Deep sea mining vehicle terrain adaptive stable walking track device

Abstract

The present application relates to a kind of deep-sea mining car terrain self-adapting stable walking track device, wherein track system includes track bracket and track, the lower side of track bracket is equipped with multiple groups of track roller assembly, track roller assembly includes swingable roller bar and track roller, track is in turn around track drive wheel, track tension wheel and each track roller, track bracket is equipped with multiple groups of roller shock absorbing assembly, and the lower end of roller shock absorbing assembly is in contact with corresponding roller bar, track bracket is equipped with track main support arm, track adjusting arm, support sliding groove and adjusting sliding groove, wherein the upper end of track main support arm is fixed with mining car frame, lower end is equipped with support sliding axle in support sliding groove, the upper end of track adjusting arm is hinged with mining car frame, lower end is equipped with adjusting sliding axle in corresponding adjusting sliding groove.The present application can adapt to the change of local convex and continuous undulating terrain in deep-sea mining area, ensure the posture stability of deep-sea mining car during driving.

Description

Technical Field

[0001] This invention relates to the fields of marine engineering and deep-sea mining equipment, specifically a terrain-adaptive stabilizing tracked device for deep-sea mining vehicles. Background Technology

[0002] Given the current scarcity of mineral resources, developing deep-sea mineral resources to alleviate this problem has become a global trend. The deep sea is rich in mineral resources, primarily consisting of three forms: polymetallic nodules, cobalt-rich shells, and polymetallic sulfides. As human demand for metal resources continues to increase, more and more countries are focusing on how to develop and utilize these abundant deep-sea mineral resources. Both the exploration and extraction of deep-sea resources rely heavily on advanced deep-sea mining equipment.

[0003] Deep-sea mining vehicles are a crucial component in the exploitation and development of deep-sea mineral resources. To adapt to the seabed topography and enhance deep-sea mining capabilities, most deep-sea mining vehicles currently employ tracked systems for propulsion. Tracked drive systems offer advantages such as high traction, strong load-bearing capacity, and stable movement. While most common deep-sea mining vehicles utilize dual-track systems, they lack terrain-adaptive design structures. Consequently, maintaining vehicle stability during actual mining operations is often challenging. For instance, Chinese invention patent CN115573723A discloses a multi-functional automated deep-sea mining vehicle device, which, lacking terrain adaptability, struggles to operate stably in complex terrain conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a terrain-adaptive and stable tracked device for deep-sea mining vehicles, which can adapt to changes in local convex and continuous undulating terrain in deep-sea mining areas, ensuring the stability of the vehicle's posture during the driving process.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A terrain-adaptive stabilizing tracked device for a deep-sea mining vehicle includes a mining vehicle frame and multiple track systems disposed under the mining vehicle frame. The track system includes a track frame and tracks. One end of the track frame has a track drive wheel, and the other end has a track tension wheel. Multiple track support roller assemblies are disposed under the track frame, and each track support roller assembly includes a swingable support roller rod and track support rollers disposed at the free end of the support roller rod. The tracks sequentially pass over the track drive wheel, the track tension wheel, and each track support roller. The track frame is equipped with... There are multiple sets of track roller shock absorption assemblies, and the lower ends of the track roller shock absorption assemblies abut against the corresponding track roller rods. The track frame is provided with a track main support arm and a track adjusting arm, and the track adjusting arm is located on both sides of the track main support arm. The track frame is provided with a vertical support groove and a horizontal adjusting groove. The upper end of the track main support arm is fixedly connected to the mining vehicle frame, and the lower end is provided with a support slide shaft, which is located in the support groove. The upper end of the track adjusting arm is hinged to the mining vehicle frame, and the lower end is provided with an adjusting slide shaft, which is located in the corresponding adjusting groove.

[0007] The track roller shock absorption assembly includes a shock absorption mounting bracket, a shock absorption link, a shock absorption spring, and a shock absorption roller. The shock absorption mounting bracket is fixed on the track frame. The upper end of the shock absorption link is hinged to the corresponding shock absorption mounting bracket via a hinge pin. The lower end of the shock absorption link is provided with a retractable roller link, and the free end of the roller link is provided with a shock absorption roller that abuts against the corresponding track roller link. The shock absorption spring is fitted onto the shock absorption link, and the upper end of the shock absorption spring is connected to a first limiting flange located at the upper end of the shock absorption link. The lower end of the shock absorption spring is connected to a second limiting flange located at the free end of the roller link.

[0008] The track frame is provided with multiple support roller rod seats on its lower side, and the upper end of the support roller rod is hinged to the corresponding support roller rod seat through a hinge shaft.

[0009] The track platform is equipped with a track drive device for driving the track drive wheel to rotate.

[0010] The track frame is provided with a track tensioning device and a tensioning wheel groove, wherein the axle of the track tensioning wheel is located in the tensioning wheel groove, and the power shaft of the track tensioning device is connected to the axle of the track tensioning wheel.

[0011] The track adjusting arm includes an adjusting link and an adjusting spring. An adjusting hinge seat is provided on the lower side of the mining vehicle frame. The upper end of the adjusting link is hinged to the corresponding adjusting hinge seat. The lower end of the adjusting link is provided with a telescopic sliding shaft link. The free end of the sliding shaft link is provided with the adjusting sliding shaft. An adjusting spring is sleeved on the outside of the adjusting link. The upper end of the adjusting spring is connected to a first flange located at the upper end of the adjusting link. The lower end of the adjusting spring is connected to a second flange located at the free end of the sliding shaft link.

[0012] The advantages and positive effects of this invention are as follows:

[0013] 1. The track support roller assembly of the present invention can rotate around the hinge axis on the support roller rod seat, and the support roller rod is limited by the corresponding support roller shock absorption assembly, thereby ensuring that the support roller rod can only drive the track support roller to swing slightly within a specified stroke range. In this way, when the deep-sea mining vehicle encounters small local protrusions such as seabed rocks while driving, the present invention can achieve small-amplitude shock absorption of the tracked vehicle through the cooperation of the track support roller and the support roller shock absorption assembly, avoiding the problem of local stress concentration on the track. At the same time, it can also achieve adaptive adjustment of the track and ensure the stability of the vehicle's driving posture.

[0014] 2. The present invention can achieve small-amplitude vertical movement adjustment of the track system and small-amplitude rotation adjustment around the support slide shaft by using the track main support arm and track adjustment arm suspended on the track platform. This enables the deep-sea mining vehicle to adapt to undulating terrain, avoids changes in the posture of the deep-sea mining vehicle body due to changes in terrain, and ensures the stability of the vehicle body posture.

[0015] 3. This invention comprises multiple track systems, each operating independently to ensure adaptive performance. When a track system experiences slippage, the invention can redistribute input power to the non-slipping track systems, thereby improving the driving capability of the track systems and effectively suppressing slippage. Furthermore, this invention employs an adaptive track system, eliminating the need for additional drive units. This allows for real-time adjustments to the terrain conditions affecting the deep-sea mining vehicle's operation, effectively avoiding the control delays associated with using additional drive units. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 for Figure 1 Main view of the tracked system in the image.

[0018] Figure 3 for Figure 2 Rear view of the tracked system.

[0019] Among them, 1 is the mining vehicle frame, 2 is the track system, 201 is the track drive wheel, 2011 is the track drive device, 202 is the track tension wheel, 2021 is the track tensioning device, 203 is the track, 204 is the track frame, 2041 is the support slide, 2042 is the adjustment slide, 205 is the track support roller assembly, 2051 is the track support roller, 2052 is the support roller rod, 2053 is the support roller rod seat, 206 is the support roller shock absorption assembly, 2061 is the shock absorption mounting bracket, 2062 is the shock absorption spring, 2063 is the shock absorption roller, 2064 is the shock absorption link, 207 is the track adjustment arm, 2071 is the adjustment slide shaft, 2072 is the adjustment hinge seat, 208 is the track main support arm, and 2081 is the support slide shaft. Detailed Implementation

[0020] The invention will now be described in further detail with reference to the accompanying drawings.

[0021] like Figures 1-3 As shown, the present invention includes a mining vehicle frame 1 and multiple track systems 2 disposed under the mining vehicle frame 1. The track system 2 includes a track frame 204 and tracks 203. One end of the track frame 204 is provided with a track drive wheel 201, and the other end with a track tension wheel 202. Multiple track support roller assemblies 205 are disposed under the track frame 204. Each track support roller assembly 205 includes a swingable support roller rod 2052 and track support rollers 2051 disposed at the free end of the support roller rod 2052. The tracks 203 sequentially pass over the track drive wheel 201, the track tension wheel 202, and each track support roller 2051. Multiple support roller shock absorber assemblies 206 are disposed on the track frame 204, and the lower ends of the support roller shock absorber assemblies 206 abut against the corresponding support roller rods 2052. Figure 3 As shown, the track frame 204 has a track main support arm 208 and a track adjusting arm 207 on the other side, and the track adjusting arm 207 is located on both sides of the track main support arm 208. The track frame 204 has a vertical support groove 2041 and a horizontal adjusting groove 2042. The upper end of the track main support arm 208 is fixedly connected to the mining vehicle frame 1, and the lower end is provided with a support slide shaft 2081, which is located in the support groove 2041. The upper end of the track adjusting arm 207 is hinged to the mining vehicle frame 1, and the lower end is provided with an adjusting slide shaft 2071, which is located in the corresponding adjusting groove 2042.

[0022] like Figures 1-3As shown, in this embodiment, the track roller shock absorption assembly 206 includes a shock absorption mounting bracket 2061, a shock absorption connecting rod 2064, a shock absorption spring 2062, and a shock absorption roller 2063. The shock absorption mounting bracket 2061 is fixed to the track frame 204. The upper end of the shock absorption connecting rod 2064 is hinged to the corresponding shock absorption mounting bracket 2061 via a hinge pin. The lower end of the shock absorption connecting rod 2064 is provided with a retractable roller connecting rod, and the free end of the roller connecting rod is provided with a shock absorption roller 2063 that abuts against the corresponding track roller rod 2052. The shock absorption spring 206... The 2nd set is mounted on the shock-absorbing link 2064, and the upper end of the shock-absorbing spring 2062 is connected to the first limiting flange located at the upper end of the shock-absorbing link 2064. The lower end of the shock-absorbing spring 2062 is connected to the second limiting flange located at the free end of the roller link. When the support roller rod 2052 swings slightly, it can drive the roller link to rise and compress the shock-absorbing spring 2062 to achieve shock absorption and terrain adaptation effects. At the same time, the shock-absorbing spring 2062 can also provide sufficient elasticity to ensure that the corresponding track support roller 2051 is engaged with the track 203. In this embodiment, the upper end of the roller link is movably inserted into the shock-absorbing link 2064.

[0023] like Figures 1-3 As shown in this embodiment, the track frame 204 has multiple support roller rod seats 2053 on its lower side, and the upper end of the support roller rod 2052 is hinged to the corresponding support roller rod seat 2053 through a hinge shaft.

[0024] like Figure 3 As shown, the track platform 204 is provided with a track drive device 2011 for driving the track drive wheel 201 to rotate. In this embodiment, the track drive device 2011 is a servo motor.

[0025] like Figure 3 As shown, the track frame 204 is equipped with a track tensioning device 2021 for driving the track tensioning wheel 202 to move horizontally. Additionally, the track frame 204 has a tensioning wheel groove, and the axle of the track tensioning wheel 202 is located in the tensioning wheel groove. The power shaft of the track tensioning device 2021 is connected to the axle of the track tensioning wheel 202. In this embodiment, the track tensioning device 2021 can be a linear drive device such as a cylinder, hydraulic cylinder, or electric push rod.

[0026] like Figure 3As shown, in this embodiment, the track adjusting arm 207 includes an adjusting link and an adjusting spring. An adjusting hinge seat 2072 is provided on the lower side of the mining vehicle frame 1. The upper end of the adjusting link is hinged to the corresponding adjusting hinge seat 2072. The lower end of the adjusting link is provided with a telescopic sliding shaft link, and the free end of the sliding shaft link has an adjusting sliding shaft 2071 placed in a corresponding adjusting groove 2042. An adjusting spring is sleeved on the outer side of the adjusting link, and the upper end of the adjusting spring is connected to a first flange located at the upper end of the adjusting link. The lower end of the adjusting spring is connected to a second flange located at the free end of the sliding shaft link. In this embodiment, the upper end of the sliding shaft link is movably inserted into the adjusting link. When the track system 2 is subjected to uneven force, the adjusting slide shaft 2071 can slide in the corresponding adjusting slide groove 2042, and the supporting slide shaft 2081 can slide in the supporting slide groove 2041, thereby realizing the small vertical movement adjustment of the track system 2, as well as the small rotation adjustment around the supporting slide shaft 2081.

[0027] The working principle of this invention is as follows:

[0028] When the present invention is in operation, each track system 2 on the lower side of the mining vehicle frame 1 works independently. Each track system 2 drives the track drive wheel 201 to rotate through the track drive device 2011, thereby driving the track 203 to move and achieve movement. The track tension wheel 202 in each track system 2 is driven to move through the track tension device 2021 to adjust the tension of the track 203. Each track support roller 2051 is tightly fitted with the track 203 under the action of the shock absorber spring 2062 in the support roller shock absorber assembly 206 to prevent the track 203 from coming off during movement.

[0029] like Figures 2-3 As shown, the track support roller 2051 in the track support roller assembly 205 of the present invention can rotate around the hinge shaft on the support roller rod seat 2053, and the support roller rod 2052 is limited by the corresponding support roller shock absorption assembly 206, thereby ensuring that the support roller rod 2052 can only drive the track support roller 2051 to swing slightly within a specified stroke range. In this way, when the deep-sea mining vehicle encounters small local protrusions such as seabed rocks while driving, the present invention can achieve small-amplitude shock absorption of the tracked vehicle through the cooperation of the track support roller 2051 and the support roller shock absorption assembly 206, avoiding the problem of local stress concentration of the track 203, and at the same time, it can also achieve adaptive adjustment of the track 203 and ensure the stability of the vehicle's driving posture.

[0030] like Figures 2-3As shown, the track frame 204 of the present invention is provided with a track main support arm 208 and a track adjusting arm 207, and the track adjusting arm 207 is respectively disposed on both sides of the track main support arm 208. The upper end of the track main support arm 208 is fixedly connected to the mining vehicle frame 1, and the lower end is provided with a support slide shaft 2081, which is disposed in a vertical support slide groove 2041. The upper end of the track adjusting arm 207 is hinged to the mining vehicle frame 1, and the lower end is provided with an adjusting slide shaft 2071, which is disposed in a corresponding horizontal adjusting slide groove 2042. When the deep-sea mining vehicle encounters an environment with slope changes, such as undulating seabed terrain, the present invention can achieve small-amplitude vertical movement adjustment of the track system 2 and small-amplitude rotation adjustment around the support sliding shaft 2081 through the cooperation of the track main support arm 208 and the track adjustment arm 207. This enables the deep-sea mining vehicle to adapt to undulating terrain, avoids changes in the vehicle body posture due to terrain undulations, and ensures vehicle body posture stability.

[0031] In addition, when the mining vehicle control system detects slippage or other phenomena in a certain track system 2, the present invention can redistribute the input power of each track system 2 through the control system. That is, the input power of the slipping track system 2 can be redistributed to the motor of the track system 2 that is not slipping, so as to improve the driving capability of the track system 2 and effectively suppress the occurrence of slippage.

Claims

1. A terrain-adaptive stabilizing tracked device for a deep-sea mining vehicle, characterized in that: The system includes a mining vehicle frame (1) and multiple track systems (2) located on the underside of the mining vehicle frame (1). The track system (2) includes a track frame (204) and tracks (203). One end of the track frame (204) is provided with a track drive wheel (201), and the other end is provided with a track tension wheel (202). Multiple track support roller assemblies (205) are provided on the underside of the track frame (204). Each track support roller assembly (205) includes a swingable support roller rod (2052) and a track support roller (2051) located at the free end of the support roller rod (2052). The tracks (203) pass sequentially around the track drive wheel (201), the track tension wheel (202), and each track support roller (2051). Multiple support roller shock absorption assemblies (206) are provided on the track frame (204). The lower ends of the heavy-duty wheel shock absorber assembly (206) abut against the corresponding support wheel rods (2052). The track frame (204) is provided with a track main support arm (208) and a track adjusting arm (207), and the track adjusting arm (207) is located on both sides of the track main support arm (208). The track frame (204) is provided with a vertical support groove (2041) and a horizontal adjusting groove (2042). The upper end of the track main support arm (208) is fixedly connected to the mining vehicle frame (1), and the lower end is provided with a support sliding shaft (2081). The support sliding shaft (2081) is located in the vertical support groove (2041). The upper end of the track adjusting arm (207) is hinged to the mining vehicle frame (1), and the lower end is provided with an adjusting sliding shaft (2071). The adjusting sliding shaft (2071) is located in the corresponding horizontal adjusting groove (2042). The track adjustment arm (207) includes an adjustment link and an adjustment spring. The mining vehicle frame (1) is provided with an adjustment hinge seat (2072) on the lower side. The upper end of the adjustment link is hinged to the corresponding adjustment hinge seat (2072). The lower end of the adjustment link is provided with a telescopic sliding shaft link. The free end of the sliding shaft link is provided with the adjustment sliding shaft (2071). The outer side of the adjustment link is fitted with an adjustment spring. The upper end of the adjustment spring is connected to the first flange provided at the upper end of the adjustment link. The lower end of the adjustment spring is connected to the second flange provided at the free end of the sliding shaft link. The track roller shock absorption assembly (206) includes a shock absorption mounting bracket (2061), a shock absorption link (2064), a shock absorption spring (2062), and a shock absorption roller (2063). The shock absorption mounting bracket (2061) is fixed on the track frame (204). The upper end of the shock absorption link (2064) is hinged to the corresponding shock absorption mounting bracket (2061) via a hinge pin. The lower end of the shock absorption link (2064) is provided with a retractable roller. The rod has a shock-absorbing roller (2063) at its free end that abuts against the corresponding support roller rod (2052). The shock-absorbing spring (2062) is fitted onto the shock-absorbing rod (2064). The upper end of the shock-absorbing spring (2062) is connected to the first limiting flange located at the upper end of the shock-absorbing rod (2064), and the lower end of the shock-absorbing spring (2062) is connected to the second limiting flange located at the free end of the roller rod. The track frame (204) is provided with multiple support roller rod seats (2053) on its lower side, and the upper end of the support roller rod (2052) is hinged to the corresponding support roller rod seat (2053) through a hinge shaft; The track frame (204) is provided with a track tensioning device (2021) and a tensioning wheel groove, wherein the axle of the track tensioning wheel (202) is located in the tensioning wheel groove, and the power shaft of the track tensioning device (2021) is connected to the axle of the track tensioning wheel (202).

2. The terrain-adaptive stabilizing tracked device for deep-sea mining vehicles according to claim 1, characterized in that: The track platform (204) is provided with a track drive device (2011) for driving the track drive wheel (201) to rotate.

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