An automatic cleaning device for a deep-sea mining vehicle track, a track assembly and a mining vehicle

Abstract

The application discloses a deep-sea mining vehicle track automatic cleaning device, a track assembly and a mining vehicle. The cleaning device comprises a support frame and a soft matter cleaning device, a hard matter removing device, a high-pressure water jetting device and a dirt suction device which are installed on the support frame. The soft matter cleaning device comprises a first driving device and a cleaning brush cylinder connected with the first driving device. The first driving device is used to drive the cleaning brush cylinder to rotate to clean the surface of the track. The hard matter removing device comprises a second driving device, a drill bit and an angle adjusting device. The second driving device is used to drive the drill bit to rotate. The angle adjusting device is connected with the drill bit to adjust the inclination angle of the drill bit. The high-pressure water jetting device comprises a high-pressure hose, a nozzle and a jetting angle adjusting device. The high-pressure hose is connected with the nozzle to provide a water source. The jetting angle adjusting device is connected with the nozzle to adjust the jetting angle of the nozzle. The dirt suction device is used to collect the foreign matters cleaned by the soft matter cleaning device, the hard matter removing device and the high-pressure water jetting device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of track cleaning technology, and in particular to a deep-sea mining truck track automatic cleaning device, a track assembly and a mining truck. BACKGROUND

[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 equipment for the development of deep-sea mineral resources, the performance of the deep-sea mining truck directly affects the mining efficiency and cost. However, the deep-sea environment is complex and changeable, and during the operation of the mining truck, the track is prone to adhere to impurities such as sediments and biological debris, which causes the track to slip and wear out, and even affects the travel and turning of the mining truck, seriously restricting the efficiency and safety of deep-sea mining.

[0003] Currently, the cleaning of the track of the deep-sea mining truck mainly adopts manual cleaning or underwater robot cleaning. Manual cleaning needs to first lift the deep-sea mining truck out of the sea surface, so the efficiency is low and there is a safety hazard. The underwater robot cleaning method has a large development cost and low reliability, and is difficult to deal with unexpected situations. Therefore, it is of great practical significance to develop an efficient, reliable and automatic deep-sea mining truck track cleaning device to improve the operation efficiency and safety of the deep-sea mining truck, reduce the maintenance cost and reduce the impact on the deep-sea environment. SUMMARY

[0004] The present application provides a deep-sea mining truck track automatic cleaning device, a track assembly and a mining truck, which can remove various adherents adhered to the track of the mining truck during deep-sea operation, solve the problems of increased vehicle weight, energy consumption and slipping caused by various adhesion.

[0005] Technical solution: To solve the above problems, the present application adopts a deep-sea mining truck track automatic cleaning device, which comprises a support frame and a soft material cleaning device, a hard material removing device, a high-pressure water jet device and a dirt suction device mounted on the support frame. The soft material cleaning device comprises a first driving device and a cleaning brush cylinder connected with the first driving device, the first driving device is fixed on the support frame, and the first driving device is used to drive the cleaning brush cylinder to rotate to clean the surface of the track. The hard material removing device comprises a second driving device, a drill bit and an angle adjusting device, the second driving device is fixed on the support frame, and the second driving device is used to drive 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 jet device comprises a high-pressure hose, a nozzle and a jet angle adjusting device, the high-pressure hose is connected with the nozzle to provide water source, and the jet angle adjusting device is connected with the nozzle to adjust the jet angle of the nozzle. The dirt suction device is used to collect the foreign matter cleaned by the soft material cleaning device, the hard material removing device and the high-pressure water jet device.

[0006] Furthermore, the cleaning brush cylinder includes a symmetrical rotating device connected to the first driving device and cleaning brushes installed on both sides of the symmetrical rotating device. The symmetrical rotating device includes a bevel gear frame and a bevel gear set installed in the bevel gear frame. The bevel gear set includes four meshing bevel gears, of which the one connected to the first driving device is a driving bevel gear, and the two sides of the driving bevel gear are driven bevel gears. The driven bevel gears are connected to the cleaning brushes through a power output rod.

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

[0008] Furthermore, the hard material removal device also includes a hard material protective cover, a drill bit mounting plate installed inside the hard material protective cover, and a spur gear set installed on the drill bit mounting plate. The spur gear set includes a drive gear located in the middle and two driven gears located on both sides of the drive gear. The drive gear is connected to a second drive device, and each of the two driven gears is connected to a drill bit.

[0009] Furthermore, the driven gear is connected to the drill bit via a drive shaft, which has a housing on its outer side and a universal joint on its surface. The angle adjustment device includes a guide bracket, two top connecting rods, a guide slider, and an angle adjustment hydraulic rod. The guide bracket and the angle adjustment hydraulic rod are both fixedly connected to a rigid protective cover. The guide slider is slidably installed inside the guide bracket and is connected to the angle adjustment hydraulic rod. One end of the top connecting rod is hinged to the guide slider, and the other end is hinged to the housing of the drive shaft. The angle adjustment hydraulic rod drives the guide slider to slide within the guide bracket, thereby rotating the drive shaft and adjusting the drill bit's tilt angle.

[0010] Furthermore, the second drive device is connected to the drill bit mounting plate 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 is also provided on the outer drive shaft of the second steering transmission device, and the other end of the hydraulic rod is hinged to the drill bit mounting plate.

[0011] Furthermore, a high-pressure water jet device is provided on each side of the hard material removal device. The high-pressure water jet device also includes a high-pressure water jet protective cover, which is rotatably installed on both sides of the hard material protective cover. The hard material protective cover is provided with a return drive gear, and one end of the return drive gear is provided with a return drive device. The high-pressure water jet protective cover is provided with a return driven gear. The return drive gear meshes with the return driven gear. The return drive device drives the return drive gear to rotate, thereby changing the angle between the high-pressure water jet protective cover and the hard material protective cover.

[0012] Furthermore, the high-pressure water jet protective cover is equipped with a high-pressure water jet support frame, and the spray angle adjustment device is installed inside the high-pressure water jet support frame. The spray 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 assembly meshing with the lifting rack, a lifting motor for driving the lifting wheel assembly, and two sets of rotating units. The lifting wheel assembly 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 is installed in the opening in the middle of the two U-shaped frames. The connection between the ball head and the U-shaped frame is made of flexible material. The movement 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 top and 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 track assembly having the above-mentioned cleaning device, which further includes a track, the support frame being mounted on the track, the hard material removal device being mounted at the foremost end of the upper surface of the track, the soft material cleaning device being mounted behind the hard material removal device, and the suction device being located behind the soft material cleaning device; when the track is running, the track surface first passes through the hard material removal device, then through the soft material cleaning device, and finally through the suction device.

[0014] The present invention also provides a deep-sea mining vehicle having the above-mentioned track assembly, wherein the tracks 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 significant advantages of this invention are: (1) the track is cleaned in all directions by a soft material cleaning device, a hard material removal device, and a high-pressure water jet device, removing various attachments on the track and collecting them by a suction device to prevent them from re-attaching to the track; (2) the cleaning position and angle of the cleaning device are adjusted by a steering transmission device and an angle adjustment device to ensure that there are no dead angles in the cleaning range; (3) the cleaning brushes on both sides are rotated in opposite directions by a symmetrical rotation device to enhance the cleaning ability of the brushes and prevent them from being entangled by deep-sea filaments; (4) the high-pressure water jet device is lifted by a lifting device to prevent hard objects cleaned by the hard material removal device from splashing to both sides and damaging the high-pressure water jet device. Attached Figure Description

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

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

[0018] Figure 3 This is a schematic diagram of the soft material cleaning device of the present invention;

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

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

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

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

[0023] Figure 8 This is a schematic diagram of the hard material removal device of the present invention;

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

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

[0026] Figure 11 This is a schematic diagram of the spray angle adjustment device of the present invention;

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

[0028] like Figures 1 to 12As shown in this embodiment, an automatic track cleaning device for a deep-sea mining vehicle includes a support frame 9 and a soft material cleaning device, a hard material removal device, a high-pressure water jetting device, and a suction device mounted on the support frame 9. The support frame 9 is fixedly connected to the vehicle body Y and is positioned above the track X. A protective shell 3 is provided on the upper part of the support frame 9. The hard material removal device and the high-pressure water jetting device are mounted on the same frame and located at the front end of the track X. The soft material cleaning device is located behind the hard material removal device and the high-pressure water jetting device. The suction device is located behind the soft material cleaning device to collect foreign objects cleaned by the front cleaning devices.

[0029] A differential 4 is mounted on the support frame 9. The main drive unit, located outside the support frame 9, is connected to the differential 4 via the power input shaft 2. One side of the differential 4 is connected to the soft material cleaning device, and the other side is connected to the hard material removal device, thus achieving power distribution between the left and right cleaning devices. Due to the inherent functional characteristics of the differential, when one of the left and right cleaning devices malfunctions and locks up, the other side can maintain normal operation, allowing the two cleaning devices to operate independently without affecting each other. Both sides of the differential 4 are connected by two bevel gears with perpendicular axes to achieve vertical power distribution. The two bevel gears are wider at the bottom than the top, achieving a reduction and torque increase effect.

[0030] The soft material cleaning device also includes a first steering transmission device and a cleaning brush cylinder. The first steering transmission device includes an inner drive shaft D, an outer drive shaft B sleeved on the outside of the inner drive 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 wheel 52 fixedly connected to the outer drive shaft B. The worm 51 and the worm wheel 52 mesh. Both the inner and outer drive shafts are divided into upper and lower shafts, and each set of shafts is connected by a spline. Utilizing the properties of the spline, a small range of vertical movement is achieved while ensuring the transmission of power by the drive shaft.

[0031] The cleaning brush holder includes a symmetrical rotating device and cleaning brushes 6 mounted on both sides of the symmetrical rotating device. The symmetrical rotating device includes a bevel gear frame n and a bevel gear set m mounted inside the bevel gear frame n. The bevel gear set m includes four meshing bevel gears, among which the drive bevel gear is connected to the inner drive shaft D, and the driven bevel gears are located on both sides of the drive bevel gear. The driven bevel gears are connected to the cleaning brushes 6 through a power output rod a. A protective shell b is provided on the outside of the bevel gear frame n, and the outer drive shaft B is fixedly connected to the protective shell b through a shock absorber A. The side of the bevel gear frame n also has holes to facilitate lubrication and heat dissipation of the bevel gear set.

[0032] The cleaning brush 6 is rotatably mounted on both sides of the protective shell b. Specifically, the side of the cleaning brush 6 connected to the protective shell b has a protrusion, and the protective shell b has a groove that matches the protrusion. When the power output rod a drives the cleaning brush 6 to rotate, the protrusion slides in the groove. The cleaning brush 6 is made of corrosion-resistant material, the bristles are adjustable in hardness, and there are two brushes, left and right, with the same width as the track.

[0033] The working principle of the soft material cleaning device is as follows: The inner drive shaft D is connected to the drive unit, providing power for the rotation of the cleaning brush. The steering drive motor 5 drives the worm gear set to rotate the outer drive shaft B relative to the inner drive shaft D, thereby driving the cleaning brush cylinder to rotate. This rotation process does not affect the operation of the inner drive shaft D. The inner drive shaft D drives the bevel gear set m to rotate, causing the cleaning brushes 6 on both sides to rotate in opposite directions, cleaning the soft materials on the track. The opposite rotation of the two cleaning brushes enhances the cleaning ability of the brushes and makes them less likely to be entangled by deep-sea filaments, thus avoiding a decrease in cleaning ability or even cessation of operation.

[0034] The hard material removal device includes a second steering transmission device, a hard material protective cover 8, a drill bit mounting plate 870, a spur gear set 860, a drill bit 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 drive shaft B of the second steering transmission device. The other end of the hydraulic rod C is hinged to the drill bit mounting plate 870, and the two drill bits of the hard material removal device are rotated as a whole through the second steering transmission device.

[0035] A spur gear set 860 is mounted on a drill bit mounting plate 870, including a drive gear in the center and two driven gears on either side of the drive gear. The drill bit mounting plate 870 is connected to the inner drive shaft D of the second steering transmission device, and the drive gear is also connected to the inner drive shaft D. Each of the two driven gears is connected to a drill bit 830, and power is distributed to the two drill bits through the spur gear set 860. The driven gears are connected to the drill bits 830 via a drive shaft, and the drive shaft is equipped with a universal joint 840, allowing the upper and lower sections of the drive shaft to rotate together with a certain included angle. A housing is provided on the outside of the drive shaft, and the housing does not rotate with the drive 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 rigid protective cover 8. The guide slider 824 is slidably installed inside the guide bracket 822. The top of the guide slider 824 is connected to the upper part of the guide bracket 822 via an elastic hose 821, and 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 drive shaft housing. The angle adjustment hydraulic rod 825 drives the guide slider 824 to slide within the guide bracket 822, thereby rotating the drive shaft and adjusting the drill bit's tilt angle. The drill bit is made of alloy steel and, with the action of the angle adjustment device, can cover the entire width of the track.

[0037] The working principle of the hard material removal device is as follows: The inner drive shaft D of the second steering transmission device is connected to the drive device, providing power for the rotation of the drill bit. The second steering transmission device drives the drill bit to rotate, thereby jointly adjusting the position and angle of the two drill bits relative to the track. This rotation process does not affect the operation of the inner drive shaft D. The angle adjustment hydraulic rod 825 drives the drive shaft section located below the universal joint to rotate, thereby adjusting the included angle between the two drill bits. When the device is breaking hard materials, the hydraulic rod C can provide a strong thrust, enabling the drill bit to effectively remove hard materials.

[0038] A high-pressure water jet device is installed on each side of the hard material removal device. The high-pressure water jet device includes a high-pressure water jet protective cover 7, a high-pressure hose 720, a nozzle 794, and a spray angle adjustment device. The high-pressure hose 720 is connected to the nozzle 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 filtration device to provide a high-pressure water source.

[0039] The high-pressure water jet protective cover 7 is equipped with a high-pressure water jet support frame 730, and the spray angle adjustment device is installed inside the high-pressure water jet 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 assembly 793 meshing with the lifting rack 740, a lifting motor 799 for driving the lifting wheel assembly 793, and two sets of rotating units. The lifting wheel assembly 793 and the lifting motor 799 are fixedly installed inside the high-pressure water jet support frame 730. By driving the lifting wheel assembly 793 to rotate through the lifting motor 799, the lifting rack 740 drives the load-bearing inner shell 792 to move up and down, thereby adjusting the spray height of the nozzle.

[0040] The rotating unit includes a U-shaped frame 790, a lead screw guide block 750, a drive motor 770, and a ball head 791. The U-shaped frame 790 is rotatably mounted on the bottom of the load-bearing inner shell 792 via a rotatable gear set 795. The drive motor 770 is fixed inside the high-pressure water jet support frame 730. One side of the lead screw guide block 750 is connected to the drive motor 770, and the other side is connected to the U-shaped frame 791. The ball head 791 is hollow inside and 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, allowing 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 nozzle 794 is connected to the bottom of the ball head 791. The drive motor 770 drives the lead screw guide block 750 to slide, thereby rotating the U-shaped frame 790 and the ball head 791. The two rotating units move in directions perpendicular to each other, and are used to adjust the movement of the ball head on the X-axis and Y-axis, respectively, thereby adjusting the spray angle of the nozzle 794.

[0041] To ensure greater stability during the rotation of the rotating unit, a shock-absorbing housing 760 is installed outside the drive motor 770. Several bottom guide springs 796 are located at the bottom of the shock-absorbing housing 760, and a tail guide spring 798 is located on the side of the shock-absorbing housing 760 away from the lead screw guide block 750. A side shaft 797, which engages with 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 rotate around the fixed axis of the high-pressure water jet support frame 730 via the two side shafts of the rotatable shock-absorbing housing 760. Both the tail guide spring and the bottom guide spring of the rotatable shock-absorbing housing 760 provide shock absorption and guidance, allowing for flexible angle adjustment and precise angle control with the two side shafts as the axis.

[0042] Since the hard material removal device and the high-pressure water jet device are mounted on the same frame, a lifting mechanism is installed on the outer casing of both devices to prevent the hard materials removed by the hard material removal device from splashing to both sides and damaging the high-pressure water jet device during operation. Specifically, the hard material protection cover 8 is equipped with a pivot pin 772, and the high-pressure water jet protection cover 7 is equipped with a connecting arm 771. One end of the connecting arm 771 is hinged to the pivot pin 772, allowing the high-pressure water jet protection cover 7 to be rotatably mounted on both sides of the hard material protection cover 8. The hard material protection cover 8 is equipped with a lifting drive gear 710, and one end of the lifting drive gear 710 is equipped with a lifting drive device. The high-pressure water jet protection cover 7 is equipped with a lifting driven gear 711, and the lifting drive gear 710 meshes with the lifting driven gear 711. The lifting drive device drives the lifting drive gear 710 to rotate the lifting driven gear 711, thereby changing the angle between the high-pressure water jet protection cover 7 and the hard material protection cover 8. The high-pressure water jet protective cover 7 can be raised back to a direction perpendicular to the drill bit axis, increasing the distance and space between the high-pressure water jet device and the hard material removal device, thereby preventing hard objects from damaging the high-pressure water jet device.

[0043] The working principle of the high-pressure water jet device is as follows: the high-pressure hose 720 provides the water source for jetting. The lifting wheel assembly 793 cooperates with the lifting rack 740 to adjust the spray height of the nozzle 794. The movement of the ball head on the X and Y axes is adjusted by two rotating units, thereby adjusting the spray angle of the nozzle 794 to achieve precise spraying of high-pressure water flow on the track surface from all directions.

[0044] The sludge suction device includes a centrifuge 1, a suction pipe 10 connected to the centrifuge 1, and a discharge pipe 11. The centrifuge 1 is fixed to the chassis Y. The suction pipe 10 is installed on the support frame 9 and located behind the soft material cleaning device. The outlet of the discharge pipe 11 is located on the side of the track X. Foreign matter cleaned by the soft material cleaning device, hard material removal device, and high-pressure water jet device is absorbed into the centrifuge 1 through the suction pipe 10. After centrifugation, the foreign matter is collected by the centrifuge 1, and excess water is discharged through the discharge pipe 11.

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

[0046] Step 1: Before the mining vehicle is launched into the water, the staff only needs to fix the cleaning device to the vehicle body and track plate with bolts, and connect the power input shaft 2 to the external motor; the suction pipe and the discharge pipe are connected to the external centrifugal separator fixed on the vehicle body with clamps.

[0047] Step 2: After the automatic cleaning device is installed, turn on the external motor and check whether the cleaning device is working properly, whether the rotating mechanism can rotate normally, and whether there is any interference during machine operation. After confirming that everything is in order, the mining truck is lowered underwater to begin work.

[0048] Step 3: When the mining vehicle is working underwater and the tracks are covered with seabed mud, sand, and plant and animal debris, the soft material cleaning device starts to work. The cleaning brush 6 rotates in opposite directions to break the plant filaments and clean them, preventing plant and animal debris from wrapping around the tracks again. The suction device absorbs the cleaned track attachments, pressurizes them, and discharges them to the outside of the tracks.

[0049] Step 4: For the seabed mud and sand compacted on the tracks, the high-pressure jetting device uses precise spraying by adjusting the angle and height to achieve a thorough cleaning of the tracks. For hard objects that cannot be sprayed away, the hard material removal device can be activated. When removing them, the jetting device can be raised by retracting the gear set to prevent damage.

[0050] Step 5: When the mining vehicle is working underwater, the hard material removal device can crush the hard materials such as seabed animal bone tissue and ore attached to the gaps in the track by using alloy drill bits. There are two alloy drill bits, left and right. With the help of the hydraulic angle adjustment device, the hard material removal work can be carried out on the entire track. The powerful thrust provided by the hydraulic rod connected to the external drive shaft can be used to achieve powerful removal of hard materials.

Claims

1. A deep sea mining vehicle track automatic cleaning device, characterized by, The device comprises a support frame (9), a soft matter cleaning device, a hard matter removing device, a high-pressure water jetting device and a suction device mounted on the support frame (9); the soft matter cleaning device comprises a first driving device and a cleaning brush cylinder connected with the first driving device, the first driving device is fixed on the support frame (9) and is used to drive the cleaning brush cylinder to rotate to clean the surface of the track; the hard matter removing device comprises a second driving device, a drill bit (830) and an angle adjusting device (820), the second driving device is fixed on the support frame (9) and is used to drive the drill bit (830) to rotate, the angle adjusting device (820) is connected with 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 adjusting device, the high-pressure hose (720) is connected with the nozzle (794) to provide a water source, and the jet angle adjusting device is connected with the nozzle (794) to adjust the jet angle of the nozzle; the suction device is used to collect the foreign matters cleaned by the soft matter cleaning device, the hard matter removing device and the high-pressure water jetting device. The hard matter removing 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 straight gear set (860) mounted on the drill bit mounting plate (870), the straight 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 with the second driving device, and the two driven gears are connected with the drill bit (830) respectively. The driven gear is connected with the drill bit (830) through a transmission shaft, an outer shell is arranged outside the transmission shaft, a universal joint (840) is arranged on the transmission shaft; the angle adjusting device (820) comprises a guide bracket (822), two top connecting rods (823), a guide sliding block (824) and an angle adjusting hydraulic rod (825), the guide bracket (822) and the angle adjusting hydraulic rod (825) are fixedly connected with the hard matter protection cover (8), the guide sliding block (824) is slidingly mounted in the guide bracket (822) and is connected with the angle adjusting hydraulic rod (825), one end of the top connecting rod (823) is hinged to the guide sliding block (824) and the other end is hinged to the transmission shaft outer shell; the guide sliding block (824) is driven to slide in the guide bracket (822) by the angle adjusting hydraulic rod (825) to drive the transmission shaft to rotate, so that the inclination angle of the drill bit is adjusted.

2. The deep sea mining vehicle track automatic cleaning apparatus of claim 1, wherein, The cleaning brush cylinder comprises symmetrical rotating devices connected with the first driving device and cleaning brushes (6) mounted on both sides of the symmetrical rotating devices, the symmetrical rotating device comprises a bevel gear frame (n) and a bevel gear set (m) mounted in the bevel gear frame (n), the bevel gear set (m) comprises four bevel gears meshing with each other, wherein the bevel gear connected with the first driving device is a driving bevel gear, and the driving bevel gears on both sides are driven bevel gears, and the driven bevel gears are connected with the cleaning brushes (6) through power output rods (a).

3. The apparatus according to claim 2, wherein, The first driving device is connected with 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 outside the inner transmission shaft (D), a steering driving device (5) fixed on the support frame (9), a worm (51) connected with the steering driving device (5), and a worm wheel (52) fixedly connected with the outer transmission shaft (B), the worm (51) is engaged with the worm wheel (52); the bevel gear frame (n) is provided with a protective shell (b) outside, the cleaning brush (6) is rotatably installed on both sides of the protective shell (b), and the outer transmission shaft (B) is fixedly connected with the protective shell (b) through the shock absorber (A); the first driving device drives the bevel gear set (m) to rotate through the inner transmission shaft (D), and the steering driving device (5) drives the cleaning brush cylinder to rotate through the outer transmission shaft (B) and the shock absorber (A).

4. The apparatus according to claim 3, wherein the apparatus is characterized by: The second driving device is connected with the drill bit mounting plate (870) 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, and a hydraulic rod (C) is further arranged on the outer transmission shaft (B) of the second steering transmission device, and the other end of the hydraulic rod (C) is hingedly connected with the drill bit mounting plate (870).

5. The apparatus according to claim 3, wherein the apparatus is characterized by: High-pressure water jet devices are arranged on both sides of the hard substance removing device, the high-pressure water jet device further comprises a high-pressure water jet protective cover (7), the high-pressure water jet protective cover (7) is rotatably installed on both sides of the hard object protective cover (8); the hard object protective cover (8) is provided with a back lifting driving gear (710), one end of the back lifting driving gear (710) is provided with a back lifting driving device, the high-pressure water jet protective cover (7) is provided with a back lifting driven gear (711), the back lifting driving gear (710) is engaged with the back lifting driven gear (711), and the back lifting driving device drives the back lifting driving gear (710) to rotate to change the included angle between the high-pressure water jet protective cover (7) and the hard object protective cover (8).

6. The apparatus according to claim 5, wherein the apparatus is characterized by: The high-pressure water jet shield (7) is internally provided with a high-pressure water jet support frame (730), and a jet angle adjusting device is installed in the high-pressure water jet support frame (730); the jet angle adjusting device comprises a bearing inner shell (792), a lifting rack (740) installed on the outer wall of the 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), two groups of rotating units, the lifting wheel set (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 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 bearing inner shell (792) through a rotatable gear set (795), the driving motor (770) is fixedly installed in the high-pressure water jet support frame (730), one side of the lead screw guide block (750) is connected with the driving motor (770), and the other side is connected with the U-shaped frame (790); the ball head (791) is hollow inside, the ball head (791) is installed in the hole 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 with the top of the ball head (791), and the nozzle (794) is connected with the top and bottom of the ball head (791); the lead screw guide block (750) is driven to slide by the driving motor (770), so as to drive the U-shaped frame (790) and the ball head (791) to rotate.

7. A track assembly having the cleaning device of any one of claims 1-6, wherein, It also comprises a track (X), the support frame (9) is installed on the track (X), the hard material removing device is installed on the front end of the upper surface of the track (X), the soft material cleaning device is installed behind the hard material removing device, and the sewage suction device is located behind the soft material cleaning device; when the track (X) runs, the surface of the track first passes through the hard material removing device, then passes through the soft material cleaning device, and finally passes through the sewage suction device.

8. A deep sea mining vehicle having a track assembly as claimed in claim 7, characterised in that, The track (X) is located on both sides of the vehicle body, and the support frame (9) is fixed with the vehicle body.

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