Deep-sea mining vehicle track system, deep-sea mining vehicle and control method

Abstract

The invention discloses a deep-sea mining vehicle track system, a deep-sea mining vehicle and a control method.The deep-sea mining vehicle track system comprises a movable track frame and a plurality of track units, each track unit comprises a track device, a telescopic device and a track connecting device, and the track device is connected to the track connecting device through the telescopic device; the rail connecting device is movably connected to the movable rail frame and comprises a moving assembly driving the rail connecting device to move and a fixing assembly enabling the rail connecting device to stop moving and enabling the rail connecting device to be fixedly connected with the movable rail frame. The track system of the deep-sea mining vehicle is installed on the deep-sea track mining vehicle and can adapt to the complex deep-sea working environment, when the tracks sink or are stuck or are damaged or broken down, the positions of the track units can be adjusted, normal operation of other tracks and smooth achievement of functions of the track system are guaranteed, and the service life of the track system is prolonged. And the use flexibility and convenience are very high.

Description

Technical Field

[0001] The present invention relates to the field of marine mineral resource mining equipment, and in particular to a deep-sea mining vehicle crawler system, a deep-sea mining vehicle and a control method. Background Art

[0002] 71% of the earth's surface is covered by the ocean, of which 3 / 4 are deep sea basins. The vast ocean contains extremely rich resources. And with the increasing depletion of land resources, marine resources have become the focus of attention of countries around the world. The deep sea contains extremely rich polymetallic nodules of nickel, cobalt, copper, and manganese, and polymetallic sulfides rich in lead, zinc, gold, and silver. These mineral resources are mainly found in the seabed surface soil at a depth of 5000-6000m. The deep sea surface soil is mostly soft clay with high water content and a small internal friction angle. In view of the special soil properties of the seabed, crawler hydraulic ore collectors are currently generally recognized at home and abroad as equipment for deep sea mining. During the driving process of the ore collector, the shear force provided by the soil is its main driving force.

[0003] The occurrence environment of polymetallic nodules in the deep seabed is extremely special: first, the special ultra-high pressure at the seabed of 4000-6000m; second, the distribution of nodules is planar, with a surface enrichment of about 6-10kg / m 2 , because it only exists in the 0~25cm surface soft soil of the seabed, some are completely buried, some are half buried or fully exposed, and the particle size varies greatly, with the largest diameter reaching nearly ten centimeters and the smallest only a few centimeters. Therefore, its mining method is special, which brings great difficulty to the large-scale mining of resources, which is unprecedented in the history of human mining. How to collect these ores efficiently is an important problem faced by the mining truck.

[0004] Domestic and foreign scholars have proposed two methods for collecting nodule ores. One is mechanical, that is, using a mechanical chain plate to insert into the sediment, pull the nodule ore out of the sediment, and then transfer it upward to the silo of the ore collection vehicle. The other is hydraulic, that is, using a double row of nozzle water jets to suspend the ore and sediment together, and then using suction to send the ore to the silo through the conveying channel. However, both of the above mining methods have their own disadvantages: hydraulic mining should fully consider the high-pressure hydraulic environment of the seabed, and the system is complex and difficult to control; mechanical mining generally uses mining vehicles for collection, but because the mining vehicle's walking geology is mostly composed of fine and soft bottom materials, and there is a layer of sediment on the surface, it is easy to sink, get stuck or be damaged during walking. Although the existing mining vehicles carry multiple tracks, the positions of each track are basically fixed, and it is often difficult to get out of trouble by themselves. Once a fault or damage occurs, it cannot be repaired in time in the extreme deep seabed environment. It is either abandoned and pollutes the seabed environment, or becomes a burden on the mining device, reducing the walking efficiency of the mining device, and even affecting the normal walking of the mining vehicle. Summary of the invention

[0005] The present invention provides a deep-sea mining vehicle track system, a deep-sea mining vehicle and a control method, which are used to solve the technical problems mentioned in the background technology that the existing seabed mining vehicle track system has low flexibility in use, cannot escape from trouble by itself, cannot cope with emergencies such as failures, etc.

[0006] In order to solve the above technical problems, the technical solution proposed by the present invention is: A deep-sea mining vehicle crawler system comprises a mobile track frame and a plurality of crawler units, wherein the crawler unit comprises a crawler device, a telescopic device and a track connecting device, wherein the crawler device is connected to the track connecting device via the telescopic device; the track connecting device is movably connected to the mobile track frame, and the track connecting device comprises a moving component for driving the track connecting device to move and a fixing component for stopping the track connecting device from moving and fixing the track connecting device to the mobile track frame.

[0007] As a further preferred embodiment of the above technical solution, the movable track frame is provided with a track, and the movable component is a power wheel matching the track, and the power wheel rotates along the track to drive the track connecting device to move along the track.

[0008] As a further preferred embodiment of the above technical solution, the moving component also includes a control system for controlling the rotation and steering of the power wheel.

[0009] As a further preferred embodiment of the above technical solution, the movable track frame is provided with round rods along the track direction, and the fixing component of the track connecting device is an expandable and contractible ring, and the round rods are accommodated in the ring.

[0010] As a further preferred embodiment of the above technical solution, the telescopic device includes a driving member, a telescopic rod and a telescopic chain. The telescopic rod and the telescopic chain are connected end to end and can be telescoped synchronously. One end of the telescopic device is fixedly connected to the track connecting device, and the other end is fixedly connected to the crawler device. The distance between the track connecting device and the crawler device is adjusted by the driving member.

[0011] As a further preferred embodiment of the above technical solution, the track device includes a track, a supporting workpiece and a cross-plate workpiece. The supporting workpiece is arranged inside the track, and the cross-plate workpiece is fixed to the upper surface of the supporting workpiece perpendicular to the direction of the track, and both ends of the cross-plate workpiece extend out of the track; the telescopic device is fixed in the area where the cross-plate workpiece extends out of the track.

[0012] As a further preferred embodiment of the above technical solution, the movable track frame has a nine-square grid structure.

[0013] As a further preferred embodiment of the above technical solution, the number of the crawler units is 4.

[0014] Based on the same technical concept, the present invention also provides a deep-sea mining vehicle, comprising a vehicle body and the deep-sea mining vehicle crawler system described in the above technical solution; the mobile track frame of the deep-sea mining vehicle crawler system is installed on the lower bottom surface of the vehicle body.

[0015] Based on the same technical concept, the present invention also provides a control method for the above-mentioned deep-sea mining vehicle: when the track unit of the deep-sea mining vehicle sinks, gets stuck or is damaged, the position of the track unit is adjusted through the deep-sea mining vehicle track system to achieve escape or ensure the normal operation of the remaining track units.

[0016] The present invention has the following beneficial effects: The deep-sea mining vehicle crawler system of the present invention is installed on a deep-sea crawler mining vehicle and can adapt to the complex working environment of the deep sea. When the crawler sinks or gets stuck, the corresponding crawler unit can be lifted by using the telescopic assembly, and escape can be achieved by idling or adjusting the crawler position. When the crawler is damaged or fails, the positions of all crawler units can be adjusted to ensure the normal operation of other crawlers and the smooth realization of the functions of the crawler system. The failed or damaged crawler device can be adjusted to a specific position so that it does not affect the overall function of the crawler system. It can also stabilize the center of gravity of the entire mining vehicle so that it does not become a burden, thereby improving the flexibility and convenience of the crawler system and the deep-sea mining vehicle.

[0017] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of a single crawler unit of Example 1; Figure 2 It is a schematic structural diagram of a single crawler unit of Example 1 in a side view; Figure 3 It is a structural schematic diagram of the track connection device of Example 1; Figure 4 It is a structural schematic diagram of the mobile track frame of Example 1; Figure 5 It is a schematic diagram of the connection between the track connection device and the movable track frame of Example 1; Figure 6 It is a schematic diagram of the positions of all crawler units of the crawler system of the deep-sea mining vehicle of Example 1; Figure 7 It is a schematic diagram of the positions of all track units of the deep-sea mining vehicle of Example 1 after adjustment when one track unit fails; Figure 8 It is a schematic diagram of the positions of all track units after adjustment when the deep-sea mining vehicle of Example 1 encounters failure of two track units.

[0019] Legend: 1. Driving wheel; 2. Horizontal plate workpiece; 3. Connecting workpiece; 4. Supporting workpiece; 5. Power supply; 6. Steel protective casing; 7. Track; 8. Telescopic rod; 9. Telescopic chain; 10. Track connecting device; 1001. Track connecting device body; 1002. Power wheel; 1003. Ring; 11. Mobile track frame; 1101. Track; 1102. Round rod. DETAILED DESCRIPTION

[0020] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0021] Embodiment 1: like Figure 1 and Figure 2 As shown, the crawler system of the deep-sea mining vehicle of this embodiment includes a mobile track frame 11 and four crawler units. Figure 2 As shown, it includes a crawler device, a telescopic device and a track connecting device 10, and the crawler device is connected to the track connecting device 10 through the telescopic device; the structure of the mobile track frame 11 is as shown Figure 4 As shown, it is composed of multiple tracks 1101 in a nine-square grid structure, and the positions are numbered, with the first row being 1-3; the second row being 4-6; and the third row being 7-9, and round rods 1102 are synchronously arranged along the tracks 1101.

[0022] Among them, the crawler device includes a crawler track 7, a driving wheel 1, a steel protective shell 6, a cross plate workpiece 2, a supporting workpiece 4 (I-beam, height of 0.8m), and a cylindrical connecting workpiece 3, a total of 4; there are 10 driving wheels 1 arranged on the upper and lower parts of the crawler device, the wheel radius is 0.6m, and it is tightly connected with two layers of steel protective shells 6 on the upper and lower parts. The crawler track 7 is fixed on the outer surface of the outer steel protective shell 6. Each crawler track 7 is 5m long, 3m wide and 3m high; the height of the grouser is 0.8m, and the driving wheel 1 is driven to rotate by the power supply 5, and the steel protective shell 6 and the crawler track 7 are driven to move; 4 supporting workpieces 4 are evenly arranged inside the crawler track 7, and the cross plate workpiece 2 is fixed on the supporting workpiece 4. The direction of the cross plate workpiece 2 is perpendicular to the direction of the crawler track 7, and the connecting workpiece 3 is installed in the area where the cross plate workpiece 2 extends out of the coverage area of ​​the crawler track 7.

[0023] The telescopic device includes a telescopic rod 8 and a telescopic chain 9 which are connected end to end and can be telescoped synchronously. The lower ends of the telescopic rod 8 and the telescopic chain 9 are fixed to the connecting workpiece 3, and the upper ends are fixed to the track connecting device 10. The telescopic chain 9 is composed of 5 groups of rods, and a single rod can rotate up to about 80°; the telescopic chain 9 formed by 5 groups of rods can only rotate up to 60°; each rod can provide a height difference of 0.2m, and 5 rods can provide a height difference of 1m. The telescopic rod 8 has a built-in driving part as the telescopic power source of the telescopic rod 8 and the telescopic chain 9.

[0024] like Figure 3 The track connection device 10 comprises a track connection device body 1001 (2m long, 1.5m wide, 1m high), a power wheel 1002 and an expandable and contractible ring 1003. The power wheel 1002 and the expandable and contractible ring 1003 are both fixed on the track connection device body 1001. The lower end of the track connection device body 1001 is connected to a telescopic device. The track connection device body 1001 also has a built-in power device and a control system. The power device is used to provide rotational power to the power wheel 1002, and the control system is used to control the steering of the power wheel 1002. Figure 5 The round rod 1102 of the movable track frame 11 is embedded in the ring 1003. When the track connecting device 10 needs to move, the ring 1003 expands outward, the internal space of the ring 1003 increases, and the track connecting device 10 moves under the action of the power wheel 1002; when the track connecting device 10 needs to be fixed, the ring 1003 contracts inward, the internal space of the ring 1003 decreases, and stops when it is reduced to the size of the track 1101. At this time, the position of the track connecting device 10 can be fixed.

[0025] Once a traditional crawler device sinks, gets stuck or is damaged, it is difficult to carry out effective maintenance because it is in a deep-sea environment, so it is extremely difficult to get the mining vehicle out of trouble, and the mining operation is difficult to continue. The present invention can greatly reduce the losses caused by this situation. Moreover, although some mining devices carry multiple crawlers, the positions of each crawler are basically fixed. Once a failure occurs, the broken crawler is either abandoned and pollutes the seabed environment, or becomes a burden on the mining device, reducing the walking efficiency of the mining device. Dividing the entire crawler device into four parts greatly enhances the flexibility of the crawler device; the nine-grid track 1101, the track connecting device 10, and the telescopic device increase the diversity and adjustability of the device; it can operate normally when 2, 3, or 4 crawlers are running, improving the smoothness of the mining vehicle during the mining process; and the failed or damaged crawler device can also stabilize the center of gravity for the entire mining vehicle. This embodiment uses the following situations as examples to illustrate the working mode of the deep-sea mining vehicle and its crawler system of this embodiment: When the deep-sea mining vehicle is moving normally and the crawler system is working normally, the position and status of the crawler unit in the crawler system are as follows: Figure 6 As shown, the four crawler devices are distributed at positions 1, 3, 7, and 9 of the track device. This is the distribution that can best ensure the stable movement of the entire mining machine.

[0026] When a crawler track sinks, just use the telescopic chain device to lift the sunken crawler track, let it idle for a while to get rid of the mud and sand in the crawler track, and then use the telescopic chain device to extend it to its original position and continue to move forward.

[0027] When one track is stuck, the normal track of the same row is moved to the middle position of the row (the first row is moved to position 2; the third row is moved to position 8); then the telescopic device is used to lift it, and then it is moved to position 5 of the nine-square track, and the mining vehicle can continue mining operations.

[0028] When the crawler is damaged or fails, and the position of the crawler needs to be changed, the crawler device is first lifted to a certain height through the telescopic rod 8 and the telescopic chain 9, and then expanded outward through the ring 1003, and the round rod 1102 is loosened to control the track connection device 10 to start moving. As the track connection device 10 moves to the desired position, the ring 1003 is retracted until the track connection device 10 is fixed on the track 1101. Taking the failure of crawler II as an example, the faulty crawler device II is first lifted through the telescopic device to make the crawler unit present. Figure 7 In the state shown, the crawler device II is moved from position 3 to position 6 and then to position 5 by the above method, and then crawler device II is lowered to the original height and placed on the seabed to ensure the stability of the mining vehicle; then the crawler device I is moved from position 1 to position 2 by the same method, and finally crawler device I is dropped to the ground and crawler device II is lifted to a certain height by using their respective telescopic devices. In the event of a failure or damage to one crawler device, the mining operation can be continued using the other three crawler devices.

[0029] Under the premise that crawler II fails first, crawler IV fails. The conversion method is the same as the above method. By the same method, crawler II is moved to position 4, crawler IV is moved to position 6, and crawler III is moved to position 8. Figure 8The state shown. However, if the second damaged crawler is crawler device I, the situation is different. At this time, the failed crawler device II must first fall to the seabed, and then retract from top to bottom through the four telescopic devices to move the center of gravity of the entire crawler vehicle downward. Then change the position of each crawler: crawler I moves from position 2 to position 4; crawler II moves from position 5 to position 6; crawler III moves from position 7 to position 2; crawler IV moves from position 9 to position 8. After the movement, the telescopic rod chain structure of the two crawler devices III and IV that are still able to operate normally can be extended, and then the mining operation can continue when only two crawler devices are available.

[0030] Under extreme conditions, if two tracks are lost or fail at the same time, the basic method remains unchanged. Depending on whether the track is damaged, adjustments are made while ensuring the stability of the mining vehicle. If the above method is used properly, mining operations can still be continued by relying on the remaining two normal tracks when two tracks fail at the same time.

[0031] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. For those skilled in the art, improvements and changes obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

[0032] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A deep-sea mining vehicle crawler system, characterized in that: The invention comprises a movable track frame (11) and a plurality of crawler units, wherein the crawler unit comprises a crawler device, a telescopic device and a track connecting device (10), wherein the crawler device is connected to the track connecting device (10) via the telescopic device; the track connecting device (10) is movably connected to the movable track frame (11), and the track connecting device (10) comprises a movable component for driving the track connecting device (10) to move and a fixed component for stopping the track connecting device (10) from moving and fixing the track connecting device (10) to the movable track frame (11).

2. The deep-sea mining vehicle crawler system according to claim 1, characterized in that: The movable track frame (11) is provided with a track (1101), and the movable component is a power wheel (1002) matched with the track (1101); the power wheel (1002) rotates along the track (1101), driving the track connection device (10) to move along the track (1101).

3. The deep-sea mining vehicle crawler system according to claim 2, characterized in that: The mobile assembly also includes a control system for controlling the rotation and steering of the power wheel (1002).

4. The deep-sea mining vehicle crawler system according to claim 2, characterized in that: The movable track frame (11) is provided with a round rod (1102) along the direction of the track (1101); the fixed component of the track connection device (10) is an expandable and contractible ring (1003); and the round rod (1102) is accommodated in the ring (1003).

5. The deep-sea mining vehicle crawler system according to claim 1, characterized in that: The telescopic device comprises a driving member, a telescopic rod (8) and a telescopic chain (9); the telescopic rod (8) and the telescopic chain (9) are connected end to end and can be telescoped synchronously; one end of the telescopic device is fixedly connected to the track connection device (10) and the other end is fixedly connected to the crawler device; the distance between the track connection device (10) and the crawler device is adjusted by the driving member.

6. The deep-sea mining vehicle crawler system according to claim 1, characterized in that: The crawler device comprises a crawler (7), a supporting workpiece (4) and a transverse plate workpiece (2); the supporting workpiece (4) is arranged inside the crawler (7); the transverse plate workpiece (2) is fixed to the upper surface of the supporting workpiece (4) perpendicular to the direction of the crawler (7), and both ends of the transverse plate workpiece (2) extend out of the crawler (7); and the telescopic device is fixed to the area where the transverse plate workpiece (2) extends out of the crawler (7).

7. The deep sea mining vehicle crawler system according to claims 1-6, characterized in that: The movable track frame (11) is in a nine-square grid structure.

8. The deep sea mining vehicle crawler system according to claims 1-6, characterized in that: The number of the crawler units is 4.

9. A deep-sea mining vehicle, characterized in that: It comprises a vehicle body and a deep-sea mining vehicle crawler system as claimed in any one of claims 1 to 7; a moving track frame (11) of the deep-sea mining vehicle crawler system is installed on the lower bottom surface of the vehicle body.

10. A control method for a deep-sea mining vehicle according to claim 8, characterized in that: When the crawler unit of the deep-sea mining vehicle sinks, gets stuck or is damaged, the position of the crawler unit is adjusted through the crawler system of the deep-sea mining vehicle to get out of trouble or ensure the normal operation of the remaining crawler units.

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