A self-cleaning and de-adhesive device and method for the tracks of a seabed mining vehicle

Abstract

This invention discloses a self-cleaning and de-adhesion device and method for tracked subsea mining vehicles, comprising a tracked walking device, an active de-adhesion device, a passive de-adhesion device, a real-time sensing and monitoring device, and a slippage warning device. The tracked walking device is located on both sides of the vehicle body, with baffles above the tracks and circular openings for suspending multiple rows of springs. A combined brush is suspended below the springs, comprising a counterweight, a wirelessly controlled vibration unit, and a flexible brush. The upper part of the track plate of the track unit has a square metal groove with an opening for placing a metal block, and a circular opening on its upper surface. A hinge controls the metal groove externally. The track teeth are wedge-shaped with gradually increasing height from top to bottom. This invention, through electrochemical and mechanical structures, can automatically clean the tracked subsea mining vehicle during operation, reducing soil adhesion and solving problems such as slippage and sinking of tracked subsea mining vehicles caused by reduced track tooth shear height due to track adhesion.

Description

[0001] Technical Field: This invention relates to the field of deep-sea mining equipment technology, and in particular to a de-adhesion device and method suitable for seabed mining vehicles. Background technology: The ocean is rich in minerals, such as manganese nodules, cobalt-rich manganese-iron crusts, and abundant seabed sulfides, and is generally considered a resource that could potentially increase global raw material supplies in the future. During operation, mining trucks experience the following problems due to the constant contact and compression between their tracks and seabed sediments: 1. When mining rigs operate on the seabed, surface sediments often adhere to the track plates of the rig's contact section. This adhesion of sediments to the track teeth and track plates increases the rig's weight, requiring it to overcome more resistance and increasing energy consumption. Furthermore, the continuous accumulation of sediment during operation reduces the height of the track teeth. This adhesion phenomenon reflects the interaction between the rig and the sediments, significantly impacting the rig's passability, efficiency, and operational quality, ultimately leading to slippage and sinking. This reduces the rig's mining efficiency and significantly disrupts the seabed environment. The large amount of bottom soil adhering to the track plates and teeth not only causes slippage and reduces efficiency but can also lead to the rig sinking, endangering the entire mining setup. 2. In the existing methods for removing adhesion from the tracks of mining trucks, most of them use water jetting. Water jetting generates large-area plumes, causing environmental damage and affecting the biodiversity of the seabed. In addition, the use of nozzles as an external structure is prone to clogging under adverse working conditions, and the scouring of seawater will accelerate the corrosion of nozzles and tracks in seawater. 3. Tracks, being a metallic structure, are subject to severe corrosion in the marine environment. Seawater is an electrolyte solution, and when tracks come into contact with the electrolyte solution, there is a certain potential difference between different parts of the material surface (i.e., there are cathodic and anodic regions), which makes them highly susceptible to electrochemical corrosion, posing a significant safety hazard to the safe and reliable operation of the tracks. Beneficial effects

[0002] 1. This invention, by installing a combined brush with a spring structure above the track, allows the ore collecting car to continuously contact the flexible brush during normal operation. This causes the flexible brush to oscillate back and forth above the track, effectively cleaning the soil adhering to both sides of the track teeth. Furthermore, the oscillation of the flexible brush continuously taps the track, generating vibration and further reducing the amount of soil adhering to the track. Additionally, the baffle acts as a water flow barrier, causing the disturbed water flow to flow in the opposite direction and flush the track teeth.

[0003] 2. According to existing literature, clay particles on the seabed carry a negative charge. By attaching a zinc block to the track, a galvanic cell is formed in the seawater. The zinc block, acting as the anode, loses electrons, while the track, acting as the cathode, gains electrons, thus making the track negatively charged. Due to the principle that like charges repel each other, the adhesion between the track and the seabed clay is reduced.

[0004] 3. By placing zinc blocks inside the metal trough above the track, with the blocks tightly attached to the inner wall of the metal trough, the corrosion of the track in the seabed environment can be effectively prevented while making full use of the idle space above the track and without affecting the normal operation of the mining truck.

[0005] 4. The track teeth have progressively lower protrusions from bottom to top. The bottom protrusions can compact the soil during the movement of the mining car, enhance the compaction effect of the lower soil, and weaken the contact of the upper soil. This can fundamentally reduce the amount of adhesion, avoid the need to install additional mechanical structures on the mining car, and prevent failures.

[0006] 5. The springs used in the suspension assembly can act as an energy-dissipating structure, reducing the bumps caused by the vehicle body driving on uneven terrain, enhancing its stability during driving, reducing the impact and vibration received by the vehicle body during driving, and extending the service life of the vehicle body. Summary of the Invention

[0007] The purpose of this invention is to provide a self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle, which can reduce the amount of track adhesion and solve problems such as slippage and sinking of tracked seabed mining vehicles caused by reduced track shear due to adhesion.

[0008] To address the problems existing in the prior art, the present invention provides a self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle.

[0009] Preferably, a self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle is characterized in that the self-cleaning and de-adhesion device for the tracks of the seabed mining vehicle includes a track walking device, an active de-adhesion device, a passive de-adhesion device, a real-time sensing and monitoring device, and a slippage early warning device. The tracked traveling device includes two tracked traveling units and a vehicle body. The tracked traveling unit includes tracks, track beams, load-bearing wheels, drive wheels and track support wheels, which are symmetrically arranged on the left and right sides of the vehicle body. The tracks are formed by splicing together multiple track plates end to end. The active de-adhesion device includes a spring-structured de-adhesion device and a power-generating de-adhesion device. The spring-structured de-adhesion device comprises multiple combined spring structures, each consisting of three parts: an upper suspension spring, an internal wireless remote-controlled vibration unit, and a lower combined brush. The combined brush includes a counterweight and flexible brushes made of dense, flexible material. The upper spring structure acts as an energy-dissipating device during vehicle operation, absorbing, transmitting, and dispersing the bumps caused by uneven terrain. After absorbing energy, it swings back and forth to drive the flexible brushes, cleaning the tracks. The middle part... The weight prevents the brush from floating, and the internal wireless remote-controlled vibration unit can receive signals from the signal transmitter to achieve free switching vibration, enhancing the brush's cleaning ability. The power generation and de-adhesion device includes a metal groove above each track plate and an external hinge. The metal groove is a square groove with one open side. The metal groove is used to place a metal block. The metal block can form a galvanic cell structure with the track in the electrolyte of seawater. The metal groove is opened and closed by the hinge on the side. When the vehicle body is submerged in seawater, the internal metal block and the track form a galvanic cell structure, making the track negatively charged. The passive de-adhesion device includes baffles and uneven wedge-shaped teeth. The baffles are symmetrically arranged above the tracks on both sides. The baffles have circular openings above them for suspending the spring-structured de-adhesion device. When the teeth move the water flow, the baffles can block and bounce the water flow, thereby forming a downward flow and eddies on the track surface to achieve the cleaning function. The uneven wedge-shaped teeth are wedges with gradually increasing height from top to bottom. The indentations they form can reduce the contact between the upper teeth and the soil. The real-time sensing and monitoring device includes an internal vehicle speed monitoring and sensing system and a track speed identification and control system. When the mining vehicle is running normally, the speed of the drive wheels of the left and right track tracks is set through the left and right track speed identification and control system, and the real-time travel speed of the left and right track tracks is monitored through the internal speed monitoring system. The slippage warning device includes left and right track slippage rate identification modules and a signal transmitting device. When the mining vehicle is driving normally, the left and right track slippage rate identification modules calculate the track slippage rate in real time. When the difference between the theoretical speed provided by the left and right track rotation speed and its driving speed is less than 8% of its theoretical speed, it is considered that the track is working normally. When the difference between the theoretical speed provided by the left and right track rotation speed and its driving speed is greater than or equal to 8% of its theoretical speed, it is considered that the track is slipping. Preferably, the metal trough is 4 cm wide and 8 cm long. Its bottom surface is connected to the track plate and located on the upper part of the outer side of the track, and it is an integral structure. It does not affect the rotation of the track load-bearing wheel, drive wheel and track roller, as well as the normal operation of the mining vehicle. The upper surface of the metal trough has small circular holes to increase the contact area with seawater. The metal trough is opened and closed by a hinge on the side. Preferably, the metal blocks in the metal trough are made of magnesium or zinc, and the metal blocks can be lifted to the mother ship for replacement after the mining vehicle finishes its mining work.

[0010] Preferably, the spring has a length of 15-20 cm and a wire diameter of 0.5 cm; the wireless remote control vibration unit has a vibration frequency of 40000 Hz; and the width of the flexible brush is equal to the width of the tooth, and the length is 1.1-1.3 times the height of the tooth.

[0011] Preferably, the height of the baffle from the track is the sum of the spring length and the flexible brush length, and after the baffle, spring and flexible brush are installed, the lower part of the flexible brush can contact the root of the track tooth, and the upper part of the flexible brush has a counterweight.

[0012] Preferably, the spring is suspended on the lower side of the baffle, each flexible brush is connected to five springs, there are a total of five flexible brushes, and the spacing between the flexible brushes is equal to the spacing between the teeth.

[0013] Preferably, in the aforementioned self-cleaning and de-adhesive device and method for seabed mining vehicle tracks, the track teeth have uniform protrusions from top to bottom, and the height of the protrusions continuously increases, with the highest protrusion height at the bottom of the track.

[0014] Preferably, the track material is stainless steel, wherein metallic elements such as chromium, nickel, and iron can form a galvanic cell structure with magnesium or zinc blocks in seawater.

[0015] Preferably, the operation of the de-adhesion device for a seabed mining vehicle includes the following steps: Step 1: When the mining vehicle is on the mother ship, the operator needs to place the metal block in the metal groove on each track plate and close the hinge to protect the metal block and prevent it from falling off during the operation of the mining vehicle. Step 2: After the metal blocks are installed, check whether the hinges are fixed. After confirming that the installation is fixed, the mining hoist is lowered into the sea to carry out the work. Step 3: When the mining vehicle is hoisted into the seawater, the seawater is an electrolyte solution. When the track and the metal trough are completely submerged and in contact in the seawater, there is a certain potential difference between the different parts of the metal block in the track and the metal trough (i.e., there are cathode and anode areas). The metal block and the track plate form a galvanic cell structure in the seawater. Step 4: In this galvanic cell structure, the metal block placed on the track plate acts as a sacrificial anode and corrodes in seawater, while the track plate acts as a cathode and is protected. Electrons are transferred from the metal block to the track plate, which can prevent the track plate from being corroded in seawater. Step 5: As the metal block and track plate form a galvanic cell structure in the seawater and electrons are transferred, the track plate becomes negatively charged and the surface of the seabed clay becomes negatively charged. Like charges repel each other, and the track plate and the seabed clay form a repulsive force, which reduces the adhesion between the track plate and the seabed clay. Step 6: When the track comes into contact with the seabed clay, the track teeth are wedge-shaped with uniform convexity from top to bottom. During the process of squeezing the soil, the bottom of the track teeth first compacts the soil, forming a vertical indentation, thereby reducing the contact between the upper part of the track teeth and the soil, and reducing track adhesion. Step 7: When the mining vehicle is working, the drive wheel drives the track to rotate, and the track teeth constantly collide and rub against the flexible brush. The resulting force causes the flexible brush, which is connected to the spring, to swing back and forth, constantly hitting and scraping the track plate to clean the track teeth. Step 8: As the track rotates, it causes the surrounding water to flow. The baffle above the track can block the water flow, causing the water to bounce and flow downwards, forming a vortex on the shear surface of the track, which can also play a certain cleaning role. Step 9: When the mining vehicle is running normally, the real-time speed monitoring sensor system monitors the vehicle's speed in real time, and the left and right track speed recognition and control system adjusts the speed of the left and right tracks. Step 10: The left and right track slippage rate identification module monitors the slippage of the left and right track units in real time and calculates the track slippage rate in real time. When the difference between the theoretical speed provided by the track drive wheel rotation speed and its actual travel speed is less than 8% of the theoretical speed, the track is considered to be working normally. When the difference between the theoretical speed provided by the track drive wheel rotation speed and its actual travel speed is greater than or equal to 8% of the theoretical speed but less than 8%, the track is considered to be slipping. At this time, the signal transmitter remotely controls the wireless remote-controlled vibration unit inside the combined brush to generate vibration, enhance the cleaning effect of the combined brush on the track teeth, reduce the loss of track tooth height caused by adhesion, and reduce the occurrence of mining vehicle slippage. Attached Figure Description

[0016] Figure 1 A schematic diagram of a self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle; Figure 2 Side view of a self-cleaning and de-adhesive device and method for the tracks of a seabed mining vehicle; Figure 3 A schematic diagram of the track teeth of a self-cleaning and de-adhesive device and method for the tracks of a seabed mining vehicle; Figure 4 A working diagram of the track teeth of a self-cleaning and de-adhesive device and method for the tracks of a seabed mining vehicle; Figure 5 A schematic diagram of a baffle structure for a self-cleaning and de-adhesive device and method for the tracks of a seabed mining vehicle; Figure 6A schematic diagram of a spring and combined brush structure for a self-cleaning and de-adhesive device and method for the tracks of a seabed mining vehicle. Figure 7 A schematic diagram of the operation of a self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle. Figure 8 Technical roadmap for the operation of the slippage monitoring device.

[0017] In the diagram: 1. Vehicle body; 2. Baffle; 3. Track; 4. Brush; 5. Counterweight; 6. Spring device; 7. Metal groove; 8. Track plate; 9. Track tooth; 10. Hinge; 11. Circular opening; 12. Combined brush; 13. Wireless remote control vibration unit; a. Track roller; b. Drive wheel; c. Track beam; d. Load-bearing roller. Detailed Implementation

[0018] The present invention will be described below with reference to the accompanying drawings and specific embodiments.

[0019] The present invention will be further described below with reference to embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and common practices in the art without departing from the above-described technical concept of the present invention should be included within the scope of protection of the present invention.

[0020] A self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle, characterized in that the self-cleaning and de-adhesion device for the tracks of the seabed mining vehicle includes a track walking device, an active de-adhesion device, a passive de-adhesion device, a real-time sensing and monitoring device, and a slippage early warning device. The tracked traveling device includes two tracked traveling units and a vehicle body. The tracked traveling unit includes tracks, track beams, load-bearing wheels, drive wheels and track support wheels, which are symmetrically arranged on the left and right sides of the vehicle body. The tracks are formed by splicing together multiple track plates end to end. The active de-adhesion device includes a spring-structured de-adhesion device and a power-generating de-adhesion device. The spring-structured de-adhesion device comprises multiple combined spring structures, each consisting of three parts: an upper suspension spring, an internal wireless remote-controlled vibration unit, and a lower combined brush. The combined brush includes a counterweight and flexible brushes made of dense, flexible material. The upper spring structure acts as an energy-dissipating device during vehicle operation, absorbing, transmitting, and dispersing the bumps caused by uneven terrain. After absorbing energy, it swings back and forth to drive the flexible brushes, cleaning the tracks. The middle part... The weight prevents the brush from floating, and the internal wireless remote-controlled vibration unit can receive signals from the signal transmitter to achieve free switching vibration, enhancing the brush's cleaning ability. The power generation and de-adhesion device includes a metal groove above each track plate and an external hinge. The metal groove is a square groove with one open side. The metal groove is used to place a metal block. The metal block can form a galvanic cell structure with the track in the electrolyte of seawater. The metal groove is opened and closed by the hinge on the side. When the vehicle body is submerged in seawater, the internal metal block and the track form a galvanic cell structure, making the track negatively charged. The passive de-adhesion device includes baffles and uneven wedge-shaped teeth. The baffles are symmetrically arranged above the tracks on both sides. The baffles have circular openings above them for suspending the spring-structured de-adhesion device. When the teeth move the water flow, the baffles can block and bounce the water flow, thereby forming a downward flow and eddies on the track surface to achieve the cleaning function. The uneven wedge-shaped teeth are wedges with gradually increasing height from top to bottom. The indentations they form can reduce the contact between the upper teeth and the soil. The real-time sensing and monitoring device includes an internal vehicle speed monitoring and sensing system and a track speed identification and control system. When the mining vehicle is running normally, the speed of the drive wheels of the left and right track tracks is set through the left and right track speed identification and control system, and the real-time travel speed of the left and right track tracks is monitored through the internal speed monitoring system. The slippage warning device includes left and right track slippage rate identification modules and a signal transmitting device. When the mining vehicle is driving normally, the left and right track slippage rate identification modules calculate the track slippage rate in real time. When the difference between the theoretical speed provided by the left and right track drive wheel rotation speed and its driving speed is less than 8% of its theoretical speed, the track is considered to be working normally. When the difference between the theoretical speed provided by the left and right track drive wheel rotation speed and its driving speed is greater than or equal to 8% of its theoretical speed but less than 8%, the track is considered to be slipping.

[0021] like Figure 1 As shown, Figure 1This is a schematic diagram of a self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle. The self-cleaning and de-adhesion device and method for the tracks of a seabed mining vehicle is characterized by including a vehicle body 1, baffles 2 and two track units 3. The baffles 2 are installed on both sides of the vehicle body 1 and located above the tracks 3.

[0022] Preferably, the two track units 3 are symmetrically arranged on the left and right sides of the vehicle body 1, such as... Figure 2 The image shows a side view of a self-cleaning and de-adhesion device and method for a seabed mining vehicle track. The track walking unit 3 consists of a track support wheel a, a drive wheel b, a track beam c, and a load-bearing wheel d. The track 3 is formed by splicing together multiple track plates 8 end to end.

[0023] Preferred, Figure 3 This is a schematic diagram of a self-cleaning and de-adhesive device and method for a seabed mining vehicle track. The metal groove 7 above each track plate 8 is a square groove with an opening. The metal groove 7 is used to place metal blocks inside, and the track teeth 9 are wedge-shaped with a uniform height increase from top to bottom. The metal groove 7 is 4 cm wide and 8 cm long. The bottom surface is connected to the track plate and located on the upper part of the outer side of the track, and it is an integral structure. It does not affect the rotation of the track load-bearing wheel, drive wheel and track support wheel, or the normal operation of the mining vehicle. The upper surface of the metal groove 7 has a circular opening 11 to increase the contact area with seawater. The side of the metal groove is closed by a hinge 10. The metal blocks in the metal groove 7 are made of magnesium or zinc, and the metal blocks can be lifted to the mother ship for replacement after the mining operation of the mining vehicle is completed.

[0024] Preferred, Figure 4 This is a diagram of the working teeth of a self-cleaning and de-adhesion device and method for a track of a seabed mining vehicle. When the track is working, the metal groove 7 contains zinc blocks and the hinge 10 is in the closed state. When shearing the soil, the bottom of the track tooth 9 first contacts and squeezes the soil. Since the bottom of the track tooth is wider than the top, the resulting indentation will prevent the soil from contacting the upper part of the track tooth 9, thereby reducing the adhesion between the track tooth and the soil.

[0025] Preferred, such as Figure 5 This is a schematic diagram of a baffle structure for a self-cleaning and de-adhesion device and method for a seabed mining vehicle track. The baffle 2 is symmetrically arranged on both sides of the track 3, and the baffle 2 has a circular opening for suspending multiple spring devices 6. Each spring device 6 is connected to a combined brush 12 below.

[0026] Preferred, Figure 6This is a schematic diagram of a self-cleaning and de-adhesive device and method for tracked vehicles in seabed mining, including a spring and a combined brush structure. The combined brush 12 comprises two parts: an upper counterweight 5 and a flexible brush 4. The spring 6 has a length of 15-20 cm, and the width of the flexible brush 4 is equal to the width of the track teeth, while its length is 1.1-1.3 times the height of the track teeth, with a wire diameter of 0.5 cm. The wireless remote-controlled vibration unit 13 has a vibration frequency of 40000 Hz. The width of the flexible brush is equal to the width of the track teeth, and its length is 1.1-1.3 times the height of the track teeth.

[0027] Each flexible brush 4 is connected to 5 springs 6. There are five flexible brushes 4 in total, and the spacing between the flexible brushes 4 is equal to the spacing between the teeth 9.

[0028] Preferably, the height of the baffle 2 from the track 3 is the sum of the length of the spring 6 and the length of the flexible brush 4, and after the baffle 2, spring 6 and flexible brush 4 are installed, the lower part of the flexible brush 4 can contact the root of the track tooth 9.

[0029] Preferably, the track material is stainless steel, wherein metallic elements such as chromium, nickel, and iron can form a galvanic cell structure with magnesium or zinc blocks in seawater.

[0030] Preferred, such as Figure 7 As shown, the operation of the de-adhesion device for a seabed mining vehicle includes the following steps: Step 1: When the mining vehicle is on the mother ship, the operator needs to place the metal block in the metal groove on each track plate and close the hinge to protect the metal block and prevent it from falling off during the operation of the mining vehicle. Step 2: After the metal blocks are installed, check whether the hinges are fixed. After confirming that the installation is fixed, the mining hoist is lowered into the sea to carry out the work. Step 3: When the mining vehicle is hoisted into the seawater, the seawater is an electrolyte solution. When the track and the metal trough are completely submerged and in contact in the seawater, there is a certain potential difference between the different parts of the metal block in the track and the metal trough (i.e., there are cathode and anode areas). The metal block and the track plate form a galvanic cell structure in the seawater. Step 4: In this galvanic cell structure, the metal block placed on the track plate acts as a sacrificial anode and corrodes in seawater, while the track plate acts as a cathode and is protected. Electrons are transferred from the metal block to the track plate, which can prevent the track plate from being corroded in seawater. Step 5: As the metal block and track plate form a galvanic cell structure in the seawater and electrons are transferred, the track plate becomes negatively charged and the surface of the seabed clay becomes negatively charged. Like charges repel each other, and the track plate and the seabed clay form a repulsive force, which reduces the adhesion between the track plate and the seabed clay. Step 6: When the track comes into contact with the seabed clay, the track teeth are wedge-shaped with uniform convexity from top to bottom. During the process of squeezing the soil, the bottom of the track teeth first compacts the soil, forming a vertical indentation, thereby reducing the contact between the upper part of the track teeth and the soil, and reducing track adhesion. Step 7: When the mining vehicle is working, the drive wheel drives the track to rotate, and the track teeth constantly collide and rub against the flexible brush. The resulting force causes the flexible brush, which is connected to the spring, to swing back and forth, constantly hitting and scraping the track plate to clean the track teeth. Step 8: As the track rotates, it causes the surrounding water to flow. The baffle above the track can block the water flow, causing the water to bounce and flow downwards, forming a vortex on the shear surface of the track, which can also play a certain cleaning role. Step 9: When the mining car is running normally, the mining car monitors its speed in real time through a real-time speed monitoring sensor system, and adjusts the speed of its left and right track drive wheels through a left and right track speed recognition and control system. Step 10: The left and right track slippage rate identification module monitors the slippage of the left and right track units in real time and calculates the track slippage rate in real time. When the difference between the theoretical speed provided by the track drive wheel rotation speed and its actual travel speed is less than 8% of the theoretical speed, the track is considered to be working normally. When the difference between the theoretical speed provided by the track drive wheel rotation speed and its actual travel speed is greater than or equal to 8% of the theoretical speed but less than 8%, the track is considered to be slipping. At this time, the signal transmitter remotely controls the wireless remote-controlled vibration unit inside the combined brush to generate vibration, enhance the cleaning effect of the combined brush on the track teeth, reduce the loss of track tooth height caused by adhesion, and reduce the occurrence of mining vehicle slippage.

[0031] In the description of this invention, it should be understood that the terms "lower", "upper", "length", "inner", "outer", "upper part", "lower part", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0032] The above specific embodiments should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, any alternative improvements or modifications made to the embodiments of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle, characterized in that, It includes a tracked walking device, an active de-adhesion device, a passive de-adhesion device, a real-time sensing and monitoring device, and a slippage warning device; The tracked traveling device includes two tracked traveling units and a vehicle body. The tracked traveling unit includes tracks, track beams, load-bearing wheels, drive wheels and track rollers, which are symmetrically arranged on the left and right sides of the vehicle body. The tracks are formed by splicing together multiple track plates end to end. The active de-adhesion device includes a spring-structured de-adhesion device and a power-generating de-adhesion device. The spring-structured de-adhesion device comprises multiple combined spring structures, each consisting of three parts: an upper suspension spring, an internal wireless remote-controlled vibration unit, and a lower combined brush. The combined brush includes a counterweight and flexible brushes made of dense, flexible material. The upper spring structure acts as an energy-dissipating device during vehicle operation, absorbing, transmitting, and dispersing the bumps caused by uneven terrain. After absorbing energy, it swings back and forth to drive the flexible brushes, cleaning the tracks. The middle counterweight prevents the brushes from floating. The internal wireless remote-controlled vibration unit receives signals from... The signal emitted by the transmitting device enables free switching vibration, enhancing the cleaning ability of the brush; the power generation and de-adhesion device includes a metal groove above each track plate and an external hinge. The metal groove is a square groove with one side open. The metal groove is used to place a metal block. The metal block can form a galvanic cell structure with the track in the electrolyte of seawater. The metal groove is opened and closed by a hinge on the side. When the vehicle travels under the seawater, the internal metal block and the track form a galvanic cell structure, and electrons are transferred, making the track plate negatively charged. The surface of the seabed clay is negatively charged. Like charges repel each other, and the track plate and the seabed clay form a repulsive force, reducing the adhesion between the track plate and the seabed clay. The passive de-adhesion device includes baffles and uneven wedge-shaped teeth. The baffles are symmetrically arranged above the tracks on both sides. The baffles have circular openings above them for suspending the spring-structured de-adhesion device. The baffles can block and deflect the water flow when the teeth move the water, thereby forming a downward flow and eddies on the track surface to achieve the cleaning function. The uneven wedge-shaped teeth are wedges with gradually increasing height from top to bottom. The indentations they form can reduce the contact between the upper teeth and the soil. The real-time sensing and monitoring device includes an internal vehicle speed monitoring and sensing system and a track speed identification and control system. When the mining vehicle is running normally, the speed of the drive wheels of the left and right track tracks is set through the left and right track speed identification and control system, and the real-time travel speed of the left and right track tracks is monitored through the internal speed monitoring system. The slippage warning device includes left and right track slippage rate identification modules and a signal transmitting device. When the mining vehicle is driving normally, the left and right track slippage rate identification modules calculate the track slippage rate in real time. When the difference between the theoretical speed provided by the left and right track rotation speed and its driving speed is less than 8% of its theoretical speed, it is considered that the track is working normally. When the difference between the theoretical speed provided by the left and right track rotation speed and its driving speed is greater than or equal to its theoretical speed but less than 8%, it is considered that the track is slipping.

2. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The self-cleaning and adhesive removal method includes the following steps: Step 1: When the mining vehicle is on the mother ship, the operator needs to place the metal block in the metal groove on each track plate and close the hinge to protect the metal block and prevent it from falling off during the operation of the mining vehicle. Step 2: After the metal blocks are installed, check whether the hinges are fixed. After confirming that the installation is fixed, the mining hoist is lowered into the sea to carry out the work. Step 3: When the mining vehicle is hoisted into the seawater, the seawater is an electrolyte solution. When the track and the metal trough are completely submerged and in contact in the seawater, there is a certain potential difference between the different parts of the metal block in the track and the metal trough, that is, there are cathode and anode areas. The metal block and the track plate form a galvanic cell structure in the seawater. Step 4: In this galvanic cell structure, the metal block placed on the track plate acts as a sacrificial anode and corrodes in seawater, while the track plate acts as a cathode and is protected. Electrons are transferred from the metal block to the track plate, which can prevent the track plate from being corroded in seawater. Step 5: As the metal block and track plate form a galvanic cell structure in the seawater and electrons are transferred, the track plate becomes negatively charged and the surface of the seabed clay becomes negatively charged. Like charges repel each other, and the track plate and the seabed clay form a repulsive force, which reduces the adhesion between the track plate and the seabed clay. Step 6: When the track comes into contact with the seabed clay, the track teeth are wedge-shaped with uniform convexity from top to bottom. During the process of squeezing the soil, the bottom of the track teeth first compacts the soil, forming a vertical indentation, thereby reducing the contact between the upper part of the track teeth and the soil, and reducing track adhesion. Step 7: When the mining vehicle is working, the drive wheel drives the track to rotate, and the track teeth constantly collide and rub against the flexible brush. The resulting force causes the flexible brush, which is connected to the spring, to swing back and forth, constantly hitting and scraping the track plate to clean the track teeth. Step 8: As the track rotates, it causes the surrounding water to flow. The baffle above the track can block the water flow, causing the water to bounce and flow downwards, forming a vortex on the shear surface of the track, which can also play a certain cleaning role. Step 9: When the mining car is running normally, the mining car monitors the driving speed of the mining car in real time through the real-time speed monitoring sensor system, and adjusts the speed of its left and right track drive wheels through the left and right track speed recognition control system. Step 10: The left and right track slippage rate identification module monitors the slippage of the left and right track units in real time and calculates the track slippage rate in real time. When the difference between the theoretical speed provided by the track rotation speed and its travel speed is less than 8% of the theoretical speed, the track is considered to be working normally. When the difference between the theoretical speed provided by the track rotation speed and its travel speed is greater than or equal to 8% of the theoretical speed, the track is considered to be slipping. At this time, the signal transmitter remotely controls the wireless remote-controlled vibration unit inside the combined brush to generate vibration, enhance the cleaning effect of the combined brush on the track teeth, reduce the loss of track tooth height caused by adhesion, and reduce the occurrence of mining vehicle slippage.

3. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The metal trough is 4 cm wide and 8 cm long. Its bottom surface is connected to the track plate and located on the upper part of the outer side of the track. It is an integral structure and does not affect the rotation of the track load-bearing wheel, drive wheel and track roller, or the normal operation of the mining vehicle. The upper surface of the metal trough has small circular holes to increase the contact area with seawater. The metal trough is opened and closed by a hinge on the side.

4. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The metal blocks in the metal trough are made of magnesium or zinc, and the metal blocks can be lifted to the mother ship for replacement after the mining vehicle finishes its mining work.

5. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The spring is 15-20 cm long and 0.5 cm in diameter; the wireless remote control vibration unit has a vibration frequency of 40000 Hz; and the width of the flexible brush is equal to the width of the tooth, and the length is 1.1-1.3 times the height of the tooth.

6. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The height of the baffle above the track is the sum of the spring length and the flexible brush length, and after the baffle, spring, and flexible brush are installed, the lower part of the flexible brush can contact the root of the track teeth; the material density of the counterweight block must be greater than the density of seawater.

7. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The spring is suspended on the lower side of the baffle. Each flexible brush is connected to 5 springs. There are a total of 5 flexible brushes, and the distance between the flexible brushes is equal to the distance between the teeth.

8. The self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 1, characterized in that, The track teeth are wedge-shaped with uniform convexity from top to bottom, and the convexity height increases continuously, with the convexity height being the greatest at the bottom of the track.

9. A self-cleaning and de-adhesive device for the tracks of a seabed mining vehicle according to claim 4, characterized in that, The track and metal trough are made of stainless steel, and the chromium, nickel and iron metal elements can form a galvanic cell structure with magnesium or zinc blocks in seawater.

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