Universal multifunctional obstacle crossing vehicle body system for deep-sea mining vehicle

Abstract

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

Description

Technical Field

[0001] The present invention relates to a general multi-functional obstacle-crossing vehicle body system for deep-sea mining vehicles, belonging to the field of deep-sea mining. Background Art

[0002] Deep-sea mining has emerged due to the surging demand for critical metals such as nickel, cobalt, and rare earths in the clean energy transition. Its resource potential is concentrated in deep-sea polymetallic nodules, sulfides, and cobalt-rich crusts, mainly distributed in international seabed areas such as the Pacific Ocean and the Atlantic Ocean. The current development is still in the experimental stage. A few countries and enterprises have conducted small-scale explorations through technologies such as underwater robots. However, due to relatively prominent technical bottlenecks, commercial exploitation has not been achieved. Technical bottlenecks include problems such as insufficient accuracy of exploration equipment caused by the deep-sea high-pressure environment, the easy disturbance of sediments by mining machinery and the resulting ecological pollution, and the imperfect international legal framework. The most important problem is that the extremely complex seabed terrain makes deep-sea mining almost impossible to carry out, while the dredging mining of the mining mother ship is limited to shallow sea areas with less mineral resource distribution. Therefore, the present invention proposes a multi-functional obstacle-crossing general vehicle body chassis system for unmanned deep-sea mining vehicles suitable for complex seabed environments. Summary of the Invention

[0003] The objectives of the present invention are: First, to improve the passing ability on complex seabed terrains and lay a foundation for the design of deep-sea mining vehicles. Second, to expand the application of this chassis to other working environments with complex terrains and develop a general equipment chassis that can adapt to most complex terrains.

[0004] The technical solution is as follows: A general multi-functional obstacle-crossing vehicle body system for deep-sea mining vehicles includes a main vehicle frame, a hydraulic suspension system, and an independent crawler drive system. There are a total of four groups of hydraulic suspension systems, which are respectively distributed at the four corners of the main vehicle frame. There are also four groups of independent crawler drive systems, which are respectively fixed on the common flange connection plates of the corresponding suspension systems. The hydraulic drive and control module can be flexibly installed inside the main vehicle frame or on the extended support frame by a waterproof box according to the installation environment of the corresponding equipment.

[0005] Furthermore, the main body frame includes a steel structure frame fixed by structural steel and rivets, and an optional extension platform bracket and extension platform. The main body frame does not have a fixed selection type, and its structural shape can be flexibly changed according to the needs of the equipment to be carried and the specific working environment. However, its core requires inverted U-shaped gantry structures to be fixed in the front, rear, left, and right directions of the frame to facilitate the installation of corresponding hydraulic push rods and motion suspensions. The relevant equipment can be selected to be fixed in the frame space in a form similar to stacking boxes after being sealed by a waterproof box. At the same time, the installation space and capacity can also be expanded by adding an extension support platform on the frame. The middle-layer extension platform can be realized by symmetrically installing support frames on the front and rear of the lower-layer cross beam and installing extension platform mounting plates at a limited distance between the same-side cantilevers. The upper-layer extension platform can be realized by adding upper-layer support frames at the intersection of the middle-layer cross beam and the front and rear columns, and adding extension platform plates with heights and sizes that meet the working requirements and capacity needs. The middle-upper layer extension platform is symmetric left and right, which can greatly increase the equipment installation space and is suitable for working environments with greater equipment load requirements.

[0006] Furthermore, the hydraulic suspension system includes a main hydraulic long push rod system, an upper structure suspension, a lower structure suspension, an L-shaped drive system connecting frame, two side steering hydraulic push rod systems, a steering hydraulic push rod rotating frame, a spherical higher pair connection system corresponding to the two side steering hydraulic rods, a pitching balance cantilever, a pitching balance hydraulic push rod system, a drive system steering connection disc, and a corresponding lower layer steering connection disc fixing sleeve, a supporting multi-type load-bearing rotating shaft, a matching rotating shaft end cover, a set of fixing rivets, and a hydraulic liquid control circuit (main control system, hydraulic pump, hydraulic oil, and related pipelines) supporting each hydraulic system. The bottom end of the main hydraulic push rod system is connected to the fixed slot of the frame's inverted U-shaped gantry through a corresponding rotating shaft and a rotating pair, and the other end is also connected to the fixed slot of the lower structure suspension through a corresponding rotating shaft and a rotating pair. One section of the upper and lower structure suspensions is connected to the corresponding positions on the frame, forms a rotating pair by sleeving the load-bearing rotating shaft, and is fixed on the frame. The corresponding rotating shaft is fixed in the space formed by the two side shaft sleeves of the inverted U-shaped gantry through the two side shaft sleeves. At the same time, the other sides of the upper and lower structure suspensions are respectively connected to the L-shaped drive system connecting frame and form a rotating pair through the same rotating shaft fixing method. Thus, the telescoping of the main hydraulic push rod system can drive the lower suspension to swing up and down, thereby driving the upper suspension and the L-shaped drive system connecting frame to perform pitching swings at a certain angle, forming a hinge-link mechanism. The two side steering hydraulic push rod systems are connected to the L-shaped connecting frame through the rotating frame and are connected to the steering wheel through the spherical higher pair system, enabling the steering system to be driven within a certain pitching angle range. The pitching balance cantilever is connected to the L-shaped connecting frame through the same rotating shaft and end cover group, and the pitching balance hydraulic push rod system is used to offset the track side angle deviation caused by the transmission of the main hydraulic push rod, so that the track surface can fit the arbitrary terrain plane in the corresponding scenario to the maximum extent, even some steep slopes with larger angles. Finally, a universal rigid flange coupling is provided on the linked connection turntable, which can easily load and unload the independent track drive device, and can also replace other self-operating drive devices with matching universal interfaces, such as a self-propelled wheel drive system.

[0007] Furthermore, the independent track drive system includes a track system, a tensioning wheel, a tensioning device, a drive wheel, an electric drive engine, an idler wheel set, a road wheel set, a road wheel support frame set, a waterproof box body, a fixed rotating shaft, an internal pitching hydraulic motor and a bevel gear set. Considering the transmission characteristics of large machinery, the electric drive engine is directly fixed in the drive gear through a waterproof housing, and the drive wheel is driven to rotate through a transmission shaft fixed in the box body. While rotating, several track plates form two guide rails, and a chain grid is provided in the guide rails. On the one hand, it can ensure that the drive wheel teeth catch the chain grid to transmit the driving force to the track plates, and then drive the track to rotate reciprocally to drive the vehicle body. On the other hand, it will restrict the force transmission direction of the drive wheel to maintain stable force transmission. At the same time, the tensioning wheel arranged in the front can tension the track through the tensioning device to prevent the track from falling off during operation. On the other hand, the groove arranged on the tensioning wheel can allow the guide rail to be embedded therein, further ensuring the stability of the force transmission direction. In the waterproof box body, in addition to the corresponding control system and energy system, there is also a bevel gear set and a pitching hydraulic motor system. The rotating shaft is fixed on the connecting turntable of the suspension system through a flange coupling. The other side of the rotating shaft runs through the entire track box body to the other side, and the end cover is sealed and fixed in the same way. At the same time, a helical gear is also arranged in the middle of the rotating shaft, which is rigidly connected to the rotating shaft. The bevel gear is matched with the bevel gear on the shaft connected to the hydraulic motor to form a force transmission system. During the transmission process, the hydraulic motor is fixed on the box body. When the hydraulic motor rotates for pitching control, since the rotating shaft is fixed, when the bevel gears are matched and transmitted, it will drive the main body of the hydraulic motor to rotate circumferentially, and then drive the entire independent track drive system to achieve pitching angle control within a certain angle range.

[0008] Utilize the multi-degree-of-freedom characteristics brought by the above specific device to achieve better flexibility and stronger adaptability compared to the traditional track layout. Its motion control method mainly includes the following aspects: I. Vehicle body balance maintenance: During the operation on the seabed, it is necessary to maintain the horizontal and pitching balance of the vehicle body within a certain range. Therefore, in the face of complex seabed terrain, the traditional track structure may cause the vehicle body to tilt under the influence of factors such as the slope, height, and debris of the ground where the two tracks are located, thus affecting the safety and stability of seabed operations and having an adverse impact on work efficiency. The four-suspension independent track mechanism proposed by the present invention can independently and flexibly adjust the pitching angle, steering angle, and height of the four independent suspension tracks according to different ground parameters around the vehicle body to achieve vehicle body balance within a certain range, which is more conducive to seabed operations.

[0009] II. Mobility: Since the four tracks are independent and their steering angles can be adjusted independently, compared with the traditional track structure that steers by adjusting the rotational speeds of the two tracks on both sides, the general vehicle chassis proposed by the present invention not only has high passability of the track system but also has characteristics similar to those of a wheeled four-wheel drive system. It can steer by changing the steering angles of the front or rear two parts of the tracks while maintaining the forward speed. The steering angles of the four groups of tracks can also be adjusted so that the forward directions of the four groups of tracks are the same. Such an operation can also make the entire device have translational characteristics similar to those of Mecanum wheels within a certain angle range. At the same time, if the steering angles of the four groups of tracks are adjusted to 45°, and the four groups of tracks respectively become the four sides of a square, and the forward directions are coordinated, the in-situ steering effect can be achieved. Therefore, the multi-functional obstacle-crossing general chassis proposed by the present invention has greatly improved flexibility compared with the traditional track structure.

[0010] III. Emergency handling ability: The traditional track structure only has two tracks on both sides. If one or both tracks fail in case of an emergency, the subsea equipment will not be able to move on its own and will be unable to continue operating. However, for the multi-functional obstacle-crossing general chassis proposed by the present invention, as long as at least one track on both sides can still work properly, it can still move on its own. Therefore, compared with the traditional track structure, the handling space for emergencies is greatly enhanced, and the survival ability of the subsea equipment is improved.

[0011] The beneficial effects achieved by the present invention compared with the prior art: 1. Compared with the traditional track structure, it has higher movement flexibility, working stability, and terrain passability, and also improves the survival ability and the ability to handle subsea emergencies. Compared with the traditional mining route, the present invention is expected to expand the mining area to the deep-sea seabed.

[0012] 2. The multi-degree-of-freedom suspension and relatively simple mechanism also ensure better terrain adaptability. The present invention is not only applicable to the deep-sea field but can also be extended to other work projects with complex working terrains, having a wider range of applicability.

[0013] 3. The frame shape and the load space can be flexibly changed according to project requirements. At the same time, it can also be applicable to different independent drive systems with consistent interfaces, having higher versatility and better working scenario switching ability. Description of the Drawings

[0014] Figure 1 is the overall view of the obstacle-crossing general chassis Figure 2 is the view of the frame with extended support frames and extended support platforms Figure 3 is the architecture diagram of the single hydraulic suspension system Figure 4It is a detailed diagram of the steering and balance pitching part of the hydraulic suspension system Figure 5 It is a side view of the independent track drive system Figure 6 It is a detailed diagram of the drive wheel of the independent track drive system Figure 7 It is a detailed diagram of the idler wheel of the independent track drive system Figure 8 It is a detailed diagram of the pitching function part in the box of the independent track drive system Figure 9 It is a schematic diagram of the multi-functional general obstacle-crossing chassis passing through a rough section Figure 10 It is a schematic diagram of the multi-functional general obstacle-crossing chassis passing through a single-sided low steep slope In the figure, 1: main body frame, 1-1: upper expansion platform, 1-2: upper platform support frame, 1-3: middle expansion platform, 1-4: middle expansion platform support frame. 2: hydraulic suspension system, 2-1: inverted U-shaped gantry, 2-2: main hydraulic long push rod system, 2-3: upper structure suspension, 2-4: L-shaped drive system connecting frame, 2-5: end cover group, 2-6: lower structure suspension, 2-7: drive system steering connecting disc, 2-8: pitching balance hydraulic push rod system, 2-9: pitching balance cantilever, 2-10: lower layer steering connecting disc fixing sleeve, 2-11: spherical higher pair connecting system, 2-12: two-side steering hydraulic push rod system, 2-13: steering hydraulic push rod rotating frame. 3: independent track drive system, 3-1: track system, 3-2: idler wheel group, 3-3: road wheel support frame group, 3-4: road wheel group, 3-5: waterproof box body, 3-6: tensioning device, 3-7: drive gear, 3-8: guide rail, 3-9: electric drive engine, 3-10: idler wheel, 3-11: fixed rotating shaft, 3-12: pitching hydraulic motor, 3-13: bevel gear set Detailed implementation method

[0015] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention

[0016] As Figure 1 shown, a general multi-functional obstacle-crossing vehicle body system for a deep-sea mining vehicle includes a main body frame 1, a hydraulic suspension system 2, and an independent track drive system 3

[0017] As Figure 2As shown, the main body frame includes a steel structure frame 1 fixed by structural steel and rivets, and an optional extended platform bracket and extended platform. The main body frame is not fixedly selected, and the structural shape can be flexibly changed according to the needs of the equipment to be carried and the specific working environment. However, its core requires inverted U-shaped gantry structures to be fixed in the front, rear, left, and right directions of the frame to facilitate the installation of corresponding hydraulic push rods and motion suspensions. Relevant equipment can be optionally fixed in the frame space in a form similar to stacking boxes after being sealed by a waterproof box. At the same time, the installation space and capacity can also be expanded by adding an extended support platform on the frame. The middle-layer extended platform can be realized by symmetrically installing middle-layer platform support frames 1-4 on the lower-layer cross beam in the front and rear and installing middle-layer extended platform plates 1-3 with a limited distance between the same-side cantilevers. The upper-layer extended platform can be realized by adding upper-layer support frames 1-2 at the intersection of the middle-layer cross beam and the front and rear columns, and adding upper-layer extended platform plates 1-1 with heights and sizes meeting the working requirements and capacity needs. The middle and upper-layer extended platforms are symmetric left and right, which can greatly increase the equipment installation space and is suitable for working environments with greater equipment load requirements.

[0018] As Figure 3 、 4As shown in the figure, the hydraulic suspension system 2 includes a main hydraulic long push rod system 2-2, an upper structure suspension 2-3, a lower structure suspension 2-6, an L-shaped drive system connecting frame 2-4, two side steering hydraulic push rod systems 2-12, a steering hydraulic push rod rotating frame 2-13, a spherical higher pair connection system 2-11 corresponding to the two side steering hydraulic rods, a pitch balance cantilever 2-9, a pitch balance hydraulic push rod system 2-8, a drive system steering connection disc 2-7, and a corresponding lower layer steering connection disc fixing sleeve 2-10, a supporting multi-type load-bearing rotating shaft, a matching rotating shaft end cover 2-5, a set of fixing rivets, and a hydraulic liquid control circuit (main control system, hydraulic pump, hydraulic oil, and related pipelines) supporting each hydraulic system. The bottom end of the main hydraulic push rod system is connected to the fixed slot of the frame inverted U-shaped gantry 2-1 through a corresponding rotating shaft and a rotating pair, and the other end is also connected to the fixed slot of the lower structure suspension 2-6 through a corresponding rotating shaft and a rotating pair. One end of the upper structure suspension 2-3 and the lower structure suspension 2-6 are both connected to the corresponding positions on the frame, forming a rotating pair and being fixed to the frame by sleeving the load-bearing rotating shaft, and the corresponding rotating shaft is fixed in the space formed by the two side shaft sleeves 2-5 of the inverted U-shaped gantry 2-1 through the two side shaft sleeves. At the same time, the other sides of the upper and lower structure suspensions are respectively connected to the L-shaped drive system connecting frame 2-4 and form a rotating pair through the same rotating shaft fixing method. Thus, through the telescopic movement of the main hydraulic push rod system 2-2, the lower structure suspension 2-6 can be driven to swing up and down, thereby driving the upper structure suspension 2-3 and the L-shaped drive system connecting frame 2-4 to perform a pitching swing at a certain angle, forming a hinge-link mechanism. The two side steering hydraulic push rod systems 2-12 are connected to the L-shaped connecting frame 2-4 through the steering hydraulic push rod rotating frame 2-13 and are connected to the steering connection disc 2-7 by the spherical higher pair system 2-11, enabling the system to achieve steering within a certain pitching angle range. The pitch balance cantilever 2-9 is connected to the L-shaped connecting frame through the same rotating shaft and end cover group 2-5, and the pitch balance hydraulic push rod system 2-8 is used to offset the angle offset on the track side caused by the transmission of the main hydraulic push rod 2-2, so that the track surface can fit the arbitrary terrain plane in the corresponding scenario to the greatest extent, even some steep slopes with larger angles. Finally, a universal rigid flange coupling is provided on the linked steering connection turntable 2-7, which can easily load and unload the independent track drive device 3, and can also replace other self-operating drive devices with matching universal interfaces, such as a self-propelled wheel drive system.

[0019] As Figure 5 、 6, as shown in Figures 7 and 8, the independent track drive system 3 includes a track system 3-1, a tensioning wheel 3-10, a tensioning device 3-6, a drive wheel 3-7, an electric drive engine 3-9, an idler wheel set 3-2, a road wheel set 3-4, a road wheel support frame set 3-3, a waterproof housing 3-5, a fixed rotating shaft 3-11, an internal pitching hydraulic motor 3-12 and a bevel gear set 3-12. Considering the transmission characteristics of large machinery, the electric drive engine 3-9 is directly fixed in the drive gear 3-7 through a waterproof housing, and drives the drive wheel 3-7 to rotate through a transmission shaft fixed in the housing. While rotating, several track segments form two guide rails 3-8, and a chain grid is provided in the guide rails. On the one hand, it can ensure that the drive wheel teeth catch the chain grid to transmit the driving force to the track segments and then drive the track to rotate reciprocally to drive the vehicle body. On the other hand, it will constrain the force transmission direction of the drive wheel to maintain stable force transmission. At the same time, the tensioning wheel 3-10 arranged in the front can tension the track through the tensioning device 3-6 to prevent the track from falling off during operation. On the other hand, the groove provided on the tensioning wheel 3-10 can allow the guide rail to be embedded therein, further ensuring the stability of the force transmission direction. In the waterproof housing, in addition to the corresponding control system and energy system, there is also a bevel gear set 3-13 and a pitching hydraulic motor system 3-12. The rotating shaft is fixed on the connecting turntable 2-7 of the suspension system through a flange coupling. The other side of the rotating shaft runs through the entire track housing to the other side and is sealed and fixed with an end cover in the same way. At the same time, a helical gear is also provided in the middle of the rotating shaft, which is rigidly connected to the rotating shaft. The bevel gear cooperates with the bevel gear on the shaft connected to the hydraulic motor to form a bevel gear set 3-13, forming a force transmission system. During the transmission process, the pitching hydraulic motor 3-12 is fixed on the waterproof housing 3-5. When the pitching hydraulic motor 3-12 rotates for pitching control, since the rotating shaft is fixed, when the bevel gears cooperate in transmission, it will drive the hydraulic motor body to perform a circumferential rotational movement in turn, thereby driving the entire independent track drive system to achieve pitching angle control within a certain angle range.

[0020] As Figure 9 , 10 shown, by utilizing the multi-degree-of-freedom characteristics brought by the specific device, better flexibility and stronger adaptability are achieved compared with the traditional track layout. Its motion control method mainly includes the following aspects: 1. Body balance maintenance: During underwater operations, it is necessary to maintain the horizontal and pitch balance of the vehicle body within a certain range. Therefore, when facing complex underwater terrain, the traditional track structure may cause the vehicle body to tilt under the influence of factors such as the slope, height, and debris on the ground where the two tracks are located, thus affecting the safety and stability of underwater operations and having an adverse impact on work efficiency. The four-suspension independent track mechanism proposed by the present invention can independently and flexibly adjust the pitch angle, steering angle, and height of the four independent suspension tracks according to different ground parameters around the vehicle body to achieve vehicle body balance within a certain range, which is more conducive to underwater operations.

[0021] 2. Mobility flexibility: Since the four tracks are independent and the steering angle can be independently adjusted, compared with the traditional track structure that steers by adjusting the rotational speeds of the two tracks on both sides, the general vehicle chassis proposed by the present invention not only has the high passability of the track system but also has the characteristics similar to those of a wheeled four-wheel drive system. It can maintain the forward speed and achieve steering by changing the steering angles of the front or rear two parts of the tracks. It can also adjust the steering angles of the four sets of tracks so that the forward directions of the four sets of tracks are the same. Such an operation can also make the entire device have the translation characteristics similar to those of Mecanum wheels within a certain angle range. At the same time, if the steering angles of the four sets of tracks are adjusted to 45°, and the four sets of tracks are respectively the four sides of a square, with a consistent forward direction, the in-situ steering effect can be achieved. Therefore, the multifunctional obstacle-crossing general chassis proposed by the present invention has a great improvement in flexibility compared with the traditional track structure.

[0022] 3. Emergency handling ability: The traditional track structure only has two tracks on both sides. If one or both tracks fail in case of an emergency, the underwater device will not be able to move on its own and will not be able to continue the operation. However, for the multifunctional obstacle-crossing general chassis proposed by the present invention, as long as at least one track on both sides can still work normally, it can still move on its own. Therefore, compared with the traditional track structure, the emergency handling space is greatly enhanced, and the survival ability of the underwater device is improved.

[0023] Although the embodiments of the present invention have been shown and described, it should be noted that for those skilled in the art of this technology, several improvements and deformations can be made without departing from the principle and spirit of the present invention, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A universal multifunctional obstacle-crossing vehicle system for deep-sea mining vehicles, characterized in that: It includes a main frame, a hydraulic suspension system and an independent track drive system. There are four groups of hydraulic suspension systems, which are distributed at the four corners of the main frame; there are four groups of independent track drive systems, which are fixed on the universal flange connection plates of the corresponding suspension systems; the hydraulic drive and control module is flexibly installed inside the main frame or on the expansion support frame by a waterproof box according to the corresponding equipment installation environment.

2. A universal multifunctional obstacle-crossing vehicle system for deep-sea mining vehicles according to claim 1, characterized in that: The main frame includes a steel structure frame fixed by structural steel and rivets, and an expansion platform bracket and expansion platform that can be optionally installed. The main frame can be flexibly changed according to the needs of the equipment carried and the specific working environment. An inverted U-shaped gantry structure is fixed in the front, back, left and right directions of the frame to accommodate the corresponding hydraulic push rods and sports suspension; the relevant equipment is sealed in a waterproof box and fixed in the frame space in the form of a stacked box, or the installation space and capacity are expanded by adding an expansion support platform; the middle-level expansion platform is realized by installing support frames symmetrically front and back on the lower beam and installing an expansion platform mounting plate with a limited distance between the cantilevers on the same side; the upper-level expansion platform is realized by installing an upper-level support frame at the intersection of the middle-level beam and the front and rear side columns and adding an expansion platform plate that meets the working requirements and capacity requirements. The middle and upper-level expansion platforms are symmetrical on the left and right.

3. A universal multifunctional obstacle-crossing vehicle system for deep-sea mining vehicles according to claim 2, characterized in that: The hydraulic suspension system includes a main hydraulic long push rod system, an upper structure suspension, a lower structure suspension, an L-shaped drive system connecting frame, steering hydraulic push rod systems on both sides, a steering hydraulic push rod rotating frame, spherical high-pair connection systems corresponding to the steering hydraulic rods on both sides, a pitch balance cantilever, a pitch balance hydraulic push rod system, a drive system steering connection plate and a corresponding lower steering connection plate fixing sleeve, a matching multi-model load-bearing shaft and a matching shaft end cover, a fixing rivet group, and a hydraulic hydraulic control circuit matching each hydraulic system; the bottom end of the main hydraulic push rod system is connected to the fixed groove of the inverted U-shaped gantry of the frame through the corresponding shaft and the rotating pair, and the other end is also connected to the fixed groove of the lower structure suspension through the corresponding shaft and the rotating pair; one section of the upper and lower structure suspensions are connected to the corresponding position on the frame, through the sleeve A revolving pair is formed and fixed on the frame by inserting the load-bearing rotating shaft, and the corresponding rotating shaft is fixed in the space formed by the shaft sleeves on both sides of the inverted U-shaped gantry through the shaft sleeves on both sides. The other sides of the upper and lower structural suspensions are respectively connected to the L-shaped drive system connecting frame, and a revolving pair is formed by the same rotating shaft fixing method; the steering hydraulic push rod systems on both sides are connected to the L-shaped connecting frame through the rotating frame, and are connected to the steering wheel by the spherical high pair system; the pitch balancing cantilever is connected to the L-shaped connecting frame through the same rotating shaft and the end cover group, and the angle deviation of the track side caused by the transmission of the main hydraulic push rod is offset by the pitch balancing hydraulic push rod system; the linked connecting turntable is provided with a universal rigid flange coupling, which can load and unload independent crawler drive devices or replace other drive devices that can operate independently with matching universal interfaces.

4. A universal multifunctional obstacle-crossing vehicle system for deep-sea mining vehicles according to claim 2, characterized in that The independent crawler drive system includes a crawler system, a tensioner, a tensioning device, a driving wheel, an electric drive engine, an idler wheel group, a road wheel group, a road wheel support frame group, a waterproof box, a fixed rotating shaft, a built-in pitch hydraulic motor and a bevel gear group; the electric drive engine is directly fixed in the driving gear through a waterproof shell, and drives the driving wheel to rotate through a transmission shaft fixed in the box; a plurality of crawler shoes form two guide rails, and a chain grid is provided in the guide rail. The driving wheel teeth clamp the chain grid to transmit the driving force to the crawler shoes and then drive the crawler to perform reciprocating rotation to drive the vehicle body. The tensioner can tighten the crawler through the tensioning device to prevent the crawler from falling off during operation. The grooves provided on the tensioner allow the guide rails to be embedded therein to ensure the direction of force transmission. Stable; in addition to the corresponding control system and energy system, the waterproof box also has a bevel gear set and a pitch hydraulic motor system; the rotating shaft is fixed to the connecting turntable of the suspension system through a flange coupling, and the other side of the rotating shaft runs through the entire track box to the other side and is sealed and fixed with the end cover in the same way; a helical gear is also provided in the middle of the rotating shaft, which is rigidly connected to the rotating shaft, and the bevel gear cooperates with the bevel gear on the shaft connected to the hydraulic motor to form a force transmission system; when the hydraulic motor rotates for pitch control, since the rotating shaft is fixed, the bevel gears will in turn drive the hydraulic motor body to perform circular rotation when they cooperate to transmit, thereby driving the entire independent crawler drive system to achieve pitch angle control within a certain angle range.

Images