Suspension-based walking escape method

Abstract

The invention relates to deep-sea mining equipment technology, and proposes a walking escape method based on a suspension system to enhance the stability and escape ability of seabed mining vehicles in complex terrain. The method combines a hydraulic lifting device and an intelligent control system to adjust the height and angle of the wheels through the suspension system, evenly distribute the weight, and reduce the risk of subsidence. When the mining vehicle is sunken, the hydraulic lifting device provides additional lifting force, and the mining vehicle adopts different walking escape methods to face different subsidence environments, realizing rapid escape. The intelligent control system monitors the environment and working state in real time through a sensor network, automatically controls the suspension system and hydraulic device, and improves the escape efficiency. The invention significantly improves the adaptability and stability of the mining vehicle in deep-sea environment, reduces equipment failure and downtime, improves operation efficiency, reduces disturbance to the seabed ecology, and improves mining sustainability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea mining equipment for offshore engineering, and particularly relates to a walking escape method based on a suspension system. BACKGROUND

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

[0003] In the entire mining system, the mining car, as the key device that directly contacts the deep-sea bottom and minerals, faces the risk of sinking because it needs to move constantly and bear the weight of a large amount of minerals during the operation process. Sinking not only reduces the traction of the mining car, but also causes damage to its structure and components, affecting the mining efficiency, and even causing the system to malfunction, resulting in significant losses.

[0004] To solve the above problems, the existing technology mainly focuses on improving the suspension system of the mining car to improve its driving stability and escape ability. The suspension system can alleviate the impact force caused by the weight of the car body and the uneven ground, evenly distribute the pressure, and reduce the pressure on the ground, thereby reducing the risk of sinking of the mining car. In addition, through intelligent control and hydraulic lifting devices, the adaptability and escape ability of the mining car in complex terrain are further enhanced.

[0005] However, the existing technology still has some shortcomings, such as when the subsidence 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 uniformly distribute the weight of the vehicle body when facing deep subsidence. Due to the complex terrain, some areas may bear excessive pressure, causing more serious local subsidence, thus failing to escape successfully. Secondly, the mechanical escape method usually relies on fixed mechanical structures, lacking real-time dynamic adjustment capability. When the mining vehicle is trapped in deep subsidence, 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 subsidence and soft bottom, the suspension system is prone to failure or unable to provide sufficient lifting force. This lack of adaptability makes it difficult for the mining vehicle to effectively escape in the variable deep sea environment. Finally, the response speed of the traditional mechanical escape method is slow, which cannot timely respond to sudden subsidence, causing the mining vehicle to be stranded for a long time, affecting the work efficiency. Therefore, an integrated solution is urgently needed to improve the overall stability and escape efficiency of the mining vehicle through the cooperation of multiple means, ensuring efficient operation in various complex environments. SUMMARY

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

[0007] To achieve the above purpose, the technical solution adopted by the present application is to provide a walking escape method based on a suspension system, which comprises a seabed mining vehicle stable walking device, the seabed mining vehicle stable walking device is composed of a track system, a suspension system, a chassis system and a mining system; the seabed mining 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 hub, a steering knuckle, a control arm, a shock absorber, a coil spring, a hydraulic lifting device and a roll bar, and is located between the track system and the mining system; the steering knuckle is connected to the hub through a bearing and is installed on two guide wheels and two drive wheels.

[0008] Further, the steering knuckle is provided with upper and lower connecting holes, the upper hole is used to connect the shock absorber, and the lower hole connects 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 with the roll bar, which spans between the two tracks; the control arm is connected to the side of the chassis system, and is used for the guide wheels and the drive wheels.

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

[0010] The step (1) is that in the process of the operation of the deep-sea mining vehicle, the weight of the mineral collected by the mining system is continuously increased, and the weight is transmitted to the coil spring and the shock absorber, so that the coil spring and the shock absorber absorb the vertical force brought in the compression process of the sinking of the vehicle body, play the role of moderating the impact force, stably distribute the weight, and further reduce the pressure on the ground and the risk of subsidence.

[0011] The step (2) is that when the mining vehicle runs on the deep-sea soft bottom, the mining vehicle is impacted due to the uneven road surface; at this time, the control arm can adapt to the terrain and control the wheels, and allow each wheel to independently respond to the condition of the ground, keep the track in contact with the ground, avoid the situation of lifting up, and thus improve the traction and stability of the mining vehicle.

[0012] The step (3) is that when the mining vehicle runs on the deep-sea soft bottom, the mining vehicle is impacted due to the uneven road surface; at this time, the mining vehicle can be rescued by the stable running device of the deep-sea mining vehicle. The mining vehicle is provided with various sensors, including a position sensor, a pressure sensor, an acceleration sensor and an environment sensor. The data collected by the sensors is transmitted to the central control unit through a wired network. The central control unit is provided with a high-performance processor, which processes the sensor data in real time, analyzes the running state of the vehicle and the environmental conditions. When the vehicle is trapped in the soft bottom, the various sensors collect data on the surrounding environment and the state of the vehicle body. After the central control unit analyzes the data, the first step is to solidify the subsidence part by the grouting device on the vehicle body. The injected solution is sodium silicate solution, which can react with calcium ions to generate gel-like substances, fill the voids of the sediments, and improve the density. After complete solidification, the walking rescue device is opened. The device can help the mining vehicle to escape. The suspension system first judges the subsidence depth. When the vehicle is initially subsided, the subsidence depth is shallow, the vehicle body is lifted, the contact area is reduced, and the possibility of escape is increased.

[0013] Further, the position sensor monitors the position information of the mining vehicle in real time to ensure accurate positioning. The pressure sensor is installed on the suspension system and the chassis to detect the pressure received by each part of the mining vehicle in real time and predict the subsidence risk. The acceleration sensor monitors the motion state of the mining vehicle and analyzes the inclination and bumping of the vehicle. The environment sensor detects environmental information such as seabed terrain, geological conditions and water flow speed to provide data support.

[0014] Further, if the lifting of the vehicle body cannot effectively escape, or when the sinking is deeper, consider moving the vehicle body down, increasing the contact area and grip, and finding the right escape angle and path; the bottom of the spiral spring has a hydraulic lifting device, which can lift the two spring devices on one side through this hydraulic lifting device, at which time the mining vehicle will tilt, allowing the mining vehicle to tilt on one side, the connection between the spiral spring and the top of the mining vehicle is a hinge connection, which is in a locked state during normal operation, and is unlocked during sinking, allowing the single side track of the mining vehicle to move forward and backward, when one side is sinking into soft bottom, the hydraulic device located near the track on the bottom of the mining vehicle starts to operate, this hydraulic device has an extension device, the bottom is a long plate, which increases the contact area with the ground and provides a certain support force to the bottom of the mining vehicle, the upper side is connected to a ball joint, at which time the hydraulic device supports the side of the mining vehicle sinking into the soft bottom and tilts the track on that side, at the same time the hydraulic lifting device also starts to lift that side, the hydraulic device on the other side also supports the other side according to the environmental data, preventing the sinking of the other side due to excessive pressure on one side, the middle of the bottom chassis is connected through ball joint two, which is a connecting mechanism that allows multi-directional rotational movement, the ball joint on the sinking side is in a locked state at this time, the other side is unlocked, and ball joint one is also unlocked, the connecting rod can then push the single side track vehicle to move forward or backward, after pushing the single side track vehicle to move, the hydraulic device is depressurized, the spiral spring returns to its original position, and at the same time, since it is a single side sinking, the mining vehicle is directly operated to move forward or backward, helping the mining vehicle to escape, after escaping, the mining vehicle is reset; the suspension system also plays a role in evenly distributing weight during the entire process, to prevent secondary sinking during the escape process.

[0015] Further, if the mining truck is sinking on both sides, various sensors collect data on the surrounding environment and the state of the vehicle body, and after the central control unit analyzes the data, first, the grouting device on the vehicle body is used to solidify the sinking part, and sodium silicate solution is injected, which can react with calcium ions to form gel-like substances, fill the sediment voids, and improve the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining truck are started at the same time. These hydraulic devices have telescopic function and are connected to the chassis through a ball joint. When pushing the half-side track of the mining truck to move, the ball joint is unlocked. Next, the hydraulic device is extended to support the two sides of the mining truck, gradually lifting the vehicle body to reduce the contact area with the ground and increase the possibility of escaping. The suspension system judges the sinking depth and automatically adjusts the height and inclination angle of the vehicle body. The suspension system will lift or lower the vehicle body to increase the grip and find the appropriate escape angle and path. The ball joint allows the chassis to move in multiple directions, and the connecting rod pushes the single-track vehicle to move forward or backward. The ball joint of the hydraulic device and the chassis is unlocked, and at this time the connecting rods on both sides move forward or backward simultaneously, moving the track part of the mining truck forward. After moving, the length of the hydraulic device is contracted to make the bottom plate parallel to the ground. At this time, part of the track is located outside the sinking area, and the mining truck runs out of the sinking area. If it is still in a sinking state, the above operation is repeated until the mining truck can drive out of the sinkhole. After moving out of the sinkhole, the mining truck is moved to a stable area for reset processing to move the mining truck out of the sinking area.

[0016] Further, if the mining truck is sinking on both sides, various sensors collect data on the surrounding environment and the state of the vehicle body, and after the central control unit analyzes the data, first, the grouting device on the vehicle body is used to solidify the sinking part, and sodium silicate solution is injected, which can react with calcium ions to form gel-like substances, fill the sediment voids, and improve the density. After waiting for the grouting to be completed, the hydraulic devices at the bottom of both sides of the mining truck are started at the same time. These hydraulic devices have telescopic function and are connected to the chassis through a ball joint. When pushing the half-side track of the mining truck to move, the ball joint is unlocked. Next, the hydraulic device is extended to support the two sides of the mining truck, gradually lifting the vehicle body to reduce the contact area with the ground and increase the possibility of escaping. The suspension system judges the sinking depth and automatically adjusts the height and inclination angle of the vehicle body. The suspension system will lift or lower the vehicle body to increase the grip and find the appropriate escape angle and path. The ball joint allows the chassis to move in multiple directions, and the connecting rod pushes the single-track vehicle to move forward or backward. The ball joint of the hydraulic device and the chassis is unlocked, and at this time the connecting rods on both sides move forward or backward simultaneously, moving the track part of the mining truck forward. After moving, the length of the hydraulic device is contracted to make the bottom plate parallel to the ground. At this time, part of the track is located outside the sinking area, and the mining truck runs out of the sinking area. If it is still in a sinking state, the above operation is repeated until the mining truck can drive out of the sinkhole. After moving out of the sinkhole, the mining truck is moved to a stable area for reset processing to move the mining truck out of the sinking area.

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

[0018] 1. The suspension system can help to disperse the pressure, reduce the pressure on the ground, and reduce the risk of sinking of the mine car.

[0019] 2. By automatically adjusting the suspension system, the maximum contact area between the track and the ground is maintained, preventing the phenomenon of lifting, thereby improving the traction and overall stability of the mine car, and maintaining a stable working state under various complex terrains.

[0020] 3. By improving the stability and escape ability of the vehicle, the downtime caused by poor terrain conditions is reduced, thereby improving the overall efficiency and productivity of the mining operation.

[0021] 4. More stable driving can reduce the disturbance to the seabed, thereby reducing the impact on the seabed ecology.

[0022] 5. By reducing equipment failure and downtime, improving operation efficiency, and reducing mining costs, the stable operation performance and efficient escape ability further improve the safety of deep-sea mining operations.

[0023] 6. The walking escape device and intelligent control system are added, so that when the vehicle is stuck in a pit, it can quickly respond and provide additional lifting force to achieve rapid escape, improve the adaptability and reliability of the vehicle in extreme environments. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 is a general device diagram of a deep-sea mining car;

[0026] Figure 2 is a side view of the mining car;

[0027] Figure 3 is a suspension system diagram;

[0028] Figure 4 is a connection diagram of the track system and the suspension system;

[0029] Figure 5 is a pit mining car diagram;

[0030] Figure 6 is a schematic view of a hydraulic support after subsidence.

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] 1, track system; 11, guide wheel; 12, drive wheel; 13, support wheel; 14, track; 2, suspension system; 21, wheel hub; 22, 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 scheme in the embodiments of the application will be described below in combination with the drawings in the embodiments of the application. Apparently, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments of the application, other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0034] The structure, size, ratio and the like in the drawings attached to the specification are used to cooperate with the content shown in the specification, to provide the person skilled in the art with understanding and reading, and are not used to define various limiting conditions of the application, so they do not have actual significance. Any structure adjustment, size change, ratio change, as long as it does not affect the effect that the application can produce, should be covered within the scope of the application. At the same time, various limiting position words "in the vehicle", "both ends" and the like used in the specification are for the convenience of description, and are not fixed to the corresponding position and implementation range. The adjustment of the relative relationship should be regarded as the scope of the application without changing the essential technology, and the selection of various waterproof materials is not specified.

[0035] As shown in the figure, a walking escape method based on a suspension system. The device is based on the research of independent suspension system. The suspension system is used in deep-sea track mining vehicle. The suspension system connects the vehicle body and the track, plays a buffering role, and solves the problems of unstable walking and subsidence caused by rough road conditions and heavy vehicle body. The purpose of the application is to install a suspension system in a deep-sea track mining vehicle. Based on the suspension system, a walking escape method is proposed.

[0036] A stable walking device of a seabed mining vehicle is composed of a track system 1, a suspension system 2, a chassis system 3 and a mining system 4.

[0037] The track system 1 includes guide wheels 11, drive wheels 12, support wheels 13 and tracks 14. The guide wheels 11 and the drive wheels 12 are connected with the suspension system 2, and control the walking of the mining vehicle.

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

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

[0040] Shock absorber 24 is provided with coil spring 25, and the two cooperate with each other to absorb the vertical force in the compression process of the body sinking, and play the role of moderating the impact force. At the same time, the shock absorber 24 on both sides also connects the anti-roll bar 26 to span between the two tracks; when one side of the track is inclined downward when passing through the low concave road surface, the anti-roll bar 26 can press down the raised track on the other side, thereby avoiding the situation of one side sinking, and keeping the balance of the mining vehicle. In addition, the upper part of the shock absorber 24 is connected with the mining system 4, and the weight of the mineral resources is connected.

[0041] Control arm 23 is connected to the side of chassis system 3, used for guide wheel 11 and drive wheel 12, and four control arms 23 can move independently and do not interfere with each other. Therefore, when one of the wheels is impacted by the road surface and fluctuates, it will not affect the other wheels, and the stability will be better.

[0042] In order to achieve the above purpose, the technical scheme is as follows:

[0043] The rough working process of the seabed mining vehicle stable walking device and the use method thereof is as follows:

[0044] Step (1) In the operation process of the deep-sea mining vehicle, the weight of the mineral collected by mining system 4 increases, and the weight is transmitted to coil spring 25 and shock absorber 24, so that the vertical force in the compression process of the body sinking is absorbed, the impact force is moderated, the weight is stably distributed, and the risk of sinking is reduced.

[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 independently to the ground conditions, maintaining contact between the track and the ground, avoiding 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 preventing one side from sinking 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, protecting the mining car components from damage and extending the service life.

[0046] Step (3) the mining car will sink when walking on the deep-sea soft bottom, at this time, the device can be used to escape, the mining car is equipped with various sensors, position sensor: real-time monitoring of the car's position information, to ensure accurate positioning. Pressure sensor: installed on the suspension system and chassis, real-time detection of the pressure received by each part of the car, to predict the risk of subsidence. Acceleration sensor: monitors the motion state of the car, analyzes the inclination and bumping of the vehicle. Environmental sensor: detects environmental information such as seabed topography, geological conditions and water flow speed, providing data support. The data collected by the sensor is transmitted to the central control unit through the wired network, the central control unit is equipped with high-performance processor, real-time processing of sensor data, analysis of vehicle operating conditions and environmental conditions, when sinking in the soft bottom, various sensors collect data on the surrounding environment and vehicle state, the central control unit analyzes the data, first through the grouting device on the car body to cure the subsidence part, the injected is sodium silicate solution, which can react with calcium ions to form a gel-like material, filling the sediment void, increasing the density, after complete curing, the walking escape device is turned on, which can help the mining car to escape, the suspension system first judges the subsidence depth, when the vehicle initially subsides, the subsidence depth is shallow, the car body is lifted, the contact area is reduced, and the possibility of escape is increased. If necessary, move down, if the car body cannot be effectively escaped by lifting, or the subsidence is deep, the car body can be moved down to increase the contact area and grip, and find the appropriate escape angle and path.The bottom of the spiral spring 25 has a hydraulic lifting device 251, which can lift the two spring devices on one side, at which time the mining truck will tilt and the mining truck will tilt on one side. The connection between the spiral spring 25 and the top of the mining truck is a hinge connection, which is in a locked state during normal operation and is unlocked during subsidence, allowing the single side track of the mining truck to move forward and backward. When one side sinks into soft ground, the hydraulic device near the track on the bottom of the mining truck starts to operate. The hydraulic device has an extension device, a long plate at the bottom, which increases the contact area with the ground and provides a certain support force to the bottom of the mining truck. The upper side is connected to a ball joint one, at which time the hydraulic device supports the side of the mining truck sinking into soft ground and lifts the track on that side. At the same time, the hydraulic lifting device 251 also starts to lift that side, and the hydraulic device on the other side also supports the other side according to the environmental data to prevent the side from sinking again due to excessive pressure. The middle of the bottom chassis is connected through a ball joint two, which is a connecting mechanism that allows multi-directional rotational motion, similar to the shoulder and hip joints of the human body. It is widely used in mechanical systems that require flexible motion and can move in multiple degrees of freedom. The ball joint on the subsidence side is in a locked state at this time, and the other side is in an unlocked state. The ball joint one is also unlocked. Next, the connecting rod can push the single side track vehicle to move forward or backward. After the single side track vehicle is pushed to move, the hydraulic device is depressurized, the spiral spring returns to its original position, and at the same time, due to the single side subsidence, the mining truck directly runs forward or backward to help the mining truck escape. After the truck escapes, the truck is reset. The suspension system also plays a role in evenly distributing weight throughout the process to prevent secondary subsidence during the escape process.

[0047] If the mining truck is sinking on both sides, various sensors collect data on the surrounding environment and the state of the vehicle body, and the central control unit analyzes the data. First, the grouting device on the vehicle body is used to solidify the sinking part. The injected is sodium silicate solution, which can react with calcium ions to form gel-like substances, fill the sediment voids, and improve the density. After waiting for the grouting to complete, the hydraulic devices at the bottom of both sides of the mining truck are started. These hydraulic devices have telescopic function and are connected to the chassis through a ball joint. When pushing the half-side track of the mining truck to move, the ball joint is unlocked. Next, the hydraulic device is extended to support the two sides of the mining truck, gradually lifting the vehicle body to reduce the contact area with the ground and increase the possibility of escaping. The suspension system judges the sinking depth and automatically adjusts the height and inclination angle of the vehicle body. If necessary, the suspension system will lift or lower the vehicle body to increase the grip and find the appropriate escape angle and path. The ball joint allows the chassis to move in multiple directions, and the connecting rod pushes the single-track vehicle to move forward or backward. The hydraulic device is connected to the ball joint of the chassis and is unlocked. At this time, the connecting rods on both sides move forward or backward simultaneously, moving the track part of the mining truck forward. After moving, the length of the hydraulic device is contracted to make the bottom plate parallel to the ground. At this time, part of the track is located outside the sinking area, and the mining truck runs out of the sinking area. If it is still in a sinking state, the above operation is repeated until the mining truck can drive out of the sinkhole. After moving out of the sinkhole, the mining truck runs to a stable area and the vehicle body is reset. The mining truck is moved out of the sinking area.

[0048] If the front side of the mining truck is sinking, various sensors collect data on the surrounding environment and the state of the vehicle body, and the central control unit analyzes the data. First, the grouting device on the vehicle body is used to solidify the sinking part. The injected is sodium silicate solution, which can react with calcium ions to form gel-like substances, fill the sediment voids, and improve the density. After waiting for the grouting to complete, the hydraulic devices at the bottom of both sides of the mining truck are started. These hydraulic devices have telescopic function and are connected to the chassis through a ball joint. When pushing the half-side track of the mining truck to move, the ball joint is unlocked. Next, the hydraulic device is extended to support the two sides of the mining truck, gradually lifting the vehicle body to reduce the contact area with the ground and increase the possibility of escaping. The suspension system judges the sinking depth and automatically adjusts the height and inclination angle of the vehicle body. If necessary, the suspension system will lift or lower the vehicle body to increase the grip and find the appropriate escape angle and path. The ball joint allows the chassis to move in multiple directions, and the connecting rod pushes the single-track vehicle to move forward or backward. The hydraulic device is connected to the ball joint of the chassis and is unlocked. At this time, the connecting rods on both sides move forward or backward simultaneously, moving the track part of the mining truck forward. After moving, the length of the hydraulic device is contracted to make the bottom plate parallel to the ground. At this time, part of the track is located outside the sinking area, and the mining truck runs out of the sinking area. If it is still in a sinking state, the above operation is repeated until the mining truck can drive out of the sinkhole. After moving out of the sinkhole, the mining truck runs to a stable area and the vehicle body is reset. The mining truck is moved out of the sinking area.

Claims

1. A walking escape method based on a suspension system, characterized in that: It includes a submarine ore collecting vehicle stable travel device, which is composed of a crawler 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 crawler 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; 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 crawlers; the control arm is connected to the side of the chassis system and is used for the guide wheel and the drive wheel; 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 shock absorber, so that the coil spring and shock absorber absorb the vertical force caused by the compression process of the vehicle body sinking, thereby softening 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 truck 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, keeping the track in contact with the ground and avoiding tilting, thereby improving the traction and stability of the mining truck. Step (3) When the mining vehicle is walking on the soft and thin bottom of the deep sea, it will sink due to the uneven road surface. At this time, it can be rescued by the seabed mining vehicle stable walking device. In this 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 vehicle's operating status and environmental conditions. When it is trapped in the soft and thin bottom, various sensors collect data on 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 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 it is completely solidified, the walking escape device is turned on. This device can help the mining vehicle to 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.

2. The walking escape method based on the suspension system according to claim 1, characterized in that: Position sensors monitor the location 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 of the mine car and analyze the tilt and bumps of the vehicle; environmental sensors detect seabed topography, geological conditions and water flow speed environmental information to provide data support.

3. The walking escape method based on the suspension system according to claim 1, 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-sided 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 provide 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, at the same time, the hydraulic lifting device also starts to lift this side, and the hydraulic device on the other side also provides certain support to 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 in a locked state at this time, and the other side is in an unlocked state. 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 single-sided sinking, the mining vehicle is directly run 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.

4. The walking escape method based on the suspension system according to claim 3, characterized in that: If the mining truck 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 the grouting is completed, the hydraulic devices at the bottom of both sides of the mining truck 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 pushing half of the mining truck's tracks to move. Next, the hydraulic device extends to support both sides of the mining truck, gradually lifting the vehicle body, reducing the contact area with the ground, and increasing the possibility of escape. The suspension system judges the depth of sinking and automatically adjusts the vehicle body The height and tilt angle of the mining vehicle will be adjusted accordingly; the suspension system will lift or lower the vehicle body 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 is completed, the length of the hydraulic device is retracted so that its bottom plate is 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.

5. The walking escape method based on the suspension system according to claim 1, characterized in that: If the front side of the mining vehicle sinks, various sensors collect data on 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 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 the grouting is 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 pushing half of the mining vehicle's crawler tracks to move. Next, the hydraulic device extends to support the mining vehicle, lift the sunken part of the vehicle body, and gradually lift the vehicle body to reduce the contact area with the ground and increase The suspension system will judge the depth of sinking and automatically adjust the height and tilt angle of the vehicle body to determine the possibility of escaping. The suspension system will lift or lower the vehicle body 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 sinking, move the vehicle body on this side backward, and 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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