains the thrust rod 40, preventing it from moving freely. Upon receiving a motion command, the third drive motor 22 drives the thrust rod 40 downwards. When the thrust rod 40 presses against the force-bearing block 20, the force-bearing block 20 transmits the force from the thrust rod 40 to the main guide rod 31 connected to it. This allows the main guide rod 31 and its connected simulated track device to move vertically downwards together.

[0064] This invention embodiment uses data signals obtained from the three-part force sensor 16, the first motion controller 7, the second motion controller 13, and the rotation angle sensor 39 in the data acquisition system. After processing and analysis, force-displacement curves of the interaction between the track and simulated sediment are plotted, including pressure-settlement curves and shear stress-shear displacement curves. These curves are then used to analyze the walking performance indicators of the track of a deep-sea mining vehicle, such as the driving resistance, driving force, and slip ratio. Based on the analysis results, the walking ability of the tracked robot on the bed surface in soft soil in deep sea is evaluated.

[0065] 1. Analysis of the driving resistance of the tracked robot during movement based on the pressure-sinking formula:

[0066]

[0067]

[0068] In the formula, p is the pressure, and k is the pressure. c It is the cohesive modulus. Let be the internal friction deformation modulus, b be the track plate width, n be the deformation index, z be the settlement amount, and R be the deformation modulus. c 1 represents the resistance to motion, and 1 represents the ground contact length of the track plate.

[0069] If the total vertical force is expressed as the sum of the forces acting on each track element, then the normal force F acting on the i-th element of each track is... ni This can be calculated by multiplying the pressure on each track unit by its area:

[0070]

[0071] in For normal pressure, ΔA i Let b be the area of ​​each track unit, b be the width of the track link, and k be the area of ​​each track unit. c The cohesive deformation modulus of sediments. Let Δz be the frictional deformation modulus of the sediment. i denoted as , and denoted as n, which is the sediment deformation index.

[0072] 2. Based on the Wong shear stress-shear displacement relationship applied to soft soil, the traction force of the track is analyzed, and the maximum driving force obtained by the track shearing the ground is calculated:

[0073]

[0074]

[0075] In the formula, τ is the shear stress; τ max K represents the maximum shear stress. r For residual shear stress τ r With the maximum shear stress τ max Ratio; j is shear displacement; K w The maximum shear stress τ max The corresponding shear displacement when it occurs; F is the track driving force; b is the track plate width; l is the track plate ground contact length.

[0076] If the total horizontal force is expressed as the sum of the forces acting on each track unit, then the longitudinal shear force... It is calculated by multiplying the shear stress by the area of ​​each track unit:

[0077]

[0078] In the formula, "sgn" is the sign function. It is the dynamic longitudinal shear displacement, τ max It is the maximum shear stress, K r It is the residual shear stress τ r With τ max The ratio, K w It is τ max Shear displacement at the time of occurrence.

[0079] Similarly, the lateral shear force acting on each track unit The calculation method is as follows:

[0080]

[0081] 8. Specific experimental procedures:

[0082] ① Turn on the wheel fixing switch 12 on all the moving wheels 11, and move the test bench and the motion system and simulated track device installed on the frame away through the gaps in the frame.

[0083] Before each movement, it must be confirmed that the simulated track unit 15 is higher than the top of the water tank 1. If the simulated track unit 15 is not higher than the top of the water tank 1, turn on the clamping switch 23, move the cable key 33 to the tilt position, and raise the main guide rod 31 and the simulated track device connected to the main guide rod 31 until the simulated track unit 15 is higher than the top of the water tank 1. Then turn off the clamping switch 23, move the cable key 33 back to the vertical position, fix the device, and then move.

[0084] This eliminates any obstructions around water tank 1 and sediment tank 2 during subsequent operations. Operations such as filling and cleaning sediment and water, removing baffles in sediment tank 2, setting up the terrain, and installing disturbance observation devices become much more convenient and efficient.

[0085] ② Add simulated seabed sediments to sediment chamber 2 and create a simulated sediment surface according to the experimental requirements. Different simulated surface conditions may include: different topographic conditions, simulated sediments with different physical and mechanical parameters, and different sediment stratification, etc.

[0086] By installing a removable partition in the sedimentation tank, the entire sedimentation tank can be divided into six parts (2*3). This allows for the testing of the interaction between the track and sediment under multiple working conditions in a single experiment, thereby better reflecting the unevenness of the actual seabed surface and the topographic conditions such as the slope of the seabed surface when the mining vehicle is moving.

[0087] By placing the turbidity meter probe into the flow field, it is possible to conduct experiments on the interaction between the flow field, sediment, and track while simultaneously observing the plume-like flow generated by the simulated sediment suspended in the flow field due to disturbance by the simulated track unit 15. This allows for a better analysis of the damage to the seabed ecosystem caused by the mining vehicle during its operation and provides experimental basis for the future design and manufacture of mining vehicles that meet the requirements of low damage and low disturbance.

[0088] ③ After placing the simulated sediments in sediment tank 2, simulated seawater can be added to the gap between water tank 1 and sediment tank 2 until the simulated sediments are submerged to a certain height. If only the interaction between the track and the sediments is being studied, then it is not necessary to add simulated seawater. In this way, a flow field can be added to the track and sediments to explore the coupling effect between the flow field, sediments, and track.

[0089] ④ After the operations related to water tank 1 and sediment tank 2 are completed, move the previously removed test stand, motion system, and simulated track unit 15, etc., back above water tank 1 and sediment tank 2. Then, turn off the wheel fixing switches 12 on all the moving wheels 11 to fix the entire device. Then, you can start the subsequent experiments and investigations.

[0090] ⑤ Before conducting the test, it is necessary to confirm that the fixed connections of the test device are tight enough and that the parts that should move relatively freely are adequately lubricated, so as to minimize the deviation of the test results caused by factors such as the resistance and instability of the test device itself.

[0091] ⑥ Study on the interaction between simulated track unit 15 and sediment during horizontal shearing motion:

[0092] Turn on the clamping device 23, move the cable key 33 to the tilt position, and slowly lower the main guide rod 31 and the simulated track device connected to the main guide rod 31 until the track teeth are fully inserted into the simulated sediment. Then turn off the clamping device 23 and move the cable key 33 to the vertical position. This prevents the simulated track device from moving vertically during horizontal movement, thereby reducing interference in the test.

[0093] According to the test requirements, the first motion controller 7 sends a command message, and the first drive motor 8 connected to it starts to work, driving the horizontal rotating rod 4 and the rotor 6 to rotate, so that the third horizontal guide rail 29 and the simulated track device connected to it move in the horizontal plane along the direction of the first horizontal guide rail 5 and the second horizontal guide rail 27 at a specified speed and acceleration.

[0094] According to the test requirements, the second motion controller 13 sends a command message, and the second drive motor 14 connected to it starts to work, driving the guide rod and rotor 6 inside the third horizontal guide rail 29 to rotate, so that the simulated track device connected to the third horizontal guide rail 29 moves in the horizontal plane along the direction of the third horizontal guide rail 29 at a specified speed and acceleration.

[0095] According to the test requirements, command information can be sent to the first motion controller 7 and the second motion controller 13 simultaneously. This allows the simulated tracked device to not only perform movement along individual x- or y-direction paths, but also to perform composite trajectory movements in the x and y directions, such as circular arcs. Furthermore, the simulated tracked device can also move along complex paths composed of circular arcs and straight lines.

[0096] This allows us to set up a series of different horizontal motion conditions for simulating the tracked device, thus better reproducing the situations that tracked heavy-duty mining vehicles encounter in actual operation, such as straight-line travel, turning travel, circular travel, and complex route travel such as straight-line lane changes and straight-line U-turns. Keeping other working conditions constant, we can better study the interaction between the track and sediment under different horizontal motion conditions.

[0097] During the horizontal shearing motion, the first motion controller 7 and the second motion controller 13 can save and transmit the motion information of the simulated track device to the computer, and the three-part force sensor 16 will collect the force situation of the simulated track unit 15 and transmit it to the computer.

[0098] After the horizontal shearing motion and data acquisition are completed, the switch of clamping member 23 can be turned on, and cable key 33 can be moved to the tilt position to raise the main guide rod 31 and the simulated track device connected to the main guide rod 31 back to a certain height. Then, the switch of clamping member 23 can be turned off, and cable key 33 can be moved back to the vertical position to fix the device. Then, command information is sent to the first motion controller 7 and the second motion controller 13 to move the device back to the initial position.

[0099] ⑦ Study on the interaction between simulated track unit 15 and sediment during vertical indentation movement:

[0100] Turn on the switch of clamping member 23, move cable key 33 to the tilt position, slowly place the main guide rod 31 and the simulated track device connected to the main guide rod 31 to the surface where the track teeth just touch the simulated sediment, and then turn off the switch of clamping member 23 to fix the device.

[0101] According to the test requirements, a specified number and size of second weight blocks 19 are added to the second weight block latch 18 on the second weight platform 17. To maintain the balance of the device, generally zero second weight blocks 19 are added, or two or four are added in opposite positions. When four are added, the two in opposite positions should have the same weight.

[0102] According to the test requirements, a command message is sent to the third drive motor 22 to drive the push rod 40 connected to it to move downward. After the push rod 40 presses against the force block 20, the switch of the clamping device 23 is turned on, and the main guide rod 31 and the simulated track device connected to the main guide rod 31 can then perform a vertical downward pressing motion on the simulated sediment at a specified speed and acceleration.

[0103] This allows us to set up a series of different vertical motion conditions for simulating tracked devices, thus better reproducing the vertical subsidence of tracked heavy-duty mining vehicles when stationary. Keeping other conditions constant, we can better study the interaction between the track and sediment under different vertical subsidence motion conditions.

[0104] During the vertical indentation process, the third drive motor 22 can save and transmit the motion information of the simulated track device to the computer, and the three-part force sensor 16 will collect the force situation of the simulated track unit 15 and transmit it to the computer.

[0105] After the vertical compression movement and data acquisition are completed, remove all the second load blocks 19 from the second load block latches 18 on the second load platform 17, and then raise the main guide rod 31 and the simulated track device connected to the main guide rod 31 back to a certain height. Then turn off the switch of the clamping member 23, and move the cable key 33 back to the vertical position to fix the device.

[0106] ⑧ Study on the interaction between simulated track unit 15 and sediment during vertical free fall:

[0107] Turn on the switch of clamping member 23, move cable key 33 to the tilt position, move the main rod 31 and the simulated track device connected to the main rod 31 to the expected height, and then move cable key 33 back to the vertical position to fix the device.

[0108] According to the test requirements, a specified number and size of second weight blocks 19 are added to the second weight block latch 18 on the second weight platform 17. To maintain the balance of the device, generally zero second weight blocks 19 are added, or two or four are added in opposite positions. When four are added, the two in opposite positions should have the same weight.

[0109] When the cable key 33 is moved back to the tilt position, the main rod 31 and the connected simulated track device can then undergo free fall until they land on the simulated sediment.

[0110] By setting different initial heights, we can simulate free-fall motion conditions for the tracked device, thereby better reproducing the vertical sinking and impact conditions of the tracked heavy-duty mining vehicle during deployment and descent. Keeping other conditions constant, we can then study the interaction between the track and sediment under different free-fall motion conditions.

[0111] The force sensor 16 on the simulated track device collects the force data of the simulated track unit 15 during free fall and landing and transmits it to the computer.

[0112] After the free fall motion and data acquisition are completed, remove all the second load blocks 19 from the second load block latches 18 on the second load platform 17. Then, raise the main control rod 31 and the simulated track device connected to the main control rod 31 to a certain height. Then, turn off the switch of the clamping device 23, and move the cable key 33 back to the vertical position to fix the device.

[0113] ⑨ Study on the interaction between simulated track unit 15 and sediment under compression-shear coupling conditions:

[0114] Turn on the switch of clamping member 23, move cable key 33 to the tilt position, and slowly lower the main guide rod 31 and the simulated track device connected to the main guide rod 31 to the surface where the track teeth just touch the simulated sediment. Then turn off the switch of clamping member 23 to fix the device.

[0115] According to the test requirements, a specified number and size of second weight blocks 19 are added to the second weight block latch 18 on the second weight platform 17. To maintain the balance of the device, generally zero second weight blocks 19 are added, or two or four are added in opposite positions. When four are added, the two in opposite positions should have the same weight.

[0116] When the switch of clamping member 23 is turned on, and instruction information is sent to the first motion controller 7 and the second motion controller 13 according to the test requirements, the simulated track device can be subjected to a fixed vertical load in the vertical direction while performing horizontal shearing motion.

[0117] This allows us to set up a series of different compression-shear coupling motion conditions for simulating the tracked device. Keeping other conditions constant, we can then study the interaction between the track and the sediment under different compression-shear coupling conditions.

[0118] During the compression-shear coupling motion, the first motion controller 7 and the second motion controller 13 can save and transmit the motion information of the simulated track device to the computer, and the three-part force sensor 16 will collect the force situation of the simulated track unit 15 and transmit it to the computer.

[0119] After the compression-shear coupling motion and data acquisition are completed, remove all the second load blocks 19 from the second load block latches 18 on the second load platform 17. Then, turn on the switch of the clamping member 23, move the cable key 33 to the tilt position, and then raise the main guide rod 31 and the simulated track device connected to the main guide rod 31 back to a certain height. Then, turn off the switch of the clamping member 23, move the cable key 33 back to the vertical position, and fix the device. Then, send command information to the first motion controller 7 and the second motion controller 13 to move the device back to the initial position.

[0120] ⑩ Study on the interaction between simulated track unit 15 and sediment during oblique shear motion:

[0121] Turn on the switch of clamping member 23, move cable key 33 to the tilt position, and slowly lower the main guide rod 31 and the simulated track device connected to the main guide rod 31 to the surface where the track teeth just touch the simulated sediment. Then turn off the switch of clamping member 23 to fix the device.

[0122] According to the test requirements, a specified number and size of second weight blocks 19 are added to the second weight block latch 18 on the second weight platform 17. To maintain the balance of the device, generally zero second weight blocks 19 are added, or two or four are added in opposite positions. When four are added, the two in opposite positions should have the same weight.

[0123] According to the test requirements, a command message is sent to the third drive motor 22 to drive the push rod 40 connected to it to move downward. After the push rod 40 presses against the force block 20, the switch of the clamping member 23 is turned on. At the same time, according to the test requirements, a command message is sent to the first motion controller 7 and the second motion controller 13, so that the simulated track device can perform oblique shearing motion with horizontal shearing motion and vertical indentation motion simultaneously.

[0124] This allows us to set up a series of different oblique shear motion conditions for simulating the tracked device, thus better reproducing the situation where seabed sediments are simultaneously subjected to dynamic loads in both the horizontal and vertical directions during the actual movement of a tracked heavy-duty mining vehicle. Keeping other conditions constant, we can then study the interaction between the track and the sediment under different oblique shear motion conditions.

[0125] During the horizontal shearing motion, the first motion controller 7 and the second motion controller 13 can save and transmit the motion information of the simulated track device to the computer. During the vertical crushing motion, the third drive motor 22 can save and transmit the motion information of the simulated track device to the computer. The three-part force sensor 16 will collect the force situation of the simulated track unit 15 and transmit it to the computer.

[0126] After the oblique shearing motion and data acquisition are completed, all the second load blocks 19 are removed from the second load block latches 18 on the second load platform 17. Then, the switch of the clamping device 23 is turned on, the cable key 33 is moved to the inclined position, and the main guide rod 31 and the simulated track device connected to the main guide rod 31 are raised back to a certain height. Then, the switch of the clamping device 23 is turned off, the cable key 33 is moved back to the vertical position, and the device is fixed. Then, command information is sent to the first motion controller 7 and the second motion controller 13 to move the device back to the initial position.

[0127] Study on the interaction between simulated track unit 15 and sediment during rotational shear motion:

[0128] Turn on the switch of clamping member 23, move cable key 33 to the tilt position, and slowly lower the main guide rod 31 and the simulated track device connected to the main guide rod 31 to the surface where the track teeth just touch the simulated sediment. Then turn off the switch of clamping member 23 to fix the device.

[0129] According to the test requirements, a specified number and size of second weight blocks 19 are added to the second weight block latch 18 on the second weight platform 17. To maintain the balance of the device, generally zero second weight blocks 19 are added, or two or four are added in opposite positions. When four are added, the two in opposite positions should have the same weight.

[0130] According to the test requirements, a command message is sent to the third drive motor 22 to drive the push rod 40 connected to it to move downward. After the push rod 40 presses against the force block 20, the switch of the clamping member 23 is opened, and the main guide rod 31 and the simulated track device connected to the main guide rod 31 can then perform a vertical downward pressing motion on the simulated sediment. When the simulated track device sinks to the specified depth, the third drive motor 22 is stopped and the switch of the clamping member 23 is closed, and the cable key 33 is turned back to the vertical position to fix the device.

[0131] According to the test requirements, a rotational motion command is sent to the third drive motor 22, driving the auxiliary guide rod 28 connected to it and the rotating component 25 connected to the auxiliary guide rod 28 to rotate clockwise (front view) around the rotating block 35 fixed on the first load platform 36 from the vertical position. The main guide rod 31 and the simulated track device connected to the main guide rod 31 are fixed relative to the auxiliary guide rod 28 through the upper fixing component 26, the lower fixing component 24 and the clamping component 23 which is closed by a switch. Therefore, they can rotate clockwise (front view) from the vertical position with a specified angle around the rotating block 35 fixed on the first load platform 36 with a specified angular velocity and angular acceleration, together with the auxiliary guide rod 28.

[0132] By selecting different initial subsidence depths and the angle, angular velocity, and angular acceleration of rotational motion, we can set up a series of different rotational shear motion conditions for simulating the tracked device. This allows us to better reproduce the interaction between the track units at the bow and stern ends and the seabed sediments during the actual movement of a tracked heavy-duty mining vehicle. Keeping other conditions constant, we can then study the interaction between the track and the sediment under different rotational shear motion conditions.

[0133] During the rotational shearing motion, the rotation angle sensor 39 can save and transmit the rotational motion information of the simulated track device to the computer, and the three-part force sensor 16 can collect the force situation of the simulated track unit 15 and transmit it to the computer.

[0134] After the rotational shearing motion and data acquisition are completed, remove all the second load blocks 19 from the second load block latches 18 on the second load platform 17. Then, turn on the switch of the clamping device 23, move the cable key 33 to the tilt position, and then raise the main guide rod 31 and the simulated track device connected to the main guide rod 31 to one end to prevent the device from still interacting with the sediment when it returns to the initial position. Then, turn off the switch of the clamping device 23, move the cable key 33 back to the vertical position, and fix the device. Then, send a rotation command to the third drive motor 22 to rotate the device back to the vertical position.

[0135] Study on the interaction between simulated tracked units 15 of different shapes and sizes and sediments:

[0136] This experimental setup uses a track plate with a toothed edge as a simulated track unit 15 to study the interaction between a single track unit and sediment. Because the simulated track unit 15 is connected to the connecting rod using screws and bolts, different simulated track units 15 can be easily and quickly replaced before each of the aforementioned experiments.

[0137] By designing and manufacturing simulated track units 15 with different track plate sizes and different tooth heights, thicknesses, and shapes, we can set up a series of different track shape and size working conditions for the simulated track device. While keeping other working conditions constant, we can study the interaction between the track and sediment under different track working conditions.

[0138] Study on the interaction between simulated track unit 15 and sediment under different load conditions:

[0139] This experimental setup includes a second load platform 17. The second load block 19 can be fixed to the second load platform 17 and move together with the main guide rod 31 by engaging with the second load block locking block 18 through a slot in the notch. The second load block 19 can also be easily and quickly removed from the second load platform 17, and load blocks of different weights can be replaced.

[0140] By adding second load blocks 19 of varying total weights to the loading platform and loading / unloading these second load blocks 19 during movement, we can set up a series of different load conditions for simulating the tracked device. This allows for a better reproduction of the actual conditions of the tracked heavy-duty mining vehicle during its movement and the changes in its own load during operation. Keeping other operating conditions constant, we can then study the interaction between the track and the sediment under different load conditions.

[0141] This application has been completed and the device has been successfully commissioned.

[0142] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A test device for track-soil interaction in deep-sea mining vehicles, characterized in that, include: The test bench comprises a simulated sediment unit, a simulated track device, a horizontal motion mechanism, a vertical motion mechanism, and a rotary motion mechanism; the simulated sediment unit is placed at the bottom of the test bench, and the simulated track device is located at the lower part of the test bench and is connected to the horizontal motion mechanism, the vertical motion mechanism, and the rotary motion mechanism in a transmission manner; the test bench includes a top frame (3), and the simulated track device includes a force sensor (16). The horizontal motion mechanism includes: a first horizontal guide rail (5), a second horizontal guide rail (27), a horizontal rotating rod (4), two rotors (6), a first motion controller (7), a first drive motor (8), a third horizontal guide rail (29), a second motion controller (13), and a second drive motor (14); the first horizontal guide rail (5) and the second horizontal guide rail (27) are bolted to opposite sides of the top frame (3); the two ends of the horizontal rotating rod (4) are rotatably connected to the same side of the first horizontal guide rail (5) and the second horizontal guide rail (27) respectively through one of the rotors (6); the third horizontal guide rail (6) is bolted to the first horizontal guide rail (5) and the second horizontal guide rail (27). The two ends of the horizontal guide rail (29) are respectively mounted on the first horizontal guide rail (5) and the second horizontal guide rail (27); the first drive motor (8) is connected to the first motion controller (7) and is driven by the horizontal rotating rod (4); the horizontal rotating rod (4) is driven by the third horizontal guide rail (29); the vertical motion mechanism is mounted on the third horizontal guide rail (29) via the rotary motion mechanism, and the simulated track device is connected to the vertical motion mechanism; the second drive motor (14) is connected to the second motion controller (13) and is driven by the rotary motion mechanism; The rotary motion mechanism includes a rotating component (25), two rotating blocks (35), a rotation angle sensor (39), a first load platform (36), several first load blocks (37), and a first load block locking block (38); the bottom of the first load platform (36) is mounted on the third horizontal guide rail (29) and is connected to the second drive motor (14); the two sides of the rotating component (25) are rotatably connected to one end of the first load platform (36) through the rotating blocks (35), and the other end of the first load platform (36) is fixed with the first load block locking block (38); the middle part of the rotation angle sensor (39) is connected to the bottom of the first load platform (36); one end of the rotating component (25) and the rotation angle sensor (39) is connected to the vertical motion mechanism; the first load block (37) has a first through slot and is locked onto the first load block locking block (38) through the first through slot; The vertical motion mechanism includes an upper fixing member (26), a lower fixing member (24), a clamping member (23), a second load platform (17), several second load block clamps (18), several second load blocks (19), a force-bearing block (20), a third drive motor (22), a hook (21), a main guide rod (31), an auxiliary guide rod (28), a push rod (40), a fixed pulley (30), a cable (32), a cable key (33), and a cable device (34); The main rod (31) passes through the upper fixing member (26), the lower fixing member (24), the clamping member (23), the force-bearing block (20), and the second load platform (17) from top to bottom. The main rod (31) can move relative to the upper fixing member (26) and the lower fixing member (24). The lower end of the main rod (31) is connected to the upper end of the three-part force sensor (16) by bolts. The auxiliary guide rod (28) includes a vertical rod and a sleeve rod. The bottom of the vertical rod is connected to the top of the sleeve rod by bolts. The top of the vertical rod is equipped with the fixed pulley (30). The sleeve rod is sleeved outside the thrust rod (40), and the end of the thrust rod (40) extends out of the sleeve rod. The sleeve rod passes through and connects the upper fixing member (26), the rotating member (25), and the lower fixing member (24) from top to bottom. The bottom of the sleeve rod is fixedly connected to the top of the third drive motor (22) by bolts. The thrust rod (40) passes through the third drive motor (22) and is driven by the third drive motor (22). The end of the thrust rod (40) is in abutting engagement with the force-receiving block (20). The force-receiving block (20) is a triangular prism screwed to the main guide rod (31). The clamping member (23) is bolted to the lower fixing member (24); the clamping member (23) is used to lock and unlock the main rod (31); The second load platform (17) is evenly distributed and fixedly connected with the second load block clamping block (18); the second load block (19) has a second through groove and is clamped to the second load block clamping block (18) through the second through groove; The cable device (34) is fixed to the rotating part (25). The cable device (34) includes a cable box and a wheel set in the cable box. The cable (32) is wound around the wheel. The end of the cable (32) passes around the fixed pulley (30) and is connected to the hook (21). The hook (21) is connected to the force block (20). The cable key (33) is set in the cable box for locking and unlocking the cable (32).

2. The track-soil interaction test device for deep-sea mining vehicles according to claim 1, characterized in that, The simulated sediment unit includes a sediment tank (2) and a water tank (1); the sediment tank (2) is disposed inside the water tank (1) and maintains a gap between the water tank (1); the sediment tank (2) and the water tank (1) are connected by steel cables; multiple partitions are detachably connected inside the sediment tank (2), and the partitions divide the sediment tank (2) into multiple areas.

3. The track-soil interaction test device for deep-sea mining vehicles according to claim 2, characterized in that, The test bench includes a bottom frame (10) and several vertical frames (9) connected between the bottom frame (10) and the top frame (3); the bottom of the bottom frame (10) is equipped with a number of moving wheels (11), and the moving wheels (11) are equipped with wheel fixing switches (12).

4. The track-soil interaction test device for deep-sea mining vehicles according to claim 3, characterized in that, The simulated track device includes a simulated track unit (15); the simulated track unit (15) consists of track plates and a single track tooth; the simulated track unit (15) and the three-part force sensor (16) are connected by a guide rod through bolts.

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