Walking escape method based on suspension system

Abstract

The invention relates to a deep-sea mining equipment technology, and provides a walking escape method based on a suspension system so as to enhance the stability and escape capability of a seabed mine collection car in a complex terrain. According to the method, a hydraulic lifting device and an intelligent control system are combined, the wheel height and angle are adjusted through a suspension system, the weight is evenly distributed, and the subsidence risk is reduced. When the mining vehicle sinks, the hydraulic lifting device provides additional lifting force, and the mining vehicle adopts different walking escape modes for different sinking environments, so that quick escape is realized. The intelligent control system monitors the environment and the working state in real time through a sensor network, the suspension system and the hydraulic device are automatically controlled, and the escape efficiency is improved. The adaptability and stability of the mining vehicle in the deep sea environment are remarkably improved, the equipment failure and downtime are shortened, the operation efficiency is improved, meanwhile, disturbance to seabed ecology is reduced, and the mining sustainability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering deep-sea mining equipment, and in particular to a walking escape method based on a suspension system. Background Art

[0002] With the advancement of technology and the increase in resource demand, the development of seabed mineral resources has become increasingly important. As a key piece of equipment in this process, the performance of deep-sea mining vehicles directly affects mining efficiency and environmental disturbance. However, the extreme conditions of the deep-sea environment, such as unstable terrain, high pressure, and complex geological structures, pose great challenges to the design and operation of deep-sea mining vehicles.

[0003] In the entire mining system, mining vehicles are key equipment that comes into direct contact with deep-sea geology and minerals. They need to move constantly and bear the weight of a large amount of minerals during operation, so they face the risk of sinking. Sinking not only reduces the traction of the mining vehicle, but also damages its structure and components, affects mining efficiency, and even causes system paralysis, resulting in significant losses.

[0004] In response to the above problems, existing technologies mainly focus on improving the suspension system of mining vehicles to improve their driving stability and escape ability. The suspension system can mitigate the impact caused by the weight of the vehicle body and the uneven ground, evenly distribute the pressure, reduce the pressure on the ground, and thus reduce the risk of the mining vehicle sinking. In addition, through intelligent control and hydraulic lifting devices, the adaptability and escape ability of mining vehicles in complex terrains are further enhanced.

[0005] However, the existing technology still has some shortcomings. For example, when the sinking is deep, the traditional single suspension system and mechanical escape method may not be able to effectively solve the problem. The existing technology still has some shortcomings. When the sinking is deep, the traditional single suspension system and mechanical escape method may not be able to effectively solve the problem. The main reason is that the traditional suspension system cannot effectively and evenly distribute the weight of the vehicle body when facing deep sinking. Due to the complex terrain, some areas may be under excessive pressure, resulting in more serious local sinking, and thus unable to successfully escape. Secondly, the mechanical escape method usually relies on a fixed mechanical structure and lacks real-time dynamic adjustment capabilities. When the mining vehicle is stuck in deep, the fixed mechanical structure cannot flexibly respond to the changing terrain and pressure distribution, resulting in low escape efficiency. In addition, the single suspension system has poor adaptability when dealing with complex terrain, especially when facing deep and soft bottom, it is easy for the suspension system to fail or fail to provide sufficient lifting force. This lack of adaptability makes it difficult for mining vehicles to effectively escape in a changing deep-sea environment. Finally, the traditional mechanical escape method has a slow response speed and cannot respond to sudden sinking in time, causing the mining vehicle to stagnate for a long time, affecting the operating efficiency. Therefore, a comprehensive solution is urgently needed to improve the overall stability and escape efficiency of mining vehicles through the coordinated work of multiple means, and ensure efficient operation in various complex environments. Summary of the invention

[0006] The purpose of the present invention is to propose a walking escape method based on a suspension system to solve the problems in the prior art.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is to provide a walking escape method based on a suspension system, including a smooth walking device for an underwater ore collecting vehicle, which is composed of a track system, a suspension system, a chassis system and a mining system; the smooth walking device for an underwater ore collecting vehicle is composed of a track system, a suspension system, a chassis system and a mining system; the suspension system is composed of a wheel hub, a steering knuckle, a control arm, a shock absorber, a coil spring, a hydraulic lifting device and an anti-roll bar, and is located between the track system and the mining system; the steering knuckle is connected to the wheel hub through a bearing, and is installed on two guide wheels and two drive wheels.

[0008] Furthermore, the steering knuckle is provided with two upper and lower connecting holes, the upper hole is used to connect the shock absorber, and the lower hole is connected to the control arm; the shock absorber is provided with a coil spring, and the two cooperate with each other; the shock absorbers on both sides are also connected to the anti-roll bar so that it spans between the two tracks; the control arm is connected to the side of the chassis system and is used for the guide wheel and the drive wheel.

[0009] Further, the working steps are as follows:

[0010] The method comprises the following steps: (1) during the operation of the deep-sea ore collecting vehicle, the weight of the minerals collected by the mining system increases continuously, and the weight is transferred to the coil spring and the shock absorber, so that the coil spring and the shock absorber absorb the vertical force caused by the compression process of the vehicle body sinking, thereby relieving the impact force and smoothly distributing the weight, thereby reducing the pressure on the ground and reducing the risk of sinking;

[0011] Step (2) When the mining vehicle is traveling on the soft and sparse bottom of the deep sea, it will be impacted by the uneven road surface; at this time, the control arm will adapt to the terrain and control the wheels, and allow each wheel to respond independently to the ground conditions, keep the track in contact with the ground, avoid tilting, and thus improve the traction and stability of the mining vehicle;

[0012] Step (3) When the mining vehicle is walking on the soft and rare deep sea bottom, it may sink due to the uneven road surface. At this time, the mining vehicle can be freed through the stable walking device of the seabed mining vehicle. In the mining vehicle, a variety of sensors are installed, including position sensors, pressure sensors, acceleration sensors and environmental sensors. The data collected by the sensors are transmitted to the central control unit through a wired network. The central control unit is equipped with a high-performance processor to process the sensor data in real time and analyze the running status and environmental conditions of the vehicle. When the mining vehicle is trapped in the soft and rare bottom, various sensors collect data on the surrounding environment and the vehicle body status. After the central control unit analyzes the data, the sunken part is first solidified by the grouting device on the vehicle body. The injected solution is a sodium silicate solution. This solution can react with calcium ions to generate a gel-like substance, fill the gaps in the sediment, and improve the density. After the solution is completely solidified, the walking escape device is turned on. This device can help the mining vehicle to escape. The suspension system first determines the sinking depth. When the vehicle initially sinks, the sinking depth is shallow. The vehicle body is lifted up to reduce the contact area and increase the possibility of escape.

[0013] Furthermore, position sensors monitor the location information of the mine car in real time to ensure accurate positioning; pressure sensors are installed on the suspension system and chassis to detect the pressure on various parts of the mine car in real time and predict the risk of sinking; acceleration sensors monitor the movement state of the mine car and analyze the tilt and bump of the vehicle; environmental sensors detect environmental information such as seabed topography, geological conditions and water flow speed, and provide data support.

[0014] Furthermore, if lifting the vehicle body cannot effectively free it from the predicament, or if it sinks too deeply, consider moving the vehicle body down to increase the contact area and grip, and find a suitable angle and path to escape; there is a hydraulic lifting device at the bottom of the coil spring, which can be used to lift the two spring devices on one side. At this time, the mining vehicle will tilt, allowing the mining vehicle to be tilted on one side. The connection between the coil spring and the top of the mining vehicle is a hinge connection, which is locked during normal operation and unlocked when sinking, allowing the single-side track of the mining vehicle to move forward and backward. When one side sinks into a soft bottom, the hydraulic device located near the track on the chassis of the mining vehicle starts to operate. This hydraulic device has a telescopic device with a long plate at the bottom to increase the contact area with the ground and give a certain supporting force to the bottom of the mining vehicle. The upper side is connected to a ball and socket joint. At this time, the hydraulic device supports the side of the mining vehicle that is stuck in the soft bottom and lifts this side. The track on one side, and the hydraulic lifting device also start to lift this side, and the hydraulic device on the other side also supports the other side according to the environmental data to prevent one side from sinking again due to excessive pressure. The middle of the bottom chassis is connected by ball and socket joint 2. The ball and socket joint is a connection mechanism that allows multi-directional rotational movement. The ball and socket joint on the sinking side is locked at this time, and the other side is unlocked. The ball and socket joint 1 is also unlocked. Next, the connecting rod can push the single-sided tracked vehicle forward or backward. After pushing the single-sided tracked vehicle to move, the hydraulic device releases pressure and the coil spring returns to its original position. At the same time, due to the single-sided sinking, the mining vehicle is directly driven forward or backward to help the mining vehicle get out of trouble. After getting out of trouble, the mining vehicle is reset; the suspension system also plays a role in evenly distributing weight throughout the process to prevent secondary sinking during the escape process.

[0015] Furthermore, if the mining vehicle sinks on both sides, various sensors collect data on the surrounding environment and the status of the vehicle body. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is sodium silicate solution, which can react with calcium ions to form a gel-like substance, fill the gaps in the sediment, and increase the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining vehicle are started at the same time. These hydraulic devices have telescopic functions and are connected to the chassis through ball and socket joints. They are unlocked when pushing the half-track of the mining vehicle to move. Next, the hydraulic device extends to support both sides of the mining vehicle, gradually lifting the vehicle body, reducing the contact area with the ground, and increasing the possibility of escaping. The suspension system judges the depth of sinking and automatically adjusts The height and tilt angle of the vehicle body; the suspension system will lift or move the vehicle body down to increase grip and find a suitable angle and path to escape. The ball and socket joint allows the chassis to move in multiple directions, and the single-sided tracked vehicle is pushed forward or backward by the connecting rod. The ball and socket joint connection between the hydraulic device and the chassis is unlocked. At this time, the connecting rods on both sides move forward or backward at the same time, moving the track part of the mining vehicle forward. After the movement, the length of the hydraulic device is retracted to make its bottom plate parallel to the ground. At this time, part of the track is outside the subsidence area, and the mining vehicle is driven out of the subsidence area. If it is still in a subsidence state, repeat the above operation until the mining vehicle can drive out of the subsidence pit. After moving out of the subsidence pit, run to a stable area, reset the mining vehicle body, and move the mining vehicle out of the subsidence area.

[0016] Furthermore, if the front side of the mining vehicle sinks, various sensors collect data on the surrounding environment and the state of the vehicle body. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is a sodium silicate solution, which can react with calcium ions to form a gel-like substance to fill the gaps in the sediment and increase the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining vehicle are started at the same time. These hydraulic devices have telescopic functions and are connected to the chassis through ball and socket joints. They are unlocked when pushing the half-track of the mining vehicle to move. Next, the hydraulic device extends to support the mining vehicle, lifts the sunken part of the vehicle body, and gradually lifts the vehicle body to reduce the contact area with the ground. To increase the possibility of escaping, the suspension system determines the depth of sinking and automatically adjusts the height and tilt angle of the vehicle body; the suspension system will lift or move the vehicle body down to increase grip, find a suitable angle and path to escape, and wait for the vehicle body to stabilize. At the same time, various sensors evaluate the surrounding environment and select the side with shallower sinking, move the vehicle body on this side backward, move out of the sinking pit, and after moving out of the sinking area, the hydraulic device retracts and extends to the same height as the bottom of the crawler track. The hydraulic device supports this side to prevent sinking again, and performs the same operation on the other side, so that the other side of the mining vehicle also escapes from the sinking pit. At this time, first run the mining vehicle backward to a stable area, and then start the reset system to reset the mining vehicle.

[0017] The beneficial effects of the present invention are:

[0018] 1. The suspension system can help disperse the pressure and reduce the pressure of the track on the ground by alleviating the impact of the minerals and distributing the weight evenly, thereby reducing the risk of the mine car sinking.

[0019] 2. By automatically adjusting the suspension system, the maximum contact area between the crawler and the ground is maintained to prevent the lifting phenomenon, thereby improving the traction and overall stability of the mining car, so that it can maintain a stable working state in various complex terrains.

[0020] 3. Improve the efficiency and productivity of overall mining operations by improving vehicle stability and escape capabilities, reducing downtime caused by adverse terrain conditions.

[0021] 4. Smoother riding can reduce disturbance to the seabed, thereby reducing the impact on the seabed ecology.

[0022] 5. Improve operating efficiency and reduce mining costs by reducing equipment failures and downtime. At the same time, stable operating performance and efficient escape capabilities further improve the safety of deep-sea mining operations.

[0023] 6. The addition of a walking escape device and an intelligent control system enables rapid response and provision of additional lifting force when the vehicle sinks, enabling rapid escape and improving the adaptability and reliability of the vehicle in extreme environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is the overall installation diagram of the deep-sea mining vehicle;

[0026] Figure 2 It is a side view of a mining vehicle;

[0027] Figure 3 It is a diagram of the suspension system;

[0028] Figure 4 It is the connection diagram between the track system and the suspension system;

[0029] Figure 5 It is a map of a sunken mine cart;

[0030] Figure 6 It is a schematic diagram of the hydraulic device support after sinking.

[0031] Description of reference numerals:

[0032] 1. Track system; 11. Guide wheel; 12. Drive wheel; 13. Support wheel; 14. Track; 2. Suspension system; 21. Wheel hub; 22. Steering knuckle; 221. Upper hole; 222. Lower hole; 23. Control arm; 24. Shock absorber; 25. Coil spring; 251. Hydraulic lifting device; 26. Anti-roll bar; 3. Chassis system; 4. Mining system. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the implementation examples of this application to clearly and completely describe the scheme in the embodiment of this application. Obviously, the described embodiment is only a part of the embodiment of this application, not all of the embodiments. Based on the embodiment of this application, other embodiments obtained by ordinary technicians in this field without making creative work are all within the scope of protection of this application.

[0034] The structures, sizes, proportions, etc. in the drawings of this specification are used to match the contents shown in this specification and are provided to relevant persons familiar with the technology for understanding and reading, rather than to stipulate various limiting conditions of the invention, so they have no practical significance. Any structural adjustment, size change, and proportional relationship change, as long as it does not affect the efficacy of the present invention, should be included in the scope of the present invention. At the same time, the various words used in this specification to define the position, such as "inside the vehicle" and "both ends", are for the convenience of description, rather than to fix their corresponding positions and implementation scopes, and to adjust their relative relationships. In the case of no change in the substantive technology, they should be regarded as the scope of the present invention, and the selection of various waterproof materials is not stipulated.

[0035] As shown in the figure, a walking escape method based on a suspension system. This device is based on the research of an independent suspension system, and uses the suspension system for deep-sea crawler mining vehicles. The suspension system connects the body and the crawler to play a buffering role, solving problems such as unstable walking and sinking caused by rugged road conditions and heavy body. The purpose of the present invention is to install a suspension system in a deep-sea crawler mining vehicle, and based on this suspension system, a walking escape method is proposed.

[0036] A stable walking device for a submarine ore collecting vehicle is composed of a crawler system 1, a suspension system 2, a chassis system 3 and a mining system 4.

[0037] The crawler system 1 comprises a guide wheel 11, a driving wheel 12, a supporting wheel 13, and a crawler 14. The guide wheel 11 and the driving wheel 12 are connected to the suspension system 2 to control the movement of the mining vehicle.

[0038] The suspension system 2 is composed of a wheel hub 21 , a steering knuckle 22 , a control arm 23 , a shock absorber 24 , a coil spring 25 , a hydraulic lifting device 251 , and an anti-roll bar 26 , and is located between the crawler system 1 and the mining system 4 .

[0039] Specifically, the steering knuckle 22 is connected to the wheel hub 21 through a bearing, and is installed on the two guide wheels 11 and the two driving wheels 12, and is a bridge connecting the track system 1 and the suspension system 2. The steering knuckle 22 is provided with two upper and lower connecting holes, the upper hole 221 is used to connect the shock absorber 24, and the lower hole 222 is connected to the control arm 23.

[0040] The shock absorber 24 is provided with a coil spring 25, which cooperates with each other to absorb the vertical force of the downward pressure during the compression process of the vehicle body sinking, thereby playing a role in alleviating the impact force. At the same time, the shock absorbers 24 on both sides are also connected to the anti-roll bar 26 so that it spans between the two tracks; when the track on one side tilts downward when passing through a concave road, the anti-roll bar 26 can press down the track on the other side that is raised, thereby avoiding the situation where one side sinks and maintaining the balance of the mining vehicle. In addition, the upper part of the shock absorber 24 is connected to the mining system 4 to bear the weight brought by the mineral resources.

[0041] The control arms 23 are connected to the side of the chassis system 3 and are used for the guide wheels 11 and the drive wheels 12. The four control arms 23 can move independently without interfering with each other. Therefore, when one wheel is impacted by the road surface and fluctuates, it will not affect the other wheels, and the stability will be better.

[0042] To achieve the above purpose, the technical solution is as follows:

[0043] The general working process of the steady walking device of a submarine ore collecting vehicle and the use method thereof of the present invention is as follows:

[0044] Step (1) During the operation of the deep-sea ore collecting vehicle, the weight of the minerals collected by the mining system 4 continues to increase, and the weight is transferred to the coil spring 25 and the shock absorber 24, so that they absorb the vertical force caused by the compression process of the sinking of the vehicle body, play a role in alleviating the impact force, and smoothly distribute the weight, thereby reducing the pressure on the ground and reducing the risk of sinking.

[0045] Step (2) When the mining car is traveling on the soft and sparse bottom of the deep sea, it will be impacted by the uneven road surface; at this time, the control arm 23 will adapt to the terrain and control the wheels, and allow each wheel to respond to the ground conditions independently, keep the track in contact with the ground, and avoid tilting, thereby improving the traction and stability of the mining car; at the same time, if the track on one side tilts downward when passing through a concave road, the anti-roll bar 26 can press down the track on the other side, thereby avoiding the sinking of one side and maintaining the balance of the mining car. In addition, the coil spring 25 and the shock absorber 24 can absorb the impact force transmitted to the mining car structure through the track, protect the mining car components from damage, and extend the service life.

[0046] Step (3) When the mining car is traveling on the soft and sparse bottom of the deep sea, it will sink due to the uneven road surface. At this time, it can be rescued through this device. A variety of sensors are installed in this mining car: Position sensor: real-time monitoring of the position information of the mining car to ensure accurate positioning. Pressure sensor: installed on the suspension system and chassis, real-time detection of the pressure on various parts of the mining car, and predicting the risk of sinking. Acceleration sensor: monitors the movement state of the mining car and analyzes the tilt and bump of the vehicle. Environmental sensor: detects environmental information such as seabed topography, geological conditions and water flow speed, and provides data support. The data collected by the sensor is transmitted to the central control unit through a wired network. The central control unit is equipped with a high-performance processor to process sensor data in real time and analyze the vehicle's operating status and environmental conditions. When the vehicle is trapped in a soft bottom, various sensors collect data about the surrounding environment and the vehicle body status. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is a sodium silicate solution, which can react with calcium ions to form a gel-like substance, fill the gaps in the sediment, and improve the density. After it is completely solidified, the walking escape device is turned on. This device can help the mining vehicle escape. The suspension system will first judge the sinking depth. When the vehicle initially sinks, the sinking depth is shallow, and the vehicle body is lifted up to reduce the contact area and increase the possibility of escape. Move down when necessary. If lifting the vehicle body cannot effectively escape, or if the sinking is deep, you can consider moving the vehicle body down to increase the contact area and grip, and find a suitable escape angle and path.There is a hydraulic lifting device 251 at the bottom of the coil spring 25, and the two spring devices on one side can be lifted by this hydraulic lifting device. At this time, the mining car will tilt, allowing the mining car to be tilted on one side. The connection between the coil spring 25 and the top of the mining car is a hinge connection, which is locked during normal operation and unlocked when sinking, allowing the single-side track of the mining car to move forward and backward. When one side sinks into the soft bottom, the hydraulic device located on the chassis of the mining car close to the track starts to operate. This hydraulic device has a telescopic device, and the bottom is a long plate to increase the contact area with the ground, giving a certain supporting force to the bottom of the mining car. The upper side is connected to a ball and socket joint. At this time, the hydraulic device supports the side of the mining car that is stuck in the soft bottom and tilts the track on this side. At the same time, the hydraulic lifting device 251 also starts to lift this side, and the other side The hydraulic device on one side also supports the other side according to the environmental data to prevent one side from sinking again due to excessive pressure. The middle of the bottom chassis is connected by ball and socket joint 2. The ball and socket joint is a connection mechanism that allows multi-directional rotational movement, similar to the shoulder and hip joints of the human body. They are widely used in mechanical systems that require flexible movement and can move with multiple degrees of freedom. The ball and socket joint on the sinking side is locked at this time, and the other side is unlocked. The ball and socket joint 1 is also unlocked. Next, the connecting rod can push the single-sided crawler vehicle to move forward or backward. After pushing the single-sided crawler vehicle to move, the hydraulic device releases pressure and the coil spring returns to its original position. At the same time, due to the single-sided sinking, the mining vehicle is directly driven forward or backward at this time to help the mining vehicle get out of trouble. After getting out of trouble, the mining vehicle is reset. The suspension system also plays a role in evenly distributing weight throughout the process to prevent secondary sinking during the escape process.

[0047] If the mining vehicle sinks on both sides, various sensors collect data on the surrounding environment and the status of the vehicle body. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is sodium silicate solution, which can react with calcium ions to form a gel-like substance, filling the gaps in the sediment and increasing the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining vehicle are started at the same time. These hydraulic devices have telescopic functions and are connected to the chassis through ball and socket joints. They are unlocked when the mining vehicle's half-track is pushed to move. Next, the hydraulic device extends to support both sides of the mining vehicle, gradually lifting the vehicle body, reducing the contact area with the ground, and increasing the possibility of escaping. The suspension system judges the depth of sinking and automatically adjusts the height and tilt angle of the vehicle body. When necessary, the suspension system will lift or move the vehicle body up or down to increase grip and find a suitable angle and path to escape. The ball and socket joint allows the chassis to move in multiple directions, and the connecting rod pushes the single-sided tracked vehicle forward or backward. The ball and socket joint connection between the hydraulic device and the chassis is unlocked. At this time, the connecting rods on both sides move forward or backward at the same time, moving the track part of the mining vehicle forward. After the movement, the length of the hydraulic device is retracted to make its bottom plate parallel to the ground. At this time, part of the track is outside the subsidence area, and the mining vehicle is driven out of the subsidence area. If it is still in a subsidence state, repeat the above operation until the mining vehicle can drive out of the subsidence pit. After moving out of the subsidence pit, run to a stable area, reset the mining vehicle body, and move the mining vehicle out of the subsidence area.

[0048] If the front side of the mining vehicle sinks, various sensors collect data on the surrounding environment and the status of the vehicle body. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is sodium silicate solution, which can react with calcium ions to form a gel-like substance, filling the gaps in the sediment and increasing the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining vehicle are started at the same time. These hydraulic devices have telescopic functions and are connected to the chassis through ball joints. They are unlocked when the mining vehicle's half-track is pushed to move. Next, the hydraulic device extends to support the mining vehicle, lift the sunken part of the vehicle body, gradually lift the vehicle body, reduce the contact area with the ground, and increase the possibility of escaping. The suspension system judges the depth of sinking and automatically adjusts the height and tilt angle of the vehicle body. When necessary, the suspension system will lift or move the vehicle body down to increase grip, find a suitable angle and path to escape, and wait for the vehicle body to stabilize. At the same time, various sensors will evaluate the surrounding environment, select the side with shallower subsidence, and move the vehicle body on this side backwards to move out of the subsidence pit. After moving out of the subsidence area, the hydraulic device will be extended and retracted to the same height as the bottom of the track. The hydraulic device supports this side to prevent it from sinking again. At the same time, the same operation is performed on the other side to make the other side of the mining vehicle also escape from the subsidence pit. At this time, first run the mining vehicle backwards to a stable area, and then start the reset system to reset the mining vehicle.

Claims

1. A method for escaping from distress by walking based on a suspension system, characterized in that: It includes a seabed ore collecting vehicle stable walking device, which is composed of a track system, a suspension system, a chassis system and a mining system; the seabed ore collecting vehicle stable walking device is composed of a track system, a suspension system, a chassis system and a mining system; the suspension system is composed of a wheel hub, a steering knuckle, a control arm, a shock absorber, a coil spring, a hydraulic lifting device and an anti-roll bar, and is located between the track system and the mining system; the steering knuckle is connected to the wheel hub through a bearing, and is installed on two guide wheels and two drive wheels.

2. The walking escape method based on the suspension system as claimed in claim 1, characterized in that: The steering knuckle is provided with two upper and lower connecting holes, the upper hole is used to connect the shock absorber, and the lower hole is connected to the control arm; the shock absorber is provided with a coil spring, and the two cooperate with each other; the shock absorbers on both sides are also connected to the anti-roll bar so that it spans between the two tracks; the control arm is connected to the side of the chassis system and is used for the guide wheel and the drive wheel.

3. The walking escape method based on the suspension system as claimed in claim 2, characterized in that: The working steps are as follows: The method comprises the following steps: (1) during the operation of the deep-sea ore collecting vehicle, the weight of the minerals collected by the mining system increases continuously, and the weight is transferred to the coil spring and the shock absorber, so that the coil spring and the shock absorber absorb the vertical force caused by the compression process of the vehicle body sinking, thereby relieving the impact force and smoothly distributing the weight, thereby reducing the pressure on the ground and reducing the risk of sinking; Step (2) When the mining vehicle is traveling on the soft and sparse bottom of the deep sea, it will be impacted by the uneven road surface; at this time, the control arm will adapt to the terrain and control the wheels, and allow each wheel to respond independently to the ground conditions, keep the track in contact with the ground, avoid tilting, and thus improve the traction and stability of the mining vehicle; Step (3) When the mining vehicle is walking on the soft and rare deep sea bottom, it may sink due to the uneven road surface. At this time, the mining vehicle can be freed through the stable walking device of the seabed mining vehicle. In the mining vehicle, a variety of sensors are installed, including position sensors, pressure sensors, acceleration sensors and environmental sensors. The data collected by the sensors are transmitted to the central control unit through a wired network. The central control unit is equipped with a high-performance processor to process the sensor data in real time and analyze the running status and environmental conditions of the vehicle. When the mining vehicle is trapped in the soft and rare bottom, various sensors collect data on the surrounding environment and the vehicle body status. After the central control unit analyzes the data, the sunken part is first solidified by the grouting device on the vehicle body. The injected solution is a sodium silicate solution. This solution can react with calcium ions to generate a gel-like substance, fill the gaps in the sediment, and improve the density. After the solution is completely solidified, the walking escape device is turned on. This device can help the mining vehicle to escape. The suspension system first determines the sinking depth. When the vehicle initially sinks, the sinking depth is shallow. The vehicle body is lifted up to reduce the contact area and increase the possibility of escape.

4. The walking escape method based on the suspension system as claimed in claim 3, characterized in that: Position sensors monitor the location information of the mine car in real time to ensure accurate positioning; pressure sensors are installed on the suspension system and chassis to detect the pressure on various parts of the mine car in real time and predict the risk of sinking; acceleration sensors monitor the movement state of the mine car and analyze the tilt and bump of the vehicle; environmental sensors detect environmental information such as seabed topography, geological conditions and water flow speed, and provide data support.

5. The walking escape method based on the suspension system as claimed in claim 3, characterized in that: If lifting the vehicle body cannot effectively free it from the predicament, or if it sinks too deeply, consider moving the vehicle body downward to increase the contact area and grip, and find a suitable angle and path to escape; there is a hydraulic lifting device at the bottom of the coil spring, which can be used to lift the two spring devices on one side. At this time, the mining vehicle will tilt, allowing the mining vehicle to be tilted on one side. The connection between the coil spring and the top of the mining vehicle is a hinge connection, which is locked during normal operation and unlocked when sinking, allowing the single-side track of the mining vehicle to move forward and backward. When one side sinks into the soft bottom, the hydraulic device located near the track on the chassis of the mining vehicle starts to operate. This hydraulic device has a telescopic device with a long plate at the bottom to increase the contact area with the ground and give a certain support force to the bottom of the mining vehicle. The upper side is connected to a ball and socket joint. At this time, the hydraulic device supports the side of the mining vehicle that is stuck in the soft bottom and lifts this side. The track of the vehicle is lifted and the hydraulic lifting device starts to lift this side. The hydraulic device on the other side also supports the other side according to the environmental data to prevent the pressure on one side from being too high and causing it to sink again. The middle of the bottom chassis is connected by ball and socket joint 2. The ball and socket joint is a connection mechanism that allows multi-directional rotational movement. The ball and socket joint on the sinking side is locked at this time, and the other side is unlocked. The ball and socket joint 1 is also unlocked. Next, the connecting rod can push the single-sided tracked vehicle to move forward or backward. After pushing the single-sided tracked vehicle to move, the hydraulic device releases pressure and the coil spring returns to its original position. At the same time, due to the sinking on one side, the mining vehicle can be directly moved forward or backward to help the mining vehicle get out of trouble. After getting out of trouble, the mining vehicle is reset. The suspension system also plays a role in evenly distributing weight throughout the process to prevent secondary sinking during the escape process.

6. The walking escape method based on the suspension system as claimed in claim 5, characterized in that: If the mining vehicle sinks on both sides, various sensors collect data on the surrounding environment and the status of the vehicle body. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is sodium silicate solution, which can react with calcium ions to form a gel-like substance, filling the gaps in the sediment and increasing the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining vehicle are started at the same time. These hydraulic devices have telescopic functions and are connected to the chassis through ball and socket joints. They are unlocked when pushing the half-track of the mining vehicle to move. Next, the hydraulic device extends to support both sides of the mining vehicle, gradually lifting the vehicle body, reducing the contact area with the ground, and increasing the possibility of escaping. The suspension system judges the depth of sinking and automatically adjusts the body The suspension system will lift or move the vehicle body down to increase the grip and find the appropriate angle and path to escape. The ball and socket joint allows the chassis to move in multiple directions. The connecting rod pushes the single-side tracked vehicle forward or backward. The ball and socket joint connection of the hydraulic device and the chassis is unlocked. At this time, the connecting rods on both sides move forward or backward at the same time to move the track part of the mining vehicle forward. After the movement, the length of the hydraulic device is retracted to make its bottom plate parallel to the ground. At this time, part of the track is outside the subsidence area, and the mining vehicle is driven out of the subsidence area. If it is still in a subsidence state, repeat the above operation until the mining vehicle can drive out of the subsidence pit. After moving out of the subsidence pit, run to a stable area, reset the mining vehicle body, and move the mining vehicle out of the subsidence area.

7. The walking escape method based on the suspension system as claimed in claim 1, characterized in that: If the front side of the mining vehicle sinks, various sensors collect data on the surrounding environment and the status of the vehicle body. After the central control unit analyzes the data, it first solidifies the sunken part through the grouting device on the vehicle body. The injected solution is sodium silicate solution, which can react with calcium ions to form a gel-like substance, filling the gaps in the sediment and increasing the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining vehicle are started at the same time. These hydraulic devices have telescopic functions and are connected to the chassis through ball and socket joints. They are unlocked when pushing the mining vehicle's half-track to move. Next, the hydraulic device extends to support the mining vehicle, lift the sunken part of the vehicle body, gradually lift the vehicle body, reduce the contact area with the ground, and increase The suspension system determines the depth of sinking and automatically adjusts the height and tilt angle of the vehicle body to prevent it from sinking again. The suspension system will lift or move the vehicle body down to increase the grip, find a suitable angle and path to escape, and wait for the vehicle body to stabilize. At the same time, various sensors will evaluate the surrounding environment and select the side with shallower sinking. The vehicle body on this side will be moved backward to move out of the sinking pit. After moving out of the sinking area, the hydraulic device will be extended and retracted to the same height as the bottom of the crawler track. The hydraulic device will support this side to prevent it from sinking again. At the same time, the same operation will be performed on the other side to make the other side of the mining vehicle escape from the sinking pit. At this time, first move the mining vehicle backward to a stable area, and then start the reset system to reset the mining vehicle.

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