Automatic cleaning device for crawler belt of deep-sea mining vehicle, crawler belt assembly and mining vehicle

Abstract

The invention discloses an automatic cleaning device for a deep-sea mining vehicle crawler belt, a crawler belt assembly and a mining vehicle. The cleaning device comprises a supporting frame, a soft matter cleaning device, a hard matter removing device, a high-pressure water spraying device and a dirt suction device, the soft substance cleaning device comprises a first driving device and a cleaning brush cylinder connected with the first driving device, and the first driving device is used for driving the cleaning brush cylinder to rotate to clean the surface of the crawler belt; the hard substance removing device comprises a second driving device, a drill bit and an angle adjusting device, the second driving device is used for driving the drill bit to rotate, and the angle adjusting device is connected with the drill bit to adjust the inclination angle of the drill bit; the high-pressure water spraying device comprises a high-pressure hose, a sprayer and a spraying angle adjusting device, the high-pressure hose is connected with the sprayer to provide a water source, and the spraying angle adjusting device is connected with the sprayer to adjust the spraying angle of the sprayer; the dirt suction device is used for collecting foreign matter cleaned by the soft matter cleaning device, the hard matter cleaning device and the high-pressure water spraying device.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler cleaning, and particularly to an automatic crawler cleaning device, a crawler assembly and a mining vehicle for deep-sea mining vehicles. Background Art

[0002] With the increasing depletion of land mineral resources, the development of deep-sea mineral resources has gradually become the focus of global attention. As a key device for the development of deep-sea mineral resources, the performance of deep-sea mining vehicles directly affects the mining efficiency and cost. However, the deep-sea environment is complex and changeable. During the operation of mining vehicles, the crawlers are extremely likely to adhere to impurities such as sediments and biological remains, resulting in crawler slippage, increased wear, and even affecting the movement and steering of mining vehicles, seriously restricting the efficiency and safety of deep-sea mining.

[0003] Currently, for the cleaning of deep-sea mining vehicle crawlers, mainly manual cleaning or underwater robot cleaning and other methods are used. Manual cleaning requires lifting the deep-sea mining vehicle out of the sea surface first, so the efficiency is low and there are safety hazards; the development cost of underwater robot cleaning methods is relatively large, and the reliability is low, making it difficult to handle emergencies. Therefore, it is of great practical significance to develop an efficient, reliable and automated deep-sea mining vehicle crawler cleaning device to improve the operation efficiency and safety of deep-sea mining vehicles, reduce maintenance costs, and reduce the impact on the deep-sea environment. Summary of the Invention

[0004] Object of the Invention: Aiming at the above-mentioned deficiencies, the present invention provides an automatic crawler cleaning device, a crawler assembly and a mining vehicle for deep-sea mining vehicles, which can remove various attachments adhered to the crawlers during the deep-sea operation of the mining vehicles, and solve problems such as increased vehicle weight, energy consumption, and slippage caused by various adhesions.

[0005] Technical Solution: To solve the above problems, the present invention adopts an automatic crawler cleaning device for deep-sea mining vehicles, which includes a support frame and a soft material cleaning device, a hard material removal device, a high-pressure water jetting device, and a sewage suction device installed on the support frame; the soft material cleaning device includes a first driving device and a cleaning brush barrel connected to the first driving device. The first driving device is fixed on the support frame and is used to drive the cleaning brush barrel to rotate to clean the crawler surface; the hard material removal device includes a second driving device, a drill bit, and an angle adjustment device. The second driving device is fixed on the support frame and is used to drive the drill bit to rotate. The angle adjustment device is connected to the drill bit to adjust the inclination angle of the drill bit; the high-pressure water jetting device includes a high-pressure hose, a nozzle, and a jet angle adjustment device. The high-pressure hose is connected to the nozzle to provide water source, and the jet angle adjustment device is connected to the nozzle to adjust the jet angle of the nozzle; the sewage suction device is used to collect foreign matters cleaned by the soft material cleaning device, the hard material removal device, and the high-pressure water jetting device.

[0006] Further, the cleaning brush barrel includes a symmetric rotating device connected to the first driving device and cleaning brushes installed on both sides of the symmetric rotating device. The symmetric rotating device includes a bevel gear frame and a bevel gear set installed inside the bevel gear frame. The bevel gear set includes four meshing bevel gears. Among them, the driving bevel gear is connected to the first driving device, and the driven bevel gears are on both sides of the driving bevel gear. The driven bevel gears are connected to the cleaning brushes through power output rods.

[0007] Further, the first driving device is connected to the cleaning brush barrel through a first steering transmission device. The first steering transmission device includes an inner transmission shaft, an outer transmission shaft sleeved outside the inner transmission shaft, a steering driving device fixed on the support frame, a worm gear connected to the steering driving device, and a worm wheel fixedly connected to the outer transmission shaft. The worm gear meshes with the worm wheel. A protective shell is provided outside the bevel gear frame. The cleaning brushes are rotatably installed on both sides of the protective shell. The outer transmission shaft is fixedly connected to the protective shell through a shock absorber. The first driving device drives the bevel gear set to rotate through the inner transmission shaft, and the first steering driving device drives the cleaning brush barrel to rotate through the outer transmission shaft and the shock absorber.

[0008] Further, the hard substance removal device further includes a hard object protective cover, a drill bit mounting plate installed inside the hard object protective cover, and a spur gear set installed on the drill bit mounting plate. The spur gear set includes a driving gear in the middle and two driven gears on both sides of the driving gear. The driving gear is connected to the second driving device, and each of the two driven gears is connected to a drill bit.

[0009] Further, the driven gear is connected to the drill bit through a transmission shaft. An outer shell is provided outside the transmission shaft, and a universal joint is provided on the transmission shaft. The angle adjustment device includes a guiding bracket, two top connecting rods, a guiding slider, and an angle adjustment hydraulic rod. The guiding bracket and the angle adjustment hydraulic rod are both fixedly connected to the hard object protective cover. The guiding slider is slidably installed inside the guiding bracket and is connected to the angle adjustment hydraulic rod. One end of the top connecting rod is hinged to the guiding slider, and the other end is hinged to the outer shell of the transmission shaft. By driving the guiding slider to slide inside the guiding bracket through the angle adjustment hydraulic rod to drive the transmission shaft to rotate, the inclination angle of the drill bit is adjusted.

[0010] Further, the second driving device is connected to the drill bit mounting plate through a second steering transmission device. The structure of the second steering transmission device is the same as that of the first steering transmission device. A hydraulic rod is further provided on the outer transmission shaft of the second steering transmission device, and the other end of the hydraulic rod is hinged to the drill bit mounting plate.

[0011] Further, a high-pressure water jetting device is provided on each side of the hard substance removal device. The high-pressure water jetting device further includes a high-pressure water jet protection cover, and the high-pressure water jet protection cover is rotatably installed on both sides of the hard object protection cover; a lifting drive gear is provided on the hard object protection cover, and a lifting drive device is provided at one end of the lifting drive gear. A lifting driven gear is provided on the high-pressure water jet protection cover, and the lifting drive gear meshes with the lifting driven gear. The lifting drive device drives the lifting drive gear to drive the lifting driven gear to rotate so as to change the angle between the high-pressure water jet protection cover and the hard object protection cover.

[0012] Further, a high-pressure water jet support frame is provided inside the high-pressure water jet protection cover, and the jet angle adjustment device is installed inside the high-pressure water jet support frame; the jet angle adjustment device includes a load-bearing inner shell, a lifting rack installed on the outer wall of the load-bearing inner shell, a lifting wheel set meshing with the lifting rack, a lifting motor for driving the lifting wheel set, and two sets of rotating units. The lifting wheel set and the lifting motor are fixedly installed inside the high-pressure water jet support frame; the rotating unit includes a U-shaped frame, a lead screw guide block, a drive motor, and a ball head. The U-shaped frame is rotatably installed at the bottom of the load-bearing inner shell through a rotatable gear set. The drive motor is fixed inside the high-pressure water jet support frame. One side of the lead screw guide block is connected to the drive motor, and the other side is connected to the U-shaped frame; the ball head is hollow inside, and the ball head is installed in the openings in the middle of the two U-shaped frames. The connection between the ball head and the U-shaped frame is made of a flexible material, and the moving directions of the two rotating units are perpendicular to each other; the high-pressure hose is connected to the top of the ball head, and the nozzle is connected to the bottom of the ball head; the drive motor drives the lead screw guide block to slide, thereby driving the U-shaped frame and the ball head to rotate.

[0013] The present invention also provides a crawler assembly having the above cleaning device, further including a crawler. The support frame is installed on the crawler, the hard substance removal device is installed at the frontmost end of the upper surface of the crawler, the soft substance cleaning device is installed behind the hard substance removal device, and the sewage suction device is located behind the soft substance cleaning device; when the crawler runs, the surface of the crawler first passes through the hard substance removal device, then passes through the soft substance cleaning device, and finally passes through the sewage suction device.

[0014] The present invention also provides a deep-sea mining vehicle having the above crawler assembly. The crawlers are located on both sides of the vehicle body, and the support frame is fixed to the vehicle body.

[0015] Beneficial effects: Compared with the prior art, the remarkable advantages of the present invention are as follows: (1) The crawler is comprehensively cleaned by the soft matter cleaning device, the hard matter removal device, and the high-pressure water jet device to remove various attachments on the crawler, and collected by the sewage suction device to prevent it from adhering to the crawler again; (2) The cleaning position and angle of the cleaning device are adjusted by the steering transmission device and the angle adjustment device to ensure that there are no dead corners in the cleaning range; (3) The cleaning brushes on both sides rotate in opposite directions for cleaning through the symmetric rotation device, enhancing the cleaning ability of the brush and not being easily entangled by deep-sea filaments; (4) The high-pressure water jet device is lifted back by the lifting-back device to prevent the hard objects cleared by the hard matter removal device from splashing to both sides and damaging the high-pressure water jet device. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the overall structure of the crawler automatic cleaning device of the present invention;

[0017] Figure 2 It is a side view of the crawler automatic cleaning device of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the soft matter cleaning device of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the bevel gear frame of the present invention;

[0020] Figure 5 It is a schematic diagram of the structure of the cleaning brush barrel of the present invention;

[0021] Figure 6 It is a schematic diagram of the structure of the cleaning brush barrel removing the protective shell and the bevel gear frame of the present invention;

[0022] Figure 7 It is a schematic diagram of the structure of the hard matter removal device and the high-pressure water jet device of the present invention;

[0023] Figure 8 It is a schematic diagram of the structure of the hard matter removal device of the present invention;

[0024] Figure 9 It is a schematic diagram of the structure of the angle adjustment device of the present invention;

[0025] Figure 10 It is a schematic diagram of the structure of the lifting-back device of the present invention;

[0026] Figure 11 It is a schematic diagram of the structure of the jet angle adjustment device of the present invention;

[0027] Figure 12 It is a schematic diagram of the structure of the rotating unit of the present invention. Detailed Embodiments

[0028] As Figures 1 to 12As shown in the figure, an automatic cleaning device for the crawler of a deep-sea mining vehicle in this embodiment includes a support frame 9 and a soft matter cleaning device, a hard matter removing device, a high-pressure water spraying device, and a sewage suction device installed on the support frame 9. The support frame 9 is fixedly connected to the vehicle body Y and is arranged above the crawler X. A protective housing 3 is provided on the upper part of the support frame 9. The hard matter removing device and the high-pressure water spraying device are arranged on the same frame and are located at the front end of the crawler X. The soft matter cleaning device is located behind the hard matter removing device and the high-pressure water spraying device. The sewage suction device is located behind the soft matter cleaning device to collect foreign matters cleaned by the cleaning devices in front.

[0029] A differential 4 is provided on the support frame 9. The total driving device located outside the support frame 9 is connected to the differential 4 through a power input shaft 2. One side of the differential 4 is connected to the soft matter cleaning device, and the other side is connected to the hard matter removing device to realize the power distribution of the cleaning devices on both sides. Due to the functional characteristics of the differential itself, when one of the cleaning devices on both sides fails and locks, the other side can still operate normally, so that the cleaning devices on both sides can operate independently without affecting each other. Both sides of the differential 4 are connected by two bevel gears with perpendicular axes to realize the power perpendicular to the hull, and the bevel gears are smaller at the top and larger at the bottom, which can achieve the effect of reducing speed and increasing torque.

[0030] The soft matter cleaning device further includes a first steering transmission device and a cleaning brush barrel. The first steering transmission device includes an inner transmission shaft D, an outer transmission shaft B sleeved outside the inner transmission shaft D, a steering drive motor 5 fixed on the support frame 9, a worm 51 connected to the steering drive motor 5, and a worm gear 52 fixedly connected to the outer transmission shaft B. The worm 51 meshes with the worm gear 52. The inner and outer transmission shafts are each divided into two shaft bodies, and each group of shaft bodies is connected by a spline. Using the performance of the spline, while ensuring the transmission of power by the transmission shaft, a small amount of up and down movement can be realized.

[0031] The cleaning brush barrel includes a symmetric rotation device and cleaning brushes 6 installed on both sides of the symmetric rotation device. The symmetric rotation device includes a bevel gear frame n and a bevel gear set m installed inside the bevel gear frame n. The bevel gear set m includes four mutually meshing bevel gears. The bevel gear connected to the inner transmission shaft D is the driving bevel gear. The driven bevel gears are arranged on both sides of the driving bevel gear. The driven bevel gears are connected to the cleaning brushes 6 through power output rods a. A protective housing b is provided outside the bevel gear frame n. The outer transmission shaft B is fixedly connected to the protective housing b through a shock absorber A. A hole is also opened on the side of the bevel gear frame n to facilitate the lubrication and heat dissipation of the bevel gear set.

[0032] The cleaning brushes 6 are rotatably installed on both sides of the protective housing b. Specifically, a convex groove is provided on the side of the cleaning brush 6 connected to the protective housing b, and a concave groove matching the convex groove is provided on the protective housing b. When the power output rod a drives the cleaning brush 6 to rotate, the convex groove slides in the concave groove. The cleaning brushes 6 are made of corrosion-resistant materials, the hardness of the bristles is adjustable, there are two on the left and right, and they are as wide as the crawler.

[0033] The working principle of the soft material cleaning device is as follows: The inner transmission shaft D is connected to the driving device to provide power for the rotation of the cleaning brush. The steering drive motor 5 drives the outer transmission shaft B to rotate relative to the inner transmission shaft D through the driving worm and worm gear set, thereby driving the cleaning brush barrel to rotate. This rotation process does not affect the operation of the inner transmission shaft D. The inner transmission shaft D drives the bevel gear set m to rotate, causing the cleaning brushes 6 on both sides to rotate in opposite directions to clean the soft material on the track. The opposite rotation of the two cleaning brushes can enhance the cleaning ability of the brush and is not easily entangled by deep-sea filaments, thus avoiding a decline in cleaning ability or even stoppage of work.

[0034] The hard material removal device includes a second steering transmission device, a hard object protection cover 8, a drill mounting plate 870, a spur gear set 860, a drill 830, and an angle adjustment device 820. The structure of the second steering transmission device is the same as that of the first steering transmission device. A hydraulic rod C is also provided on the outer transmission shaft B of the second steering transmission device. The other end of the hydraulic rod C is hinged to the drill mounting plate 870, and the second steering transmission device drives the two drills of the hard material removal device to rotate as a whole.

[0035] The spur gear set 860 is installed on the drill mounting plate 870 and includes a driving gear in the middle and two driven gears on both sides of the driving gear. The drill mounting plate 870 is connected to the inner transmission shaft D of the second steering transmission device, and the driving gear is connected to the inner transmission shaft D. Each of the two driven gears is connected to a drill 830, and the power is distributed to the two drills through the spur gear set 860. The driven gear is connected to the drill 830 through a transmission shaft, and a universal joint 840 is provided on the transmission shaft, so that the upper and lower sections of the transmission shaft can rotate together at a certain angle. An outer shell is provided outside the transmission shaft, and the outer shell does not rotate with the transmission shaft.

[0036] The angle adjustment device 820 includes a guide bracket 822, two top connecting rods 823, a guide slider 824, and an angle adjustment hydraulic rod 825. The guide bracket 822 and the angle adjustment hydraulic rod 825 are both fixedly connected to the hard object protection cover 8. The guide slider 824 is slidably installed in the guide bracket 822. The top of the guide slider 824 is connected to the upper part of the guide bracket 822 through an elastic hose 821. The bottom of the guide slider 824 is connected to the angle adjustment hydraulic rod 825. One end of the top connecting rod 823 is hinged to the guide slider 824, and the other end is hinged to the outer shell of the transmission shaft. By driving the guide slider 824 to slide in the guide bracket 822 through the angle adjustment hydraulic rod 825 to drive the transmission shaft to rotate, the inclination angle of the drill is adjusted. The drill is made of alloy steel material and can cover the entire width of the track under the action of the angle adjustment device.

[0037] The working principle of the hard substance removal device is as follows: The inner transmission shaft D of the second steering transmission device is connected to the driving device to provide power for the rotation of the drill bit. The second steering transmission device drives the drill bit to rotate to jointly adjust the position and angle of the two drill bits relative to the crawler, and this rotation process does not affect the operation of the inner transmission shaft D. The angle adjustment hydraulic rod 825 drives the transmission shaft section located below the universal joint to rotate to adjust the included angle between the two drill bits. The hydraulic rod C can provide a powerful thrust during the operation of the device for crushing hard substances, enabling the drill bit to effectively remove hard substances.

[0038] A high-pressure water spraying device is provided on each side of the hard substance removal device. The high-pressure water spraying device includes a high-pressure water spraying protective cover 7, a high-pressure hose 720, a spray head 794, and a spray angle adjustment device. The high-pressure hose 720 is connected to the spray head 794 to provide a water source, and the other end of the hose can be connected to a water pump, a pressurizing device, and a filtering device to provide high-pressure water.

[0039] A high-pressure water spraying support frame 730 is provided inside the high-pressure water spraying protective cover 7, and the spray angle adjustment device is installed inside the high-pressure water spraying support frame 730. The spray angle adjustment device includes a load-bearing inner shell 792, a lifting rack 740 installed on the outer wall of the load-bearing inner shell 792, a lifting wheel set 793 engaged with the lifting rack 740, a lifting motor 799 for driving the lifting wheel set 793, and two groups of rotating units. The lifting wheel set 793 and the lifting motor 799 are fixedly installed inside the high-pressure water spraying support frame 730. By driving the lifting wheel set 793 to rotate through the lifting motor 799, the lifting rack 740 drives the load-bearing inner shell 792 to move up and down to adjust the spraying height of the spray head.

[0040] The rotating unit includes a U-shaped frame 790, a lead screw guide block 750, a driving motor 770, and a ball head 791. The U-shaped frame 790 is rotatably installed at the bottom of the load-bearing inner shell 792 through a rotatable gear set 795. The driving motor 770 is fixed inside the high-pressure water spraying support frame 730. One side of the lead screw guide block 750 is connected to the driving motor 770, and the other side is connected to the U-shaped frame 790. The ball head 791 is hollow inside, and the ball head 791 is installed in the opening in the middle of the two U-shaped frames 790. The connection between the ball head 791 and the U-shaped frame 790 is made of a flexible material, enabling the ball head to move with the U-shaped frame. The high-pressure hose 720 is connected to the top of the ball head 791, and the spray head 794 is connected to the bottom of the ball head 791. By driving the lead screw guide block 750 to slide through the driving motor 770, the U-shaped frame 790 and the ball head 791 are driven to rotate. The moving directions of the two rotating units are perpendicular to each other, respectively used to adjust the movement of the ball head on the X-axis and Y-axis, and further adjust the spraying angle of the spray head 794.

[0041] To make the rotation process of the rotating unit more stable, a shock-absorbing housing 760 is provided outside the drive motor 770. A number of bottom guiding springs 796 are provided at the bottom of the shock-absorbing housing 76), and a tail guiding spring 798 is provided on the side of the shock-absorbing housing 760 away from the lead screw guiding block 750. A side shaft 797 that is snap-connected to the high-pressure water jet support frame 730 is also provided on the shock-absorbing housing 760. When the drive motor 770 operates, the reaction force generated by the lead screw acts on the drive motor 770. The drive motor can achieve fixed-axis rotation around the high-pressure water jet support frame 730 through the two side shafts of the rotatable shock-absorbing housing 760. Moreover, the guiding springs at the tail and bottom of the rotatable shock-absorbing housing 760 both play a role in shock absorption and guiding, and can flexibly adjust the angle with the two side shafts as the axis, implementing precise angle control.

[0042] Since the hard substance removal device and the high-pressure water jet device are arranged on the same frame, to prevent the hard objects cleared during the operation of the hard substance removal device from splashing to both sides and damaging the high-pressure water jet device, a lifting mechanism is provided on the outer shells of the two devices. Specifically, a rotating pin 772 is provided on the hard object protection cover 8, and a connecting arm 771 is provided on the high-pressure water jet protection cover 7. One end of the connecting arm 771 is hinged to the rotating pin 772, so that the high-pressure water jet protection cover 7 is rotatably installed on both sides of the hard object protection cover 8. A lifting drive gear 710 is provided on the hard object protection cover 8, and a lifting drive device is provided at one end of the lifting drive gear 710. A lifting driven gear 711 is provided on the high-pressure water jet protection cover 7, and the lifting drive gear 710 meshes with the lifting driven gear 711. By driving the lifting drive gear 710 through the lifting drive device to drive the lifting driven gear 711 to rotate, the included angle between the high-pressure water jet protection cover 7 and the hard object protection cover 8 can be changed. The high-pressure water jet protection cover 7 can be lifted upward to be perpendicular to the drill bit axis direction, increasing the distance and space between the high-pressure water jet device and the hard substance removal device, thereby avoiding damage to the high-pressure water jet device caused by hard objects.

[0043] The working principle of the high-pressure water jet device is as follows: The high-pressure hose 720 provides the jet water source. The jet height of the nozzle 794 is adjusted by the cooperation of the lifting wheel set 793 and the lifting rack 740. The movement of the ball head on the X-axis and Y-axis is adjusted through the two rotating units, and then the jet angle of the nozzle 794 is adjusted to achieve all-round and precise jet of high-pressure water flow on the crawler surface.

[0044] The sewage suction device includes a centrifugal separator 1, a sewage suction pipe 10 connected to the centrifugal separator 1, and a sewage discharge pipe 11. The centrifugal separator 1 is fixed on the frame Y. The sewage suction pipe 10 is installed on the support frame 9 and is located behind the soft substance cleaning device. The outlet of the sewage discharge pipe 11 is arranged on the side of the crawler X. The foreign matters cleaned by the soft substance cleaning device, the hard substance removal device, and the high-pressure water jet device are absorbed into the centrifugal separator 1 through the sewage suction pipe 10. After centrifugation, the foreign matters are collected by the centrifugal separator 1, and the excess water is discharged through the sewage discharge pipe 11.

[0045] The usage process of the automatic cleaning device for the crawler of the deep - sea mining vehicle of the present invention is as follows:

[0046] Step 1: Before the mining vehicle goes into the water, the staff only need to fix the cleaning device to the vehicle body and the crawler plate through bolt connection, and connect the power input shaft 2 to an external motor; the sewage suction pipe and the sewage discharge pipe are connected to an external centrifuge fixed on the vehicle body through clamps.

[0047] Step 2: After the automatic cleaning device is installed, turn on the external motor to check whether the cleaning device can work normally, whether the mechanism rotating device can rotate normally, and whether there is interference during the operation of the machine. After confirming that there is no problem, lift the mining vehicle into the sea for work.

[0048] Step 3: When the mining vehicle is working underwater and the crawler is attached with seabed sediment, animal and plant remains, the soft - matter cleaning device starts to work. The cleaning brushes 6 rotate towards each other, break the filamentous tissue of plants and clean it, preventing the remains of animal and plant tissues from winding around the crawler again. The sewage suction device absorbs the attachments on the crawler, pressurizes them and discharges them outside the crawler.

[0049] Step 4: For the seabed sediment compacted on the crawler, the high - pressure spraying device sprays precisely by adjusting the angle and height to achieve a full - scale cleaning of the crawler. When opening the hard - matter removing device to remove hard objects that cannot be sprayed cleanly, the spraying device can be lifted back by the lifting gear set to prevent damage.

[0050] Step 5: When the mining vehicle is working underwater, for hard substances such as the hard bone tissues of seabed animals and ores attached in the crawler gaps, the hard - matter removing device can crush them through alloy drill bits. There are two alloy drill bits, left and right, which achieve the removal of hard substances on the whole crawler under the cooperation of the hydraulic angle - adjusting device, and use the powerful thrust provided by the hydraulic rod connected to the outer transmission shaft to achieve a powerful removal of hard substances.

Claims

1. An automatic cleaning device for tracks of a deep-sea mining vehicle, characterized in that: The invention comprises a support frame (9) and a soft matter cleaning device, a hard matter removing device, a high-pressure water jetting device and a dirt suction device installed on the support frame (9); the soft matter cleaning device comprises a first driving device and a cleaning brush cylinder connected to the first driving device, the first driving device is fixed on the support frame (9), and the first driving device is used to drive the cleaning brush cylinder to rotate to clean the track surface; the hard matter removing device comprises a second driving device, a drill bit (830) and an angle adjustment device (820), the second driving device is fixed on the support frame (9), and the second driving device is used to The drill bit (830) is driven to rotate, and the angle adjustment device (820) is connected to the drill bit (830) to adjust the inclination angle of the drill bit (830); the high-pressure water jetting device comprises a high-pressure hose (720), a nozzle (794), and a jet angle adjustment device; the high-pressure hose (720) is connected to the nozzle (794) to provide a water source, and the jet angle adjustment device is connected to the nozzle (794) to adjust the jet angle of the nozzle; the dirt suction device is used to collect foreign matter cleaned by the soft matter cleaning device, the hard matter removing device, and the high-pressure water jetting device.

2. The automatic cleaning device for the tracks of a deep-sea mining vehicle according to claim 1, characterized in that: The cleaning brush cylinder comprises a symmetrical rotation device connected to a first driving device, and cleaning brushes (6) installed on both sides of the symmetrical rotation device. The symmetrical rotation device comprises a bevel gear rack (n), and a bevel gear set (m) installed in the bevel gear rack (n). The bevel gear set (m) comprises four bevel gears meshing with each other, wherein the driving bevel gear is connected to the first driving device, and the two sides of the driving bevel gear are driven bevel gears, and the driven bevel gear is connected to the cleaning brush (6) via a power output rod (a).

3. The automatic cleaning device for the tracks of a deep-sea mining vehicle as claimed in claim 2, characterized in that: The first driving device is connected to the cleaning brush cylinder through a first steering transmission device, the first steering transmission device comprises an inner transmission shaft (D), an outer transmission shaft (B) sleeved on the outer side of the inner transmission shaft (D), a steering driving device (5) fixed on a support frame (9), a worm (51) connected to the steering driving device (5), and a worm wheel (52) fixedly connected to the outer transmission shaft (B), wherein the worm (51) is meshed with the worm wheel (52); a protective shell (b) is provided on the outer side of the bevel gear frame (n), the cleaning brush (6) is rotatably mounted on both sides of the protective shell (b), and the outer transmission shaft (B) is fixedly connected to the protective shell (b) through a shock absorber (A); the first driving device drives the bevel gear set (m) to rotate through the inner transmission shaft (D), and the first steering driving device (5) drives the cleaning brush cylinder to rotate through the outer transmission shaft (B) and the shock absorber (A).

4. The automatic cleaning device for the tracks of a deep-sea mining vehicle as claimed in claim 3, characterized in that: The hard matter removal device further comprises a hard matter protection cover (8), a drill bit mounting plate (870) mounted in the hard matter protection cover (8), and a spur gear set (860) mounted on the drill bit mounting plate (870); the spur gear set (860) comprises a driving gear located in the middle and two driven gears located on both sides of the driving gear; the driving gear is connected to a second driving device, and the two driven gears are each connected to a drill bit (830).

5. The automatic cleaning device for the tracks of a deep-sea mining vehicle as claimed in claim 4, characterized in that: The driven gear is connected to the drill bit (830) via a transmission shaft, a housing is provided on the outer side of the transmission shaft, and a universal joint (840) is provided on the transmission shaft; the angle adjustment device (820) comprises a guide bracket (822), two top connecting rods (823), a guide slider (824), and an angle adjustment hydraulic rod (825); the guide bracket (822) and the angle adjustment hydraulic rod (825) are both fixedly connected to the hard object protection cover (8); the guide slider (824) is slidably installed in the guide bracket (822), and the guide slider (824) is connected to the angle adjustment hydraulic rod (825); one end of the top connecting rod (823) is hinged to the guide slider (824), and the other end is hinged to the transmission shaft housing; the angle adjustment hydraulic rod (825) drives the guide slider (824) to slide in the guide bracket (822) to drive the transmission shaft to rotate, thereby realizing the adjustment of the drill bit tilt angle.

6. The automatic cleaning device for the tracks of a deep-sea mining vehicle as claimed in claim 4, characterized in that: The second driving device is connected to the drill mounting plate (870) via a second steering transmission device. The structure of the second steering transmission device is the same as that of the first steering transmission device. A hydraulic rod (C) is also provided on the outer transmission shaft (B) of the second steering transmission device. The other end of the hydraulic rod (C) is hinged to the drill mounting plate (870).

7. The automatic cleaning device for the tracks of a deep-sea mining vehicle as claimed in claim 4, characterized in that: A high-pressure water jet device is provided on each side of the hard object removal device, and the high-pressure water jet device also includes a high-pressure water jet protective cover (7), and the high-pressure water jet protective cover (7) is rotatably installed on both sides of the hard object protective cover (8); a return-lifting driving gear (710) is provided on the hard object protective cover (8), and a return-lifting driving device is provided at one end of the return-lifting driving gear (710); a return-lifting driven gear (711) is provided on the high-pressure water jet protective cover (7), and the return-lifting driving gear (710) is meshed with the return-lifting driven gear (711), and the return-lifting driving gear (710) is driven by the return-lifting driving device to drive the return-lifting driven gear (711) to rotate so as to change the angle between the high-pressure water jet protective cover (7) and the hard object protective cover (8).

8. The automatic cleaning device for the tracks of a deep-sea mining vehicle as claimed in claim 7, characterized in that: The high-pressure water jet protection cover (7) is provided with a high-pressure water jet support frame (730), and the jet angle adjustment device is installed in the high-pressure water jet support frame (730); the jet angle adjustment device comprises a load-bearing inner shell (792), a lifting rack (740) installed on the outer wall of the load-bearing inner shell (792), a lifting wheel group (793) meshed with the lifting rack (740), a lifting motor (799) for driving the lifting wheel group (793), and two sets of rotating units, wherein the lifting wheel group (793) and the lifting motor (799) are fixedly installed in the high-pressure water jet support frame (730); the rotating unit comprises a U-shaped frame (790), a screw guide block (750), a driving motor (770), and a ball head (791), and the U-shaped frame (790) is connected to the high-pressure water jet support frame (730) by a rotatable gear group (795 ) is rotatably mounted on the bottom of the load-bearing inner shell (792), the driving motor (770) is fixed in the high-pressure water jet support frame (730), one side of the lead screw guide block (750) is connected to the driving motor (770), and the other side is connected to the U-shaped frame (790); the ball head (791) is hollow inside, and the ball head (791) is installed in the opening in the middle of the two U-shaped frames (790), the connection between the ball head (791) and the U-shaped frame (790) is made of flexible material, and the moving directions of the two rotating units are perpendicular to each other; the high-pressure hose (720) is connected to the top of the ball head (791), and the nozzle (794) is connected to the top and bottom of the ball head (791); the driving motor (770) drives the lead screw guide block (750) to slide, thereby driving the U-shaped frame (790) and the ball head (791) to rotate.

9. A crawler assembly having a cleaning device according to any one of claims 1 to 8, characterized in that: It also includes a crawler (X), the support frame (9) is installed on the crawler (X), the hard matter removing device is installed at the front end of the upper surface of the crawler (X), the soft matter cleaning device is installed behind the hard matter removing device, and the dirt suction device is located behind the soft matter cleaning device; When the crawler (X) is running, the crawler surface first passes through the hard matter removing device, then passes through the soft matter cleaning device, and finally passes through the dirt suction device.

10. A deep-sea mining vehicle having the crawler assembly according to claim 9, characterized in that: The crawler tracks (X) are located on both sides of the vehicle body, and the support frame (9) is fixed to the vehicle body.

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