Submarine tracked vehicle indentation depth measurement structure and measurement method, and submarine tracked vehicle

Abstract

The invention belongs to the field of seabed indentation depth measuring devices, and discloses a seabed crawler indentation depth measuring structure and method and a seabed crawler, and the seabed crawler indentation depth measuring structure comprises a mounting substrate, a connecting rod, a dragging piece and an angle measuring device. The mounting base plate is connected to a seabed crawler, one end of the connecting rod is hinged to the mounting base plate through a pin shaft, the connecting rod and the mounting base plate are arranged at an angle, the dragging piece is hinged to the other end of the connecting rod and located below the mounting base plate, and the dragging piece makes contact with a seabed matrix; the angle measuring device is installed on the installation substrate and used for measuring the angle value of rotation of the connecting rod relative to the installation substrate. When the angle between the connecting rod and the mounting base plate is changed due to indentation of the seabed crawler, the angle can be captured by the angle measuring device and converted into an electric signal to be output, a basis is provided for subsequent data processing and analysis, and the specific indentation depth of the seabed crawler can be obtained through calculation.

Description

Technical Field

[0001] The present invention belongs to the technical field of seabed depression depth measuring devices, and more specifically, relates to a seabed crawler vehicle depression depth measuring structure, a measuring method, and a seabed crawler vehicle. Background Art

[0002] With the growing global demand for deep-sea mineral resources, polymetallic nodules, as valuable resources rich in iron, manganese, nickel, copper, cobalt and other metal elements, are becoming increasingly valuable. These nodules are widely distributed in the deep-sea soft bottom sediments, which constitute a technical obstacle that cannot be ignored in deep-sea mining operations due to their low shear strength (usually around 4-5 kPa).

[0003] During the operation of the mining vehicle, due to the influence of its own weight and load, it is easy to sink while driving. For example, when the bottom is too hard, the mining vehicle's track is not depressed enough, and the non-metallic track teeth may be damaged due to high impact loads, which in turn affects the durability of the equipment and the continuity of operation. On the contrary, if the bottom is too soft, the track will sink too deeply, significantly increasing the driving resistance. Due to the extreme nature of the deep-sea environment and the limitations of technology, the real-time depression depth of the mining vehicle's track has been difficult to accurately measure. This technical bottleneck not only limits the optimization and adjustment of the mining vehicle's operating parameters, but also makes it difficult to effectively guarantee the safety and efficiency of mining operations. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a submarine crawler vehicle depression depth measurement structure, a measurement method, and a submarine crawler vehicle to solve the technical problem in the prior art that the real-time depression depth of a submarine crawler vehicle is difficult to measure.

[0005] To achieve the above purpose, the technical solution adopted in this application is: A structure for measuring the depression depth of a submarine crawler vehicle is provided, comprising: Install the base plate, connected to the submarine crawler; A connecting rod, one end of which is hinged to the mounting base plate, the connecting rod being arranged at an angle to the mounting base plate; A towing member, hinged to the other end of the connecting rod and located below the mounting base plate, the towing member being in contact with the seabed substrate; An angle measuring device is installed on the mounting base plate, and is used to measure the angle value of the connecting rod rotating relative to the mounting base plate.

[0006] As a further improvement of the above technical solution: Optionally, the towing member includes a counterweight portion and a sliding portion, the sliding portion is located below the counterweight portion, and one end of the connecting rod is hinged to the counterweight portion.

[0007] Optionally, the counterweight portion is a truncated cone-shaped counterweight portion, and the tip of the truncated cone-shaped counterweight portion is arranged upward.

[0008] Optionally, the sliding portion is a truncated cone-shaped sliding portion, and the tip of the truncated cone-shaped sliding portion is arranged downward.

[0009] Optionally, an avoidance groove is provided on the counterweight portion, and one end of the connecting rod is hinged in the avoidance groove.

[0010] Optionally, the counterweight portion and the sliding portion are an integrated structure.

[0011] Optionally, the angle measuring device is an angle encoder.

[0012] The present application also provides a method for measuring seafloor depression depth, comprising the following steps: Deploy the seabed crawler and the seabed crawler depression depth measurement structure to the seabed; The submarine crawler is started to drive the towing member to slide on the submarine substrate; Record the angle value α measured by the angle measuring device at a predetermined frequency; The sinking depth h of the submarine crawler is calculated according to the following formula: h = L·cosα; Where L is the length of the connecting rod.

[0013] The present application also provides a submarine crawler vehicle, comprising a crawler vehicle body and the above-mentioned submarine crawler vehicle depression depth measuring structure.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present application provides a structure for measuring the depression depth of a submarine crawler vehicle, including a mounting base, a connecting rod, a towing member, and an angle measuring device. The mounting base is connected to the submarine crawler vehicle to ensure that the mounting base is stably and synchronously displaced as the submarine crawler vehicle moves, and also provides a mounting base for other components. One end of the connecting rod is hinged to the mounting base through a pin, and the connecting rod and the mounting base are arranged at an angle. The connecting rod can adjust the angle between it and the mounting base according to the change of the depression depth of the submarine crawler vehicle, thereby becoming a key transmission element for measuring the depression depth. The towing member is a component that directly contacts the submarine matrix, which is hinged at the other end of the connecting rod and is located below the mounting base. The towing member can effectively follow the ups and downs of the seabed during the towing process, and can maintain stable contact with the submarine matrix, providing feedback for the measurement. The angle measuring device is installed on the mounting base, and the angle measuring device is used to measure the angle value of the connecting rod relative to the mounting base. When the angle between the connecting rod and the mounting base plate changes due to depression of the submarine crawler, it can be captured by the angle measuring device and converted into an electrical signal output, providing a basis for subsequent data processing and analysis. The specific depression depth of the submarine crawler can be obtained by calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the main structure of the subsea crawler vehicle depression depth measurement structure of the present application; Figure 2 It is a side view structural schematic diagram of the subsea crawler vehicle depression depth measurement structure of the present application; Figure 3 It is a partially enlarged structural schematic diagram of the subsea crawler vehicle depression depth measurement structure of the present application.

[0017] Among them, the reference numerals in the figure are: 1. Install the base plate; 2. Connecting rod; 3. Trailing member; 31. Counterweight; 32. Sliding part; 33. Avoidance groove; 4. Angle measuring device. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0020] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] Unless otherwise defined, all professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0023] like Figures 1 to 3As shown, the present application provides a structure for measuring the depression depth of a submarine crawler, including a mounting base 1, a connecting rod 2, a towing member 3 and an angle measuring device 4. The mounting base 1 is connected to the submarine crawler to ensure that the mounting base 1 is stably and synchronously displaced as the submarine crawler moves, and also provides a mounting base for other components. One end of the connecting rod 2 is hinged to the mounting base 1 through a pin, and the connecting rod 2 is arranged at an angle with the mounting base 1. The connecting rod 2 can adjust the angle between it and the mounting base 1 according to the change of the depression depth of the submarine crawler, thereby becoming a key transmission element for measuring the depression depth. The towing member 3 is a component that directly contacts the submarine matrix, which is hinged at the other end of the connecting rod 2 and is located below the mounting base 1. The towing member 3 can effectively follow the ups and downs of the seabed during the towing process, and can maintain stable contact with the submarine matrix to provide feedback for the measurement. The angle measuring device 4 is installed on the mounting base 1, and the angle measuring device 4 is used to measure the angle value of the connecting rod 2 rotating relative to the mounting base 1. When the angle between the connecting rod 2 and the mounting base plate 1 changes due to depression of the submarine crawler, it can be captured by the angle measuring device 4 and converted into an electrical signal output, providing a basis for subsequent data processing and analysis. The specific depression depth of the submarine crawler can be obtained by calculation.

[0024] like Figures 1 to 3 As shown, in one embodiment of the present application, the towing member 3 includes a counterweight portion 31 and a sliding portion 32. Among them, the counterweight portion 31 is the main counterweight portion of the entire towing member 3. Through its own weight, it ensures that the towing member 3 can be firmly pressed against the complex and changeable seabed matrix, effectively resists the disturbance caused by natural factors such as water flow and tide, and maintains the stability of the operating posture. The sliding portion 32 is located below the counterweight portion 31, and it is in direct contact with the seabed matrix. The sliding portion 32 should be covered with a material with a low friction coefficient or a specially designed surface texture, aiming to reduce the friction between the towing member 3 and the seabed matrix and the adhesion of the seabed matrix when the towing member 3 moves on the seabed, so as to achieve smooth and smooth sliding. One end of the connecting rod 2 is hinged to the counterweight portion 31 through a pin, ensuring that the towing member 3 can freely adjust the angle within a certain range to adapt to different terrains or operating requirements, and can also disperse the stress acting on the connection point, thereby improving the durability and safety of the overall structure.

[0025] like Figures 1 to 3 As shown, in one embodiment of the present application, the counterweight 31 is specifically a truncated cone-shaped counterweight. The smooth contour of the truncated cone-shaped counterweight can effectively suppress the adhesion of the seabed matrix, avoiding the increase of the measurement error caused by the adhesion of foreign matter. The truncated cone-shaped counterweight is also conducive to reducing its movement resistance in the water, so as to reduce the energy consumption of the seabed crawler.

[0026] like Figures 1 to 3As shown, in one embodiment of the present application, the slide portion 32 is a truncated cone-shaped slide portion, and the tip of the truncated cone-shaped slide portion is arranged downward. When the slide portion 32 contacts the seabed matrix, its wide tip can effectively disperse the contact pressure, reduce the local pressure on the thin and soft bottom, and thus prevent the bottom sedimentation caused by pressure concentration. Such sedimentation may not only change the original state of the seabed topography, but also interfere with the subsequent measurement work and affect the accuracy of the measurement results.

[0027] In addition, the wide tip also increases the contact area between the slide 32 and the seabed matrix, which helps to form a more stable support surface, reduces the vibration and shaking caused by the sliding process, and further improves the stability of the measurement operation. At the same time, this open shape also helps to reduce the adhesion of impurities such as seabed sediments and biological attachments on the slide, maintains the cleanliness of the slide, and reduces the potential impact on the measurement accuracy.

[0028] like Figure 3 As shown, in one embodiment of the present application, a avoidance groove 33 is provided on the counterweight portion 31, and one end of the connecting rod 2 is hinged in the avoidance groove 33. The existence of the avoidance groove 33 allows the connecting rod 2 to rotate or swing smoothly, avoids collision, reduces mechanical wear, and prolongs service life.

[0029] In one embodiment of the present application, the counterweight portion 31 and the sliding portion 32 are an integrated structure to improve the overall structural strength of the towing member 3 and eliminate potential risks caused by loose or damaged connecting parts.

[0030] In one embodiment of the present application, the angle measuring device 4 is an angle encoder. As an angle measuring element, the angle encoder uses digital line technology such as grating or binary to measure angular displacement and converts it into a quantifiable electrical signal output. The angle encoder can provide high-precision angle measurement, fast response speed, and can also track and feedback angle changes in real time.

[0031] The present application also provides a method for measuring seafloor depression depth, comprising the following steps: First, the submarine crawler and the submarine crawler depression depth measurement structure are deployed to the seabed; Then, the submarine crawler is started, and the towing member 3 is driven to slide on the submarine substrate; During the sliding process, the angle value α measured by the angle measuring device 4 is read or recorded at a predetermined frequency; Afterwards, the angle value α is obtained and the sinking depth h of the submarine crawler is calculated according to the following formula: h = L·cosα; Wherein, L is the length of connecting rod 2.

[0032] The present application also provides a submarine crawler, including a crawler body and the submarine crawler depression depth measuring structure in the above-mentioned embodiment. Under the driving force of the crawler, the submarine crawler can perform various exploration, detection or operation tasks on the seabed. The submarine crawler depression depth measuring structure is arranged on the crawler body, and the depression of the submarine crawler is measured and fed back in real time. Since the submarine crawler has the submarine crawler depression depth measuring structure in the above-mentioned embodiment, it also has the advantages of the submarine crawler depression depth measuring structure in the above-mentioned embodiment.

[0033] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A subsea crawler vehicle depression depth measurement structure, characterized in that: include: A mounting base plate (1) connected to the submarine crawler vehicle; A connecting rod (2), one end of which is hinged on the mounting base plate (1), and the connecting rod (2) and the mounting base plate (1) are arranged at an angle; A towing member (3) is hinged to the other end of the connecting rod (2) and is located below the mounting base plate (1), wherein the towing member (3) is in contact with a seabed substrate; An angle measuring device (4) is mounted on the mounting substrate (1), and the angle measuring device (4) is used to measure the angle value of the connecting rod (2) rotating relative to the mounting substrate (1).

2. The subsea crawler vehicle depression depth measurement structure according to claim 1, characterized in that: The towing member (3) comprises a counterweight portion (31) and a sliding portion (32), wherein the sliding portion (32) is located below the counterweight portion (31), and one end of the connecting rod (2) is hinged to the counterweight portion (31).

3. The subsea crawler vehicle depression depth measurement structure according to claim 2, characterized in that: The counterweight portion (31) is a truncated cone-shaped counterweight portion, and the tip of the truncated cone-shaped counterweight portion is arranged upward.

4. The subsea crawler vehicle depression depth measurement structure according to claim 2, characterized in that: The sliding portion (32) is a truncated cone-shaped sliding portion, and the tip of the truncated cone-shaped sliding portion is arranged downward.

5. The subsea crawler vehicle depression depth measurement structure according to claim 2, characterized in that: The counterweight portion (31) is provided with an avoidance groove (33), and one end of the connecting rod (2) is hinged in the avoidance groove (33).

6. The subsea crawler vehicle depression depth measurement structure according to claim 2, characterized in that: The counterweight portion (31) and the sliding portion (32) are an integrated structure.

7. The subsea crawler vehicle depression depth measurement structure according to any one of claims 1 to 6, characterized in that: The angle measuring device (4) is an angle encoder.

8. A method for measuring the depth of seabed depression, characterized in that: The steps include: Deploy the seabed crawler and the seabed crawler depression depth measurement structure to the seabed; Starting the submarine crawler and driving the towing member (3) to slide on the submarine substrate; recording the angle value α measured by the angle measuring device (4) at a predetermined frequency; The sinking depth h of the submarine crawler is calculated according to the following formula: h = L·cosα; Wherein, L is the length of the connecting rod (2).

9. A submarine crawler vehicle, characterized in that: It comprises a crawler vehicle body and a subsea crawler vehicle depression depth measuring structure as claimed in any one of claims 1 to 8.

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