A deep-sea mining vehicle anti-sinking and escape device and an escape method thereof

Abstract

The application discloses a deep-sea mining vehicle anti-sinking and escape device and an escape method thereof, and relates to the technical field of marine mining. The mining vehicle comprises a vehicle body, the vehicle body comprises a supercritical carbon dioxide storage tank, a caterpillar type advancing mechanism and an auxiliary wheel, the auxiliary wheel comprises an auxiliary wheel body and a plurality of nozzles, the advancing mechanism is synchronously rotated through a synchronous belt, the plurality of nozzles are located in front of the advancing path of the advancing mechanism, and the supercritical carbon dioxide storage tank is connected with the nozzles through an extensible conveying pipe. The vehicle body drives the auxiliary wheel to perform posture transformation through a hydraulic cylinder, and the tension of the synchronous belt is kept unchanged. The application sprays supercritical carbon dioxide on the path in front of the advancing mechanism through the auxiliary wheel, strengthens the anti-slippage ability of the advancing mechanism, drives the auxiliary wheel to press down through the hydraulic cylinder to support the vehicle body, and simultaneously adopts the mode of retreating and spraying supercritical carbon dioxide to make the vehicle body escape quickly.

Description

Technical Field

[0001] This invention relates to the field of marine mining technology, and in particular to a device for preventing sinking and escaping deep-sea mining vehicles and a method for escaping such vehicles. Background Technology

[0002] The deep sea is rich in mineral resources, including strategic ones, making marine mining extremely valuable commercially and strategically. Currently, most mining operations use tracked mining vehicles. However, because the seabed sediment is relatively soft, tracked mining vehicles disturb the sediment when moving on it, which can easily lead to sinking, slipping, and overturning, making it impossible for the mining vehicles to operate normally.

[0003] Chinese patent document CN115628063A discloses an automatic escape device and method for a deep-sea mining vehicle. The deep-sea mining vehicle includes a vehicle body, tracked walking mechanisms on both sides of the bottom of the vehicle body, and a supercritical carbon dioxide storage tank inside the vehicle body. The carbon dioxide storage tank is connected to a rotating nozzle via a carbon dioxide delivery pipeline, which includes a retractable delivery pipe. The rotating nozzle is located at the end of the retractable delivery pipe. It injects supercritical carbon dioxide into the seabed through the retractable rotating nozzle to generate solid hydrates, thereby rapidly solidifying the seabed soil and enhancing the mining vehicle's anti-slip capability during movement. After the rotating nozzle enters the soil through the retractable delivery pipe, it sprays out supercritical carbon dioxide. However, when the rotating nozzle rotates and sprays supercritical carbon dioxide, the airflow and water flow agitate a large plume of seabed sediment, spraying the supercritical carbon dioxide into the surrounding area, requiring a large amount of supercritical carbon dioxide. The reinforcement effect on the path of the walking mechanism is not significant. Furthermore, due to the thick sediment layer on the seabed, heavily loaded mining vehicles are prone to getting stuck in depressions or pits in the seabed sediment. The document states that injecting supercritical carbon dioxide into the seabed alone is insufficient to allow the mining vehicles to quickly escape from the deep seabed sediment. Summary of the Invention

[0004] In view of the problem that the supercritical carbon dioxide emitted by the rotating nozzle is relatively dispersed and cannot be concentrated to cover the forward path of the mining vehicle, resulting in an insignificant reinforcement effect and the mining vehicle being unable to quickly escape when it is stuck in the pit of seabed sediment, the present invention provides a deep-sea mining vehicle anti-sinking and escape device and its detachment method.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A deep-sea mining vehicle anti-sinking and extrication device includes a vehicle body equipped with several sinking sensors. A supercritical carbon dioxide storage tank is installed inside the vehicle body, and tracked traveling mechanisms are located on both sides of the bottom of the vehicle body. An auxiliary wheel is provided, each comprising an auxiliary wheel body and several nozzles. The auxiliary wheel is located at the front of the vehicle body and rotates synchronously with the traveling mechanisms via a timing belt. The nozzles are respectively located on both sides of the auxiliary wheel body, directly in front of the traveling mechanism's path. The supercritical carbon dioxide storage tank is connected to each nozzle via a retractable delivery pipe. Each end of the auxiliary wheel body is connected to the vehicle body via a hydraulic cylinder. Each hydraulic cylinder can rotate around its connection point with the vehicle body, causing the auxiliary wheel to perform extension, retraction, and oscillation posture changes while maintaining a constant tension on the timing belt.

[0007] Furthermore, the auxiliary wheel has a symmetrical structure on both sides, with a first gear in the middle position, and several long toothed plates are arranged circumferentially on the auxiliary wheel body located between the nozzle and the first gear.

[0008] Furthermore, the traveling mechanism has a transmission shaft with a second gear on it, and the front end of the timing belt meshes with the first gear and the rear end meshes with the second gear.

[0009] Furthermore, each of the nozzles is a telescopic nozzle, including a base and a nozzle. The end of the nozzle has a nozzle opening. The base is fixedly connected to the auxiliary wheel body. The nozzle extends and retracts along the base via a hydraulic device and is connected to the telescopic delivery pipe.

[0010] Furthermore, a plurality of nozzles are provided along the circumference of the nozzle.

[0011] A method for preventing sinking and escaping of a deep-sea mining vehicle, applied to a deep-sea mining vehicle anti-sinking and escaping device as described above, includes the following steps: S1: When the deep-sea mining vehicle is operating on the seabed for mining, the traveling mechanism drives the auxiliary wheel to rotate synchronously forward via the synchronous belt, causing the vehicle body to move forward; S2: When the auxiliary wheel rotates, supercritical carbon dioxide is simultaneously injected outward through the nozzle to increase the intensity of seabed sediment in the path directly in front of the traveling mechanism; S3: During the forward movement of the vehicle body, when the sinking sensor detects that the traveling mechanism is sinking in the seabed sediment, the traveling mechanism and the auxiliary wheel stop rotating, and the hydraulic cylinder rotates around the auxiliary wheel. The connection point of the vehicle body rotates and extends, causing the auxiliary wheel to move downwards and lift the front of the vehicle body, while maintaining the tension of the synchronous belt unchanged; S4: The nozzle extends the nozzle using a hydraulic device, allowing it to penetrate into the interior of the seabed sediment and spray supercritical carbon dioxide; S5: The traveling mechanism drives the auxiliary wheel to rotate synchronously backwards via the synchronous belt, causing the vehicle body to move backwards to escape the obstacle. During the backward movement of the vehicle body, the auxiliary wheel simultaneously sprays supercritical carbon dioxide through the nozzle, and the hydraulic cylinder drives the auxiliary wheel to gradually rotate back to its original position; S6: The traveling mechanism drives the auxiliary wheel to rotate synchronously, causing the vehicle body to move forward again.

[0012] The beneficial effects of this invention are as follows: This invention utilizes auxiliary wheels to spray superconducting carbon dioxide to form hydrates, thereby improving the shear strength of seabed sediments and preventing the vehicle from sinking. Simultaneously, the traveling mechanism synchronously drives the auxiliary wheels to rotate, and the auxiliary wheels spray supercritical carbon dioxide directly in front of the traveling mechanism's path, effectively enhancing the traveling mechanism's anti-slip capability. This invention uses hydraulic cylinders to drive the auxiliary wheels downward to support the front of the vehicle, and employs a method of spraying supercritical carbon dioxide while reversing, enabling the vehicle to quickly escape from depressions and pits in seabed sediments, and deeply reinforcing the sunken areas to ensure normal forward movement after the vehicle is freed. Attached Figure Description

[0013] Figure 1 The diagram shown is a schematic representation of the structural principle of one embodiment of the present invention.

[0014] Figure 2 As shown Figure 1 Side view.

[0015] Figure 3 As shown Figure 1 Front view

[0016] Figure 4 As shown Figure 3 Enlarged view of the auxiliary wheel structure.

[0017] Figure 5 As shown Figure 4A cross-sectional view along the cutting line at point A in the middle.

[0018] Figure 6 The diagram shows the structure of the vehicle when it is getting out of trouble.

[0019] Figure 7 As shown Figure 6 Side view. Detailed Implementation

[0020] This invention discloses a device and method for preventing sinking and escaping deep-sea mining vehicles. The following describes one embodiment of the invention in detail with reference to the accompanying drawings.

[0021] like Figure 1 As shown, a deep-sea mining vehicle anti-sinking and extrication device is disclosed. The mining vehicle includes a vehicle body 1, with several sinking sensors installed around the vehicle body 1. Tracked traveling mechanisms 2 are installed on both sides of the bottom of the vehicle body 1. A drive shaft is connected between the traveling mechanisms 2, and a second gear 5 is installed on the drive shaft. A supercritical carbon dioxide storage tank is detachably fixed inside the vehicle body 1. The supercritical carbon dioxide storage tank stores supercritical carbon dioxide. Supercritical carbon dioxide refers to carbon dioxide in a supercritical state with a density greater than seawater and lower viscosity when the pressure exceeds 7.38 MPa and the temperature exceeds 31.4℃. After entering the seabed sediments, the supercritical carbon dioxide can displace water in the pores of the soft soil to form solid hydrates, achieving rapid solidification of the seabed sediments, improving the supporting strength of the seabed sediments, and increasing the friction between the sediments and the traveling mechanisms 2, enabling the mining vehicle to travel normally in the deep sea.

[0022] like Figure 2 As shown, an auxiliary wheel is provided on the front side of the vehicle body 1. The auxiliary wheel has a symmetrical structure on both sides, including an auxiliary wheel body 6, a first gear, and several retractable nozzles 7. The first gear is located in the middle of the auxiliary wheel body 6. Figure 3 As shown, the traveling mechanism 2 drives the auxiliary wheel to rotate synchronously via the synchronous belt 4. The front end of the synchronous belt 4 meshes with the first gear, and the rear end meshes with the second gear 5. Several nozzles 7 are located on both sides of the auxiliary wheel body 6 and are positioned directly in front of the traveling mechanism 2 along its path. Figure 4 and Figure 5 As shown, the nozzle 7 includes a base 702 and a nozzle 701. The nozzle 701 has several nozzle openings at its end and along its circumference. The base 702 is fixedly connected to the auxiliary wheel body 6. The nozzle 701 extends and retracts along the base 702 via a hydraulic device 703. Several long toothed plates 8 are evenly arranged along the circumference of the auxiliary wheel body 6, located between the nozzle 7 and the first gear.

[0023] Hydraulic cylinders 3 are installed on both sides of the vehicle body 1. These cylinders are movably connected to the axles at both ends of the auxiliary wheel body 6. The hydraulic cylinders 3 can rotate around their connection points with the vehicle body 1, causing the auxiliary wheel to extend, retract, and swing. The supercritical carbon dioxide storage tank is movably connected to the auxiliary wheel via a retractable delivery pipe 101. The front end of the retractable delivery pipe 101 is sealed and movably connected to the axles at both ends of the auxiliary wheel body 6, while the rear end is sealed and movably connected to the supercritical carbon dioxide storage tank. The ends of each retractable delivery pipe 101 can rotate under the influence of the hydraulic cylinders 3.

[0024] Combination Figure 6 and Figure 7 As shown, a method for preventing sinking and escaping of a deep-sea mining vehicle includes the following steps: First, when the deep-sea mining vehicle is operating on the seabed for mining, the traveling mechanism 2 drives the auxiliary wheel to rotate synchronously via a synchronous belt 4. The long toothed plates of the traveling mechanism 2 and the long toothed plates 8 on the auxiliary wheel propel the vehicle body 1 forward. Second, as the auxiliary wheel rotates, a supercritical carbon dioxide storage tank delivers supercritical carbon dioxide to the nozzle 7 through a retractable delivery pipe 101. The nozzle 7 sprays the supercritical carbon dioxide onto the forward path of the traveling mechanism 2, where it mixes thoroughly with seabed sediments to form solid hydrates for reinforcement, improving the anti-slip capability of the traveling mechanism 2. Furthermore, each nozzle 7 is located directly in front of the traveling mechanism 2, effectively reinforcing its forward path while improving the reinforcement effect and saving supercritical carbon dioxide consumption. Third, when the vehicle body 1 is operating on the seabed sediments, due to the heavy load on the traveling mechanism 2, it is prone to sinking into depressions and pits in the seabed sediments, causing the vehicle body 1 to malfunction. When the subsidence sensor detects that vehicle body 1 has subsided, the traveling mechanism 2 and the auxiliary wheel stop rotating. The hydraulic cylinder 3 rotates and extends around the connection point with vehicle body 1, driving the auxiliary wheel to rotate around the drive shaft as the center and the synchronous belt 4 as the radius, while maintaining the tension of the synchronous belt 4. This supports the front of vehicle body 1, and the telescopic delivery pipe 101 rotates accordingly. In the fourth step, the auxiliary wheel presses down into the seabed sediment, and the nozzle 7 uses the hydraulic device 703 to extend the nozzle 701, allowing it to penetrate the interior of the seabed sediment and spray supercritical carbon dioxide for reinforcement. In the fifth step, the traveling mechanism 2 drives the auxiliary wheel to rotate backward synchronously via the synchronous belt 4, causing vehicle body 1 to move backward as a whole. During the backward movement of vehicle body 1, the auxiliary wheel simultaneously sprays supercritical carbon dioxide through the nozzle 7 to reinforce the subsided area, and the hydraulic cylinder 3 drives the auxiliary wheel to gradually rotate back to its original position, while maintaining the tension of the synchronous belt 4. In the sixth step, the traveling mechanism 2 drives the auxiliary wheel to rotate forward synchronously, causing vehicle body 1 to move forward again.

[0025] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A deep-sea mining vehicle anti-sinking and escape device, comprising a vehicle body (1), wherein the vehicle body (1) is provided with a plurality of sinking sensors, a supercritical carbon dioxide storage tank is installed inside the vehicle body (1), and tracked traveling mechanisms (2) are provided on both sides of the bottom of the vehicle body (1), characterized in that: An auxiliary wheel is provided, the auxiliary wheel including an auxiliary wheel body (6) and a plurality of nozzles (7). The auxiliary wheel (6) is located on the front side of the vehicle body (1) and rotates synchronously with the traveling mechanism (2) via a synchronous belt (4). The plurality of nozzles (7) are respectively arranged on both sides of the auxiliary wheel body (6) and located directly in front of the traveling mechanism (2) on the traveling path. The supercritical carbon dioxide storage tank is connected to each of the nozzles (7) via a retractable delivery pipe (101). The two ends of the auxiliary wheel body (6) are connected to the vehicle body (1) by hydraulic cylinders (3). Each hydraulic cylinder (3) can rotate around the connection point with the vehicle body (1) to drive the auxiliary wheel to perform extension and oscillation posture changes, while maintaining the tension of the synchronous belt (4) unchanged. Each of the nozzles (7) is a telescopic nozzle (7), including a base (702) and a nozzle (701). The nozzle (701) has a nozzle opening at its end. The base (702) is fixedly connected to the auxiliary wheel body (6). The nozzle (701) extends and retracts along the base (702) through a hydraulic device (703) and is connected to the telescopic delivery pipe (101).

2. The deep-sea mining vehicle anti-sinking and escape device according to claim 1, characterized in that: The auxiliary wheel has a symmetrical structure on both sides and a first gear in the middle. On the auxiliary wheel body (6) located between the nozzle (7) and the first gear, a number of long toothed plates (8) are arranged circumferentially.

3. The deep-sea mining vehicle anti-sinking and escape device according to claim 2, characterized in that: The traveling mechanism (2) has a transmission shaft with a second gear (5) on it. The front end of the synchronous belt (4) meshes with the first gear and the rear end meshes with the second gear (5).

4. The deep-sea mining vehicle anti-sinking and escape device according to claim 1, characterized in that: Several nozzles are also provided along the circumference of the nozzle (701).

5. A method for preventing sinking and freeing a deep-sea mining vehicle, applied to a deep-sea mining vehicle anti-sinking and freeing device as described in any one of claims 1 to 4, characterized in that: Includes the following steps, S1: When the deep-sea mining vehicle is operating on the seabed to carry out mining, the traveling mechanism (2) drives the auxiliary wheel to rotate forward synchronously through the synchronous belt (4), so that the vehicle body (1) moves forward. S2: When the auxiliary wheel rotates, it simultaneously sprays supercritical carbon dioxide outward through the nozzle (7) to increase the intensity of seabed sediments on the path directly in front of the traveling mechanism (2); S3: During the forward movement of the vehicle body (1), when the sinking sensor detects that the traveling mechanism (2) is sinking in the seabed sediment, the traveling mechanism (2) and the auxiliary wheel stop rotating, the hydraulic cylinder (3) rotates and extends around the connection with the vehicle body (1), so that the auxiliary wheel moves downward to lift the front of the vehicle body (1), while keeping the tension of the synchronous belt (4) unchanged; S4: The nozzle (7) extends the nozzle (701) using a hydraulic device (703) to penetrate into the interior of the seabed sediment and spray supercritical carbon dioxide; S5: The traveling mechanism (2) drives the auxiliary wheel to rotate backward synchronously through the synchronous belt (4), so that the vehicle body (1) moves backward as a whole to get out of trouble. During the backward movement of the vehicle body (1), the auxiliary wheel sprays supercritical carbon dioxide through the nozzle (7) at the same time, and the hydraulic cylinder (3) drives the auxiliary wheel to gradually rotate back to reset. S6: The traveling mechanism (2) drives the auxiliary wheel to rotate synchronously, so that the vehicle body (1) moves forward again.

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