Crawler unit, four-wheel drive crawler traveling chassis and underwater operation robot

Abstract

The present application relates to underwater robot technical field, especially point to a caterpillar unit, four drive caterpillar advances chassis and underwater operation robot. Among them, the caterpillar unit includes: the caterpiller formed by the annular chain consisting of multiple chain conditions first and last;Each chain condition is respectively provided with caterpillar plate;The outer surface of caterpillar plate is provided with at least one gullet;The transition part matched in shape is respectively arranged between adjacent caterpillar plates;Suspension arranged in the chain;Driving wheel rotation is arranged on one side of suspension, supports chain from inside and engages with chain;Driving source and driving wheel are connected, for driving driving wheel to rotate;Guide wheel rotation is arranged on the other side of suspension, supports chain from inside and engages with chain;Induction wheel is arranged in the middle of suspension and is connected with guide wheel through tensioning unit.The present application enhances the ground contact area and traction, and cooperates with the dynamic adjustment of the tensioning unit, to ensure that the gullet always maintains reasonable grip under different terrains.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to a track unit, a four-wheel drive track chassis and an underwater operation robot. BACKGROUND

[0002] Deep-sea mineral resources mainly include three kinds of polymetallic nodules, cobalt-rich crusts and polymetallic sulfides. These mineral resources are rich in metals such as nickel, cobalt, copper and manganese, and their total reserves are higher than the corresponding reserves on land by several tens of times or even thousands of times. Due to the harsh deep-sea environment, the exploitation of resources must rely on underwater robots for deep-sea operations. As an important part of the deep-sea mining system, the structural parameter research of the deep-sea mining vehicle is particularly important.

[0003] Due to the characteristics of strong traction performance, small ground pressure and high passing performance, the deep-sea mining vehicle running mechanism is mostly track-based. Unlike the floating ROV (Remotely Operated Vehicle), the deep-sea mining vehicle has a large water weight, and the seabed sediment has the characteristics of high water content, low bearing capacity and extremely soft soil. The deep-sea mining vehicle is prone to slipping when walking on the seabed surface, and the motion performance is reduced. As a key component in the development process of the deep-sea mining vehicle, the mechanism parameters of the track running mechanism affect the overall motion performance of the mining vehicle. Therefore, it is necessary to develop a track chassis suitable for underwater soft soil running.

[0004] The development of underwater robot track chassis involves many technologies. In terms of mechanical structure, the track is usually made of rubber or stainless steel, the track wheel is made of high polymer material or metal, the chassis frame is mostly integrated welded structure and coated with anticorrosive coating, and some are equipped with suspension systems to adapt to complex terrain. In terms of drive system, large robots often use hydraulic drive, and small robots mostly use motor drive, which realizes compact structure through the combination of external rotor motor and planetary gear reducer. Waterproof sealing technology is crucial, the shell and components are made of special sealing materials and processes, such as achieving IP68 waterproof standard, and components are prevented from seawater intrusion by setting sealing cover, sealing ring, etc.

[0005] The development of the track chassis of the deep-sea mining vehicle faces multidimensional core difficulties, which need to cope with the special needs of the deep-sea extreme environment and mining operation: on the one hand, the deep-sea high pressure (maximum 110 MPa), low temperature (2-4℃) and corrosive seawater environment put forward strict requirements on the pressure resistance, corrosion resistance and low-temperature toughness of the chassis material, and the pressure resistance and leakage prevention problems of electronic components and sealing systems need to be solved to avoid seawater intrusion leading to functional failure; on the other hand, the physical properties of seabed sediments (such as soft clay and nodule layers) are complex, and when encountering polymetallic sulfide terrain, the track needs to have enough ground contact specific pressure to prevent the vehicle from sinking, and through special track tooth shape and tension adjustment design, the adaptability of traction force and the mining layer / sediment needs to be balanced to avoid track slipping or excessive disturbance to the mining area, and the adaptability of the track to the rugged road surface also needs to be considered to avoid high vibration during the travel of the deep-sea mining vehicle; in addition, the delay and communication stability of the deep-sea remote control limit the chassis to have high-precision autonomous walking and attitude adjustment capability, and a reliable sensing, driving and control system needs to be integrated, while taking into account the lightweight design to reduce the influence of underwater buoyancy and the difficulty of launching from the mother ship, so as to finally realize efficient and stable operation in complex environment.

[0006] In summary, the existing deep-sea mining vehicle track chassis mainly has the following deficiencies:

[0007] I. Most of the track chassis are fixed structures and cannot conform to the terrain, and do not have self-adaptive adjustment function;

[0008] II. The track chassis and the upper structure are fixedly connected (welded, bolted), and do not have vibration reduction function. SUMMARY

[0009] In view of the deficiencies of the prior art, the application discloses a track unit, a four-wheel drive track traveling chassis and an underwater working robot.

[0010] The technical scheme adopted by the application is as follows:

[0011] In a first aspect, a track unit is provided, comprising:

[0012] A track comprising a ring-shaped chain formed by a plurality of chain conditions connected end to end; each chain condition is provided with a track shoe; the outer surface of the track shoe is provided with at least one track tooth; a transition part matching in shape is arranged between adjacent track shoes;

[0013] A suspension arranged in the chain;

[0014] A drive wheel rotatably arranged on one side of the suspension, supporting the chain from the inside and engaging with the chain;

[0015] A drive source connected with the drive wheel for driving the drive wheel to rotate;

[0016] a guide wheel rotatably arranged on the other side of the suspension, supporting the chain from the inner side and engaging with the chain;

[0017] an induction wheel arranged at the middle of the suspension and connected with the guide wheel through a tensioning unit; the tensioning unit is arranged to adaptively adjust the tightness of the track.

[0018] In an embodiment of the present application, one side of the track shoe is provided with a first transition part, which is a circular arc-shaped recessed part opened on the surface of the track shoe facing the chain; the other side of the track shoe is provided with a second transition part, which is a circular arc-shaped protruding part opened on the surface of the track shoe away from the chain; the first transition part and the second transition part of adjacent two track shoes cooperate with each other.

[0019] In an embodiment of the present application, the track tooth and the track shoe are connected in an elastic buffer mode.

[0020] In an embodiment of the present application, a buffer block is arranged between the track tooth and the track shoe.

[0021] In an embodiment of the present application, the track tooth is a straight tooth.

[0022] In an embodiment of the present application, a plurality of load wheels are arranged on the bottom surface of the suspension and abut against the chain.

[0023] In an embodiment of the present application, at least one chain sprocket is arranged on the top surface of the suspension and abuts against the chain.

[0024] In an embodiment of the present application, the tensioning unit comprises a connecting shaft arranged along the length direction of the suspension, a first connecting piece arranged at one end of the connecting shaft and connected with the induction wheel, a second connecting piece arranged at the other end of the connecting shaft and connected with the guide wheel, and an elastic element abutting against the first connecting piece and the second connecting piece at both ends, respectively.

[0025] In a second aspect, a four-wheel drive track running chassis is provided, comprising:

[0026] a chassis;

[0027] a plurality of track units as described above, symmetrically arranged on both sides of the chassis along the central axis of the chassis;

[0028] a plurality of shock absorption units arranged on the chassis; the plurality of shock absorption units are respectively arranged at the end of the main shaft of the chassis connected with the track unit and at the center of the main shaft.

[0029] In a third aspect, the application provides an underwater operation robot comprising the four-wheel-drive tracked chassis as described above.

[0030] The above technical solution of the application has the following advantages over the prior art:

[0031] The tracked unit described in the application ensures continuous contact of the track plates during bending movement, significantly improving the traction performance on soft terrain. The coordinated action of the suspension and the tensioning unit effectively absorbs the impact and vibration caused by terrain undulations, reducing the structural load of the vehicle body. The self-adaptive adjustment mechanism ensures that the chain is always in the best tensioning state, avoiding the risk of chain disengagement due to slackness.

[0032] The transition sections of different structural forms provided on both sides of the track plates in the tracked unit described in the application ensure continuous contact of adjacent plates during bending, reducing local stress between the track plates and prolonging the service life of the tracked unit.

[0033] The four-wheel-drive tracked chassis described in the application adjusts the tensioning degree of the track through the tensioning unit, matches the transition sections of different structural forms on both sides of the track plates, reduces impact and vibration during turning or climbing, and improves the stability of the chassis by combining the suspension and the damping unit, effectively adapting to complex seabed terrain and reducing disturbance to sediments, with the advantages of improving traction performance, prolonging service life, and enhancing environmental adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to make the content of the application more easily understood, the application will be further described in detail below according to specific embodiments of the application and in conjunction with the drawings.

[0035] Figure 1 is a side view of the tracked unit in the application.

[0036] Figure 2 is Figure 1 is an enlarged schematic view of position A in

[0037] Figure 3 is a side view of the tracked unit (suspension not shown) in the application.

[0038] Figure 4 is a schematic view of the tensioning unit in the application.

[0039] Figure 5 is a structural schematic view of the four-wheel-drive tracked chassis in the application.

[0040] Figure 6 is Figure 5 is an enlarged schematic view of position B in

[0041] Figure 7 is a front view of the four-wheel-drive tracked chassis in the application.

[0042] Explanation of the reference signs in the drawings:

[0043] 10, driving source; 20, driving wheel; 30, guide wheel; 40, suspension; 50, induction wheel; 61, load wheel; 62, chain sprocket; 70, tensioning unit; 71, connecting shaft; 72, elastic element; 73, first connecting piece; 74, second connecting piece; 75, first support; 80, track; 81, track tooth; 82, track shoe; 83, first transition; 84, second transition; 90, chain;

[0044] 100, track unit; 200, chassis; 300, damping unit; 301, connecting seat; 302, spring damper; 303, stroke shaft; 304, connecting plate. DETAILED DESCRIPTION

[0045] The present application will be further described with reference to the drawings and specific examples, so that those skilled in the art can better understand the present application and implement it. The examples are not intended to limit the present application.

[0046] The foregoing and other technical contents, features and effects of the present application will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, are only reference to the direction of the drawings. Therefore, the directional terms are used to illustrate and not to limit the present application. In addition, the same reference signs represent the same elements in all embodiments.

[0047] In the prior art, the track chassis of the deep-sea mining vehicle generally adopts a fixed structure and cannot be self-adapted to the complex seabed topography. The traditional track unit is fixed to the upper structure by a rigid connection method, which lacks effective damping function. The seabed sediments have the characteristics of high water content and low bearing capacity, and the track is prone to skidding when walking. The fixed track structure is difficult to adapt to the rugged terrain of the polymetallic sulfide mining area, resulting in a decrease in traction performance. The engagement between the track and the driving wheel lacks a dynamic adjustment mechanism and cannot cope with the change in tightness in the soft soil environment of the seabed.

[0048] To solve the above problems, the researchers observed that the track of the seabed mining vehicle frequently idled in soft and cohesive terrain. Through analysis, it was found that the lack of effective transition structure between the traditional track shoes led to uneven ground pressure distribution. Further research found that the rigid connection of the track and the driving system aggravated the travel vibration. To solve these problems, the research team proposed to set a complementary transition structure on both sides of the track shoe, so that the adjacent shoes form a continuous contact surface. Considering the undulating seabed topography, the self-adaptive tensioning mechanism in the suspension system becomes a key breakthrough point.

[0049] Therefore, in combination with Figure 1 andFigure 3 The embodiment provides a track unit 100, which comprises a track 80, a chain 90, a suspension 40, a driving wheel 20, a driving source 10, a guide wheel 30, an inducing wheel 50 and a tensioning unit 70. The track 80 is composed of a plurality of track plates 82 with track shoes 81, and transition sections with different structures are arranged on both sides of adjacent track plates 82. The chain 90 connects the track plates 82 to form a ring structure, and the suspension 40 is arranged inside the ring structure. The driving wheel 20 and the guide wheel 30 are arranged on both sides of the suspension 40 and are engaged with the chain 90, and the inducing wheel 50 is connected with the guide wheel 30 through the tensioning unit 70.

[0050] The transition sections with different structures on both sides of the track plate 82 are that the contact surfaces of adjacent plate members have complementary concave-convex geometric shapes, which can be realized by arc-shaped concave-convex matching, so that the adjacent plate members can keep continuous contact when being bent. The ring structure formed by the chain 90 is that a plurality of track plates 82 are connected in series into a closed loop through a hinged mode, which can be realized by pin shaft and link matching to form a continuous track that can transmit power. The suspension 40 arranged in the ring structure is that a support frame is arranged inside the space formed by the track, which can be realized by a welded frame structure to provide a mounting base for the driving wheel 20 and the guide wheel 30. The tensioning unit 70 automatically adjusts the position of the guide wheel 30 according to the tension change of the chain 90.

[0051] As shown in Figure 4 The tensioning unit 70 specifically comprises a connecting shaft 71 arranged along the length direction of the suspension 40, a first connecting piece 73 arranged at one end of the connecting shaft 71 and connected with the inducing wheel 50, a second connecting piece 74 arranged at the other end of the connecting shaft 71 and connected with the guide wheel 30, and an elastic element 72 abutting against the first connecting piece 73 and the second connecting piece 74 at both ends. One side of the first connecting piece 73 is fixedly connected with a second bracket (not shown in the figure), and the other side of the second bracket is connected with the central shaft of the inducing wheel 50. One side of the second connecting piece 74 is fixedly connected with a first bracket 75, and the other side of the first bracket 75 is hingedly connected with the central shaft of the guide wheel 30, so that the inducing wheel 50 is connected with the guide wheel 30 through the tensioning unit 70. The tensioning unit 70 maintains the stable engagement of the chain 90 and the driving wheel 20.

[0052] Specifically, the driving source 10 drives the chain 90 through the driving wheel 20, and the chain 90 pulls the track shoe 82 to form a circular motion. The transition parts on both sides of the track shoe 80 cooperate with each other during bending to form a smooth contact transition. The suspension 40 supports the driving wheel 20 and the guide wheel 30 and maintains the transmission track of the chain 90. The guide wheel 30 is connected with the driving wheel 20 through the tensioning unit 70, and when the chain 90 is relaxed due to load changes, the elastic element 72 pushes the guide wheel 30 to move to compensate for the length change of the chain 90. The grousers 81 on the surface of the track shoe 82 are inserted into the seabed sediments, and the continuous contact of the transition parts avoids stress concentration.

[0053] The connecting shaft 71 is a rigid support component extending along the length direction of the suspension 40, used for transmitting tension and maintaining structural stability. The first connecting piece 73 is a mounting base connected with the second bracket, used for limiting the movement track of the guide wheel 50. The second connecting piece 74 is a mounting base connected with the first bracket 75, used for converting the displacement of the guide wheel 30 into axial movement. The elastic element 72 is a buffer component providing elastic restoring force, which can be implemented by a coil spring, used for balancing the dynamic changes of the tension of the track 80.

[0054] Specifically, when the tension of the track changes due to changes in terrain or load fluctuations, the distance between the guide wheel and the guide wheel will be offset. At this time, the elastic element is extruded or stretched by the first connecting piece and the second connecting piece, and generates a reverse force through elastic deformation, which drives the connecting shaft to move along the length direction of the suspension, and then drives the guide wheel and the guide wheel to produce relative displacement. The displacement is transmitted to the track through the chain, so that the track always maintains a preset tension range. For example, in the relaxed state of the track, the elastic element releases the stored elastic potential energy, drives the connecting shaft to contract towards the guide wheel, and shortens the distance between the guide wheel and the guide wheel to tighten the track; and when the track is too tight, the external tension overcomes the elastic force of the elastic element, so that the connecting shaft extends outward to increase the distance between the guide wheels, thereby reducing the tension of the track.

[0055] Compared with the prior art, the traditional track plate adopts a planar contact mode, which is easy to form a gap at the bending part, resulting in a sudden change in ground pressure. In the embodiment, the adjacent plate parts form a continuous support surface through the complementary transition structure, which improves the ground pressure distribution. In addition, the existing tensioning mechanism mostly adopts a manual adjustment mode, which cannot adapt to the changes of the seabed terrain in real time. The present scheme sets the tensioning unit 70 to automatically compensate for the tension of the track 80. The traditional track unit lacks a suspension system, and the vibration is directly transmitted to the vehicle body. The present scheme combines the suspension 40 and the tensioning unit 70 to effectively buffer the impact load during the running process.

[0056] In combination with Figure 2The first transition part 83 is a circular arc-shaped recessed part provided on one side of the track shoe 82, and the second transition part 84 is a circular arc-shaped protruding part provided on the other side of the track shoe 82.

[0057] The circular arc-shaped recessed part is an arc-shaped groove structure formed on the contact surface of the track shoe 82 and the chain 90, and the curvature radius thereof can match the protruding part of the adjacent track shoe 82. This structure can provide a rotating guide space for the adjacent track shoe 82 and reduce the frictional resistance of the track shoe 82 during turning.

[0058] The circular arc-shaped protruding part is an arc-shaped protruding structure formed on the surface of the track shoe 82 away from the chain 90. This structure can be embedded in the recessed part of the adjacent track shoe 82 to avoid rigid collision between the track shoes 82 and thus disperse the stress concentration area. It should be noted that the height of the circular arc-shaped protruding part is less than the thickness of the track shoe 82.

[0059] Specifically, when the track unit 100 runs in the soft soil environment of the seabed, the relative angle of the adjacent track shoes 82 changes when they rotate around the driving wheel 20 and the guide wheel 30. The recessed part of the first transition part and the protruding part of the second transition part form a complementary fit, so that the adjacent track shoes 82 remain in continuous contact during bending. For example, when the track shoe 82 enters the meshing area of the driving wheel 20, the protruding part slides along the arc-shaped trajectory of the recessed part, achieving smooth transition between the track shoes 82. This matching mode can eliminate the corner friction generated by traditional planar contact, and reduce local stress through rolling contact of the circular arc surface.

[0060] The embodiment further proposes an elastic buffer connection between the grousers 81 and the track shoes 82. The elastic buffer connection refers to a connection structure with deformation ability between the grousers 81 and the track shoes 82, which can be realized by providing a buffer block (not shown in the figure) between the grousers 81 and the track shoes 82, and absorbing external impact energy through compression deformation of the elastic material. The buffer block refers to an elastic medium provided between the root of the grousers 81 and the track shoes 82, which can be realized by a polyurethane block, and the rigid impact of the grousers 81 on the track shoes 82 is reduced through the deformation characteristics thereof.

[0061] Specifically, when the grousers 81 contact the seabed sediments or rugged terrain, the vertical impact force and lateral shear force received by the grousers 81 are transmitted to the track shoe 82 through the buffer block. The buffer block elastically deforms during compression, converting instantaneous impact into sustained deformation energy, thereby reducing the peak stress transmitted to the track shoe 82. The elastic buffer connection allows the grousers 81 to produce a slight displacement when under stress, for example, when the grousers 81 sink into soft clay, the buffer block can provide lateral resilience to assist in escaping, and when the grousers 81 hit hard nodule layers, the elastic structure absorbs vibration energy by compression.

[0062] The embodiment further proposes that the grousers 81 are straight teeth. The straight teeth refer to grousers in the shape of a straight line, and the cross section can be rectangular. During the track movement, the straight teeth cut into the soft soil surface vertically, increasing the contact area with the ground, thereby improving the traction.

[0063] Specifically, the straight-line structure of the straight teeth enables the track shoe 82 to reduce lateral sliding resistance when moving in soft clay or loose soft sediments, while reducing the problem of soil adhesion caused by complex tooth shapes. When the track shoe 82 rotates with the chain 90, the straight teeth cut into the ground in a vertical direction, forming a stable support point, avoiding local stress concentration caused by tooth bending or inclination. In addition, the symmetrical design of the straight teeth can adapt to the needs of bidirectional movement without adjusting the direction of the track 80.

[0064] The embodiment further proposes that it further comprises a plurality of load wheels 61 arranged on the bottom surface of the suspension 40 and abutting the chain 90. The load wheel 61 refers to a rolling support component for distributing the load of the track unit, which can be implemented by a bearing seat and a roller installed on the bearing seat. The outer edge profile of the load wheel 61 matches the pitch of the chain 90 to achieve rolling contact. This component replaces sliding friction with rolling friction, effectively reducing the wear between the chain and the suspension. It should be noted that the bottom surface of the suspension 40 refers to the load-carrying surface of the suspension 40 facing the ground, and the surface can be provided with a bearing seat and a roller fixed by bolts.

[0065] Specifically, the load wheels 61 are arranged in intervals along the length direction of the suspension 40, and their axes are parallel to the axis of the drive wheel 20. When the track unit 100 moves, the chain 90 moves in a loop under the drive of the drive wheel 20, and the outer edge of the load wheel 61 forms rolling contact with the inner side of the chain 90. The bearing seat provided on the bottom surface of the suspension 40 is connected to the roller through an elastic bushing, so that the load wheel 61 can produce a slight displacement with the terrain. The contact area between the chain 90 and the load wheel 61 forms a continuous support point, evenly transmitting the load of the chassis 200 to the track shoe 82, and reducing the resistance to chain movement through rolling friction.

[0066] The present embodiment further proposes at least one sprocket 62 arranged on the top surface of the suspension 40 to abut against the chain 90. The sprocket 62 refers to a rolling component mounted on the top of the suspension 40, which can be implemented by a metal wheel body structure with bearings, and the outer edge thereof is in contact with the chain 90 to provide support. The top surface of the suspension 40 refers to the upper region of the suspension 40 for the arrangement of the sprocket 62. The abutment of the chain 90 refers to the outer circumferential surface of the sprocket 62 being in contact with a specific region of the chain 90, which can be achieved by adjusting the position or height of the sprocket 62 so that the chain 90 is always in contact with the surface of the sprocket 62 during movement.

[0067] Specifically, the sprocket 62 is arranged on the top surface of the suspension 40, and when the chain 90 rotates with the driving wheel 20 to form a circular motion, the sprocket 62 supports the upper region of the chain 90 through rolling contact. The movement trajectory of the chain 90 on the top of the suspension 40 is constrained by the abutment of the sprocket 62, avoiding the chain 90 from sagging or deviating laterally due to gravity or inertia. The rolling contact of the sprocket 62 further reduces the sliding friction between the chain 90 and the suspension 40, and disperses the vibration energy generated by the movement of the chain 90.

[0068] It should be noted that the driving source 10 in the embodiment can adopt a commercially available plunger type hydraulic motor, which is composed of a shell, a rotor, a stator, a plunger, an output shaft, a bearing, a sealing element and a planetary reducer. Specifically, the shell serves as the main structure and external protection of the motor, and is internally partitioned into different chambers for accommodating internal parts and bearing the pressure of the hydraulic system, ensuring the flow of hydraulic oil in the internal according to the specified path, and connecting with the external hydraulic pipeline to provide a channel for the hydraulic oil. The rotor is the rotating part of the motor, connected with the output shaft, and generates rotary motion under the action of hydraulic oil to convert hydraulic energy into mechanical energy and output power. The stator is usually fixed and surrounds the rotor, and is internally designed with special chambers, channels or curved tracks to guide the hydraulic oil to act on the blades, plungers and other parts on the rotor in a specific way, so that the rotor can rotate stably according to the design requirements. The plunger reciprocates in the plunger hole of the cylinder body, and converts the pressure energy of the hydraulic oil into mechanical energy through the movement of the plunger to drive the rotor to rotate. The output shaft is the part connecting the hydraulic walking motor with the external load, which transmits the rotary motion of the rotor to the external walking mechanism or other working parts to output power to drive the equipment to walk or complete other work tasks. The output shaft is usually provided with key, spline and other connecting structures for reliable connection with external parts. The bearing is used to support the rotor and the output shaft, so that they can rotate smoothly in the shell, reduce friction and wear during rotation, bear the radial and axial forces generated during rotation of the rotor and the output shaft, and ensure the rotation accuracy and stability of the motor. The sealing element is used to prevent the leakage of hydraulic oil from the inside of the motor to the outside, and to prevent the entry of impurities, air and the like from the outside into the motor, to ensure the sealing performance and working efficiency of the hydraulic system. Common sealing elements include sealing rings, oil seals, sealing gaskets and the like. The planetary reducer converts the high speed and low torque output of the motor into low speed and large torque output to better drive the walking mechanism.

[0069] In combination Figures 5 to 7 , the embodiment also provides a four-wheel-drive crawler chassis, which comprises a chassis 200, four crawler units 100 symmetrically arranged on both sides of the chassis 200 along the central axis of the chassis 200, and six damping units 300 arranged on the chassis 200. The six damping units 300 are respectively located at the end of the main shaft of the chassis 200 connected with the crawler unit 100 and the center of the main shaft.

[0070] Each track unit 100 has independent steering and power output functions. The four track units 100 are symmetrically arranged on both sides of the chassis 200 along the center axis of the chassis 200, that is, the four track units 100 are mirror-symmetrically arranged with the longitudinal center line of the chassis 200 as the reference, and can be specifically implemented in a symmetrical distribution of double front wheels and double rear wheels. This layout can ensure stable center of gravity during travel. The shock absorption unit 300 is an elastic element for buffering mechanical vibration. Specifically, the shock absorption unit 300 is composed of a connecting seat 301, a spring damper 302 and a stroke shaft 303. The use of six shock absorption units 300 can effectively and substantially reduce the vibration of the deep-sea mining vehicle, increase the stability, and the shock absorption unit 300 is installed at the top and both sides of the main shaft connected with the single-track system, which can effectively and comprehensively reduce the vibration of the vehicle body. As a key component for adapting to the extreme deep-sea environment, the core function of the shock absorption unit 300 is to balance the impact of complex seabed topography and the stable operation requirements of the equipment. On the one hand, it can buffer the severe vibration caused by seabed rock protrusions, gullies or soft sediments (such as rolling nodule mining, impact when crossing slopes), avoid vibration transmission to the main frame of the mining vehicle and precision components (such as mining nozzles, underwater sensors, hydraulic drive systems), prevent components from sealing failure, structural cracking or distorted sensing data due to high-frequency vibration, and ensure long-term reliable operation of the equipment in high-pressure (20MPa-60MPa) and low-temperature (2℃-4℃) environments. On the other hand, by dynamically adjusting the adhesion pressure of the track and the seabed, the influence of sea current disturbance and terrain undulation on the attitude of the vehicle body can be offset, the vehicle body imbalance when the mining vehicle turns, leans, climbs or gets stuck can be inhibited, and the excessive compaction and disturbance of the track to soft sediments can be reduced, avoiding the turbidity of seawater caused by vibration to block the mining system, and meeting the needs of operation stability and deep-sea ecological protection, providing attitude support for efficient collection of polymetallic nodules and sulfide resources by the mining vehicle.

[0071] Specifically, the chassis 200 is integrated with the four track units 100 by welding or bolt connection. The four track units are symmetrically distributed on both sides of the chassis, forming a symmetrical layout of the front two wheels and the rear two wheels, so that the driving force is evenly distributed during travel. Six shock absorption units 300 are installed at three key positions of the main shaft of the chassis: two at the front ends of the main shaft, two at the rear ends of the main shaft, and two at the center of the main shaft. When the track unit 100 travels on rough terrain, the shock absorption units 300 at the ends of the main shaft absorb the longitudinal impact from the track unit 100, and the shock absorption units 300 at the center balance the transverse torsional load.

[0072] Compared with the prior art, the traditional track chassis adopts a fixed welding structure and only a single damping device, resulting in excessively high overall rigidity and limited damping effect. The present application forms a multi-point support structure through the symmetrical distribution of four track units 100, in combination with the three-dimensional layout of six damping units 300, so that the chassis 200 can disperse stress through elastic elements when bearing vertical load, and reduce structural deformation through the synergistic effect of damping units 300 in different areas when turning or obstacle crossing. At the same time, the stepped arrangement of the damping units 300 at the ends of the main shaft and the center can selectively absorb vibration energy in different directions, avoiding damage to components caused by local overload.

[0073] Through the above technical solution, the embodiment effectively solves the problem of vibration transmission caused by rigid connection of the traditional track chassis, reduces mechanical impact under complex terrain through the symmetrical distribution of multiple damping units 300, and improves the structural reliability of the chassis 200. The three-dimensional layout of the six damping units 300 enables the chassis to maintain stable support during longitudinal travel and lateral turning, avoiding slip of the track 80 or deformation of the chassis 200 caused by excessive local load. The symmetrical arrangement of the four track units 100 enhances the uniformity of the traction force distribution of the chassis, ensuring a stable travel posture in soft soil or rugged terrain.

[0074] The embodiment also provides an underwater operation robot comprising the four-wheel drive track travel chassis.

[0075] Compared with the prior art, the existing deep-sea mining vehicle chassis is usually directly welded with the upper frame through a fixed track structure, resulting in direct transmission of vibration to the operation equipment, and the track layout lacks symmetry, which is prone to deflection imbalance in soft soil environment. The present embodiment arranges four-wheel drive track units 100 symmetrically and combines multi-position damping units 300, so that the chassis 200 can maintain balance in complex terrain, and the influence of vibration on the mining equipment is significantly reduced through the partition damping effect of the damping units 300.

[0076] Through the above technical solution, the embodiment solves the problem of vibration transmission caused by rigid connection of the deep-sea mining vehicle chassis, and the problem of insufficient travel stability caused by asymmetric track layout, and realizes stable travel and high-precision operation control of the robot in soft soil environment on the seabed.

[0077] In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly specified and limited, if the terms "arrangement", "connection" appear, they should be understood in a broad sense, for example, they can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium; can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0078] Obviously, the above-mentioned embodiments are only examples for clearly illustrating the present application, and are not intended to limit the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the embodiments. The obvious changes or variations derived from the above description are still within the protection scope of the present application.

Claims

1. A track unit characterized by, The application relates to a track belt and a track belt running chassis. The track belt (80) comprises a ring-shaped chain (90) formed by a plurality of chain links connected end to end; each chain link is provided with a track shoe (82); the outer surface of the track shoe (82) is provided with at least one track tooth (81); and a transition part is arranged between adjacent track shoes (82). A suspension (40) is arranged in the chain (90). A driving wheel (20) is rotatably arranged on one side of the suspension (40) and supports the chain (90) from the inner side and is engaged with the chain (90). A driving source (10) is connected with the driving wheel (20) and is used for driving the driving wheel (20) to rotate. A guide wheel (30) is rotatably arranged on the other side of the suspension (40) and supports the chain (90) from the inner side and is engaged with the chain (90). An induction wheel (50) is arranged in the middle of the suspension (40) and is connected with the guide wheel (30) through a tensioning unit (70); the tensioning unit (70) is arranged to adaptively adjust the tightness of the track belt (80).

2. The track unit of claim 1, wherein, One side of the track shoe (82) is provided with a first transition part (83), which is a circular arc-shaped recess part arranged on the surface of the track shoe (82) facing the chain (90); the other side of the track shoe (82) is provided with a second transition part (84), which is a circular arc-shaped protruding part arranged on the surface of the track shoe (82) away from the chain (90); the first transition part (83) and the second transition part (84) of adjacent two track shoes (82) are matched with each other.

3. The track unit of claim 1, wherein, The track tooth (81) and the track shoe (82) are elastically and bufferingly connected.

4. The track unit of claim 3, wherein, A buffer block is arranged between the track tooth (81) and the track shoe (82).

5. The track unit of claim 1, wherein, The track tooth (81) is a straight tooth.

6. The track unit of claim 1, wherein, A plurality of load wheels (61) are arranged on the bottom surface of the suspension (40) and abut against the chain (90).

7. The track unit of claim 1, wherein, At least one chain supporting wheel (62) is arranged on the top surface of the suspension (40) and abuts against the chain (90).

8. The track unit of claim 1, wherein, The tensioning unit (70) comprises a connecting shaft (71) arranged along the length direction of the suspension (40), a first connecting piece (73) arranged at one end of the connecting shaft (71) and connected with the induction wheel (50), a second connecting piece (74) arranged at the other end of the connecting shaft (71) and connected with the guide wheel (30), and an elastic element (72) abutting against the first connecting piece (73) and the second connecting piece (74) at both ends.

9. A four-wheel tracked undercarriage, characterized in that, The application relates to a track belt and a track belt running chassis. The application relates to a track belt and a track belt running chassis. The application relates to a track belt and a track belt running chassis. ​ 10. An underwater operating robot characterized by comprising: ​

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