A multifunctional mining vehicle based on orthogonal imitating carcharhinus plagiurus serrae crushing

Abstract

The application discloses a multifunctional mining vehicle based on orthogonal imitating salmon shark tooth pieces breaking, and relates to the technical field of mining equipment, comprising: a vehicle body, the front end of which is provided with a connecting frame; a track mechanism, at least one group, which is arranged on the connecting frame and is provided with tracks for advancing and breaking, and a plurality of rows and columns of imitating salmon shark tooth cutting pieces are evenly arranged on the tracks in the transverse and longitudinal directions; and a suction device which is arranged at the rear part of the vehicle body to perform negative pressure suction on the broken ore of the tracks. Through the design of the breaking and advancing integrated track mechanism, the imitating salmon shark tooth cutting pieces arranged orthogonally on the tracks realize the functional integration of advancing and ore breaking, replace the independent breaking equipment in the prior art, greatly simplify the overall structure of the mining vehicle, and reduce the energy consumption and the difficulty of cooperative control of the equipment. Meanwhile, the bionic triangular configuration and the orthogonal arrangement of the imitating salmon shark tooth cutting pieces can significantly improve the ore breaking efficiency of the mining vehicle compared with traditional mining vehicles, so that the efficient mining of deep sea minerals can be realized.

Description

Technical Field

[0001] This invention relates to the field of mining equipment technology, specifically a multi-functional mining vehicle based on orthogonal simulated mackerel tooth crushing. Background Technology

[0002] Deep-sea mineral resource development is a crucial direction for upgrading global resource supply. As the core operational equipment for seabed mineral extraction, the structural design and functional layout of deep-sea mining vehicles directly determine the efficiency, stability, and continuity of mining operations. Currently, the tracked operation function of deep-sea mining vehicles is limited, only serving the purposes of movement and traction, failing to achieve comprehensive functional utilization. Furthermore, most mining vehicles adopt a side-mounted track and front-mounted ore suction device layout, resulting in poor coordination between ore crushing and extraction operations. Additionally, the ore suction pipeline is directly positioned at the front for extraction, easily sucking in uncrushed coarse ore particles. Existing technologies such as the deep-sea rare earth sediment collection vehicle and its operating method (patent number CN121576075A) and the deep-sea polymetallic nodule mining vehicle (patent number CN120867758A) both employ this design.

[0003] Existing deep-sea mining vehicles are generally designed with conventional functional tracks and independent crushing devices as their core. The track surface is mostly composed of simple structures such as rectangular blades and curved cylinders, which only have the functions of moving on the seabed and gripping the ground, but no ore crushing capability. During mining operations, they are prone to sucking in large volumes of uncrushed ore, causing blockages in the conveying pipelines and significantly reducing operational efficiency. In addition, the front of the mining vehicle is mostly flat or simple streamlined design, without the setting of targeted fluid disturbance structures. However, there are continuous bottom currents and intermittent turbulence on the deep seabed, which can easily lead to high resistance to movement of the mining vehicle, increasing equipment energy consumption and causing the mining vehicle to deviate from the planned route, further reducing operational efficiency. Summary of the Invention

[0004] This invention provides a multi-functional mining vehicle based on orthogonal imitation mackerel tooth-shaped crushing plates, aiming to solve the problems of existing deep-sea mining vehicles, such as single track operation function, high equipment energy consumption, low mining efficiency, poor operation stability, easy deviation and slippage, easy blockage of conveying pipelines by coarse ore particles, unreasonable structural layout, and poor operation connection.

[0005] To achieve the above objectives, the present invention provides a multi-functional mining vehicle based on orthogonal mackerel-like tooth-shaped crushing plates, comprising: The vehicle body has a connecting frame protruding from its front end; The track mechanism, at least one set, is mounted on a connecting frame and has tracks for traveling and breaking, on which multiple rows and columns of mackerel tooth-like cutting blades are evenly distributed. The suction device is located at the rear of the vehicle body to use negative pressure to suck up the ore after the tracks are broken. The mako shark tooth-like cutting blade is configured to move via a tracked mechanism to crush ore on the seabed.

[0006] Specifically, the vehicle features a streamlined ramp structure at the front center and baffles arranged in an array along the direction of water flow on the ramp; these baffles are streamlined and biomimetic to fish scales. Searchlights and lidar are installed on the upper part of the vehicle.

[0007] Preferably, the track mechanism further includes track plates, track wheels, and a drive axle. The drive axle is mounted on a connecting frame, and the track wheels are rotatably mounted at both ends of the drive axle. Multiple track plates are hinged to form a track, and shark-tooth-like cutting blades are disposed on the track plates. The track is wound around the track wheels. The two tracks are connected by a secondary track, which is provided with secondary track plates. Multiple rows and columns of shark-tooth-like cutting blades are evenly distributed on the secondary track plates.

[0008] Preferably, the imitation mackerel tooth cutting disc has a triangular biomimetic structure, with the angle between the outer oblique line at its lower end and the horizontal line being 60°-70°, the angle between the inner oblique line and the horizontal line being 70°-80°, and the angle between the two sides of the uppermost triangle of the imitation mackerel tooth cutting disc and the horizontal line being 85°-87°.

[0009] Specifically, the outermost oblique line of the imitation mackerel tooth cutting blade forms an angle of 65° with the horizontal line, the inner oblique line forms an angle of 75°, and the two sides of the uppermost triangle form an angle of 86°, and the cutting blades are arranged in a 90° orthogonal array.

[0010] Preferably, the track mechanism is a set, and the set of track mechanism includes two tracks, which are disposed in the connecting frame.

[0011] Preferably, the track mechanism comprises two sets, including track mechanism one and track mechanism two. Track mechanism one is located within the connecting frame, and track mechanism two is located on both sides of the connecting frame. A feeding structure is provided on the connecting frame, with multiple plowshares inclinedly arranged at the front end of the feeding structure. Track mechanism one is located at a certain angle within the connecting frame, and track mechanism two is horizontally located on both sides of the connecting frame. The rear ends of track mechanism one and track mechanism two are coaxial, so that the drive axle synchronously drives track mechanism one and track mechanism two to move on the connecting frame.

[0012] Preferably, the front end of the track mechanism is rotatably mounted on the front end of the connecting frame via a rotating shaft; the connecting frame is provided with a telescopic component, the output end of which is rotatably connected to the end of the rotating shaft. The telescopic component is a hydraulic cylinder, one end of which is hinged to the connecting frame, and the output end of which is rotatably connected to the end of the rotating shaft.

[0013] Compared with existing technologies, it has the following beneficial effects: 1. This invention adopts an integrated crushing and traveling track mechanism design. The orthogonally arranged mackerel tooth-like cutting blades on the track realize the integration of traveling and ore crushing functions, replacing the independent crushing device in the prior art. This greatly simplifies the overall structure of the mining vehicle and reduces the energy consumption and coordination control difficulty of the equipment. At the same time, the biomimetic triangular configuration and orthogonal arrangement of the mackerel tooth-like cutting blades improve the ore crushing efficiency by more than 35% compared with traditional mining vehicles, realizing the efficient mining of deep-sea minerals.

[0014] 2. This invention features biomimetic fish-scale protrusions on the streamlined ramp of the vehicle body, which effectively reduce the water resistance at the front of the mining vehicle and weaken the impact of deep-sea currents and ocean waves on the vehicle body through the diversion effect of the streamlined fish-scale protrusions. At the same time, the parallel, gapless arrangement of the dual tracks, combined with symmetrical auxiliary travel wheels, improves the ground pressure and the uniformity of the force on the vehicle body, avoiding slippage, tilting, and path deviation of the mining vehicle on seabed silt and uneven terrain, and greatly improving the stability of the mining vehicle in deep-sea operations.

[0015] 3. The orthogonally arranged mackerel tooth-like cutting disc of the present invention can crush ore into fine particles, realizing the pre-interception of coarse ore particles and the buffering of ore transportation, avoiding the problem of blockage in the transportation pipeline from the source, reducing the frequency of equipment maintenance, and further improving the continuity and efficiency of mining operations.

[0016] 4. This invention optimizes the overall structural layout of the mining vehicle by placing the two tracks side-by-side without gaps at the front of the vehicle and the suction device at the rear. This breaks away from the unreasonable layout of traditional mining vehicles with the tracks on the side and the suction device at the front, achieving seamless connection between crushing and collection, improving operational continuity and mineral collection utilization. At the same time, the passivation treatment of the orthogonal shark tooth cutting blade and the flow guiding effect of the biomimetic fish scale baffle reduce the lifting and diffusion of clay particles during mining operations, reduce the generation of plumes, and improve the environmental friendliness of mining operations.

[0017] 5. This invention adds a lidar to the front of the mining vehicle, which can scan and identify the particle size of the ore in front in real time, enabling the direct collection of small-diameter ore at low speed without crushing, suppressing dust and sediment from the source, and protecting the deep-sea microbial ecological environment to the greatest extent; the intelligent graded control mode adjusts the speed only for small-diameter ore, without affecting the mainstream mining efficiency, while reducing track energy consumption and cutting disc wear, further improving the service life of the equipment and the environmental friendliness of the operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the multi-functional mining vehicle of the present invention; Figure 2 This is a top view of the multi-functional mining vehicle of the present invention; Figure 3 This is a schematic diagram of the track mechanism of the present invention; Figure 4 This is a schematic diagram of the track of the present invention; Figure 5 This is a schematic diagram of the mackerel tooth-like cutting blade and track plate of the present invention; Figure 6 This is a schematic diagram of the mackerel tooth-like cutting disc of the present invention; Figure 7 This is a schematic diagram of the drive bridge of the present invention; Figure 8 This is a schematic diagram of the baffle plate of the present invention; Figure 9 This is a schematic diagram of the secondary track of the present invention; Figure 10 for Figure 9 Enlarged view of point A in the middle; Figure 11 This is a schematic diagram of track mechanism one and track mechanism two of the present invention; Figure 12 This is a schematic diagram of the inclined track of the present invention; Figure 13 This is a schematic diagram of the dual-track mechanism combined with the feeding structure of the present invention; Figure 14 This is a schematic diagram of the feeding structure of the present invention; Figure 15 This is a schematic diagram of another embodiment of the feeding structure of the present invention; Figure 16 This is a schematic diagram of another embodiment of the feeding structure of the present invention; Figure 17 A schematic diagram showing the location of the telescopic component of the present invention; Figure 18 Simulation cloud map of the initial operating state of a traditional tracked mining vehicle; Figure 19 Simulation cloud map of the overall crushing state after operation of a traditional tracked mining vehicle; Figure 20 A diagram showing the movement trajectory of ore in the underside area of ​​a traditional tracked mining vehicle; Figure 21 A bar chart showing the particle size distribution of ore after operation by a traditional tracked mining vehicle; Figure 22 This is a graph showing the average particle size per unit time for a traditional tracked mining vehicle. Figure 23 Simulation cloud map of the initial operating state of a mackerel-tooth-shaped tracked mining vehicle; Figure 24 Simulation cloud map of the overall crushed state of a mako shark tooth-shaped tracked mining vehicle after operation; Figure 25 A diagram showing the movement trajectory of ore in the underside area of ​​a mako shark tooth-shaped tracked mining vehicle. Figure 26 A bar chart showing the particle size distribution of ore after operation by a tracked mining vehicle with a mackerel tooth-shaped cutting disc. Figure 27 This is a graph showing the average particle size per unit time for a tracked mining vehicle with a mackerel tooth cutting disc.

[0020] 1-Car body; 11-Connecting frame; 2- Track mechanism; 21- Track; 22- Imitation mako shark tooth cutting blade; 23- Track plate; 24- Track wheel; 25- Drive axle; 201- Track mechanism one; 202- Track mechanism two; 203- Secondary track; 3-Aspirator; 4-Breakout vanes; 5-Searchlight; 6- LiDAR; 7-Feeding structure; 71-Plow rod; 8-Telescopic components; 9-Conveying pipe. Detailed Implementation

[0021] To better understand the structure, functional features, and advantages of the present invention, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings: Example 1: like Figures 1 to 8 As shown, the present invention provides a multi-functional mining vehicle based on orthogonal mako shark tooth-shaped crushing plates, comprising: The vehicle body 1 has a connecting frame 11 protruding from its front end; The track mechanism 2, at least one set, is mounted on the connecting frame 11 and has a track 21 for traveling and breaking, on which multiple rows and columns of mackerel tooth-like cutting blades 22 are evenly distributed. The suction device 3 is located at the rear of the vehicle body 1 to perform negative pressure suction on the crushed ore from the track 21. The suction device 3 can directly perform negative pressure suction on the crushed ore to avoid ore scattering and secondary accumulation on the seabed. The discharge end of the suction device 3 is seamlessly connected to the conveying pipe 9. The ore sucked by the suction device 3 directly enters the conveying pipe 9, and the conveying pipe 9 stably transports the ore to external mineral storage or transfer equipment, realizing seamless connection of ore crushing-suction-transfer, and greatly improving the continuity and efficiency of mining operations.

[0022] Furthermore, the suction device 3 of the present invention uses a deep-sea submersible slurry pump as the suction power for the ore.

[0023] See Figure 1 The symmetrical auxiliary travel wheel structure at the rear bottom of the vehicle body 1 matches the ground contact height of the auxiliary travel wheel with the integrated crushing and traveling track mechanism 2. It is made of wear-resistant and anti-slip rubber material and the wheel surface is provided with anti-slip texture. In the existing technology, mining vehicles do not have an auxiliary travel support structure and are only supported by the track 21. This technology achieves weight distribution of the vehicle body through this structure, improves the ground contact pressure and the uniformity of the force on the vehicle body, and avoids tilting and slipping.

[0024] Specifically, see Figure 8 The vehicle body 1 features a streamlined ramp structure at the front center and baffles 4 arranged in an array along the direction of water flow on the ramp. The baffles 4 are streamlined, biomimetic fish scales. Furthermore, the baffles 4 are made of lightweight, high-strength aluminum alloy and have a streamlined fish scale design. Alternatively, the baffles 4 can be made of high-strength engineering plastic, and their arrangement can be changed from a linear array to a spiral array. The angle between the ramp and the horizontal plane can be adjusted within the range of 15°-25°, enabling functions such as water flow diversion and drag reduction, sediment prevention, and ore guidance. Furthermore, the baffles 4 can also be made of an elastic material, producing slight deformation under water flow impact, further enhancing the drag reduction effect and optimizing the baffle and guide functions without changing the invention's purpose.

[0025] See Figure 1 The upper part of the vehicle body 1 is equipped with a searchlight 5 and a lidar 6. The searchlight 5 can provide clear illumination in the dark environment of the seabed, meeting the lighting needs of the vehicle body 1 for seabed positioning, ore identification and operation path judgment. The lidar 6 is electrically connected to the vehicle control system, which can scan the ore particle size in front in real time and intelligently adjust the speed of the track 21 to realize the graded operation mode of collecting small-diameter ore without crushing and crushing large-diameter ore normally.

[0026] Furthermore, the LiDAR 6 can be replaced with other ore particle size detection devices such as deep-sea waterproof visual recognition sensors and 3D imaging sensors. The installation position can be reasonably adjusted above the front of the vehicle, enabling real-time scanning and intelligent grading control of ore particle size.

[0027] See Figures 3 to 7 The track mechanism 2 also includes track plates 23, track wheels 24, and a drive axle 25. The drive axle 25 is mounted on the connecting frame 11. The track wheels 24 are rotatably mounted at both ends of the drive axle 25. Multiple track plates 23 are hinged to form a track 21. A shark-tooth cutting blade 22 is mounted on the track plates 23. The track 21 is wound around the track wheels 24. The drive axle 25 drives the track wheels 24 to rotate, thereby moving the track plates 23 wound on them. This, in turn, moves the shark-tooth cutting blades 22 on the track plates 23 to crush the ore while simultaneously moving forward.

[0028] Furthermore, the drive method of the track mechanism 2 can be changed from hydraulic drive to deep-sea explosion-proof electric drive, the track 21 base can be replaced with an all-metal wear-resistant track, and the orthogonally distributed imitation mako shark tooth cutting blades 22 can be connected to the track blades 23 by welding or snapping, so as to realize the integrated function of traveling and crushing.

[0029] See Figure 6 The shark tooth-like cutting blade 22 has a triangular biomimetic structure. The angle between the outer diagonal line at its lower end and the horizontal line is 60°-70°, and the angle between the inner diagonal line and the horizontal line is 70°-80°. The angle between the two sides of the uppermost triangle of the shark tooth-like cutting blade 22 and the horizontal line is 85°-87°. The spacing of the shark tooth-like cutting blade 22 can be adjusted within the range of 5-10cm according to the ore particle size requirements, which can achieve efficient crushing of ore and stable movement of mining vehicle.

[0030] Preferably, the angle between the outermost oblique line of the imitation mako tooth cutting blade 22 and the horizontal line is 65°, the inner oblique line is 75°, and the two sides of the uppermost triangle are 86°. The cutting blades are arranged in a 90° orthogonal array. This angle design not only facilitates the rapid insertion of the imitation mako tooth cutting blade 22 into the seabed mineral layer for efficient crushing, but also increases the contact area with the seabed surface and improves the grounding specific pressure of the vehicle body 1.

[0031] Furthermore, the orthogonally distributed imitation mackerel tooth cutting disc 22 of the present invention is made of high-strength wear-resistant titanium alloy and coated with polytetrafluoroethylene anti-mud and sand adhesion coating.

[0032] Furthermore, the vehicle body 1 of the present invention is welded from high-strength corrosion-resistant titanium alloy, with an external high-pressure sealing protective layer, and an internally integrated drive axle 25 with an adjustable speed and torque hydraulic drive system and a remote control system.

[0033] See Figure 2 The connecting frame 11 of the present invention is used to ensure the stable operation of the track mechanism 2 that integrates crushing and traveling. All components work together to realize integrated mining operations including traveling, crushing, lighting, drag reduction, adsorption, conveying, and intelligent sensing and grading.

[0034] The working principle of this embodiment is as follows: After the vehicle body 1 starts, the lidar 6 is activated first to scan the particle size of the ore in front in real time; the drive axle 25 of the two integrated crushing and moving track mechanisms 2 at the front drives the track wheels 24 to rotate, and the control system intelligently adjusts the speed of the track 21 according to the detection signal of the lidar 6; during the operation, the searchlight 5 on the top of the vehicle body 1 is turned on to provide underwater lighting, and the double-layered biomimetic fish scale baffles 4 simultaneously play a role in reducing drag and stabilizing the vehicle, weakening the impact of the water flow on the vehicle body 1; the crushed ore or directly collected small-diameter ore is carried to the rear of the vehicle body as the vehicle body 1 moves, and the suction device 3 is activated to suck up the ore under negative pressure. The ore enters the conveying pipe 9 through the suction device 3 and is then transported to the external equipment by the conveying pipe 9, completing one mining operation cycle.

[0035] Example 2: As another embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the track mechanism 2 of the present invention is a set, and the set of track mechanism 2 includes two tracks 21. The two tracks 21 are disposed in the connecting frame 11. The track wheel 24 is driven by the drive axle 25 of the hydraulic drive system or the electric drive system to drive the two tracks 21 to rotate and move in the connecting frame 11, and to move the vehicle body 1 together to crush the ore.

[0036] Further, see Figure 9 and Figure 10 The two tracks 21 are connected by a secondary track 203. The secondary track 203 is equipped with secondary track plates, on which multiple rows and columns of shark-tooth-like cutting blades 22 are evenly distributed, orthogonally arranged laterally and longitudinally, to connect the two tracks 21 and the secondary track 203 to form a gapless, fragmented track structure. Furthermore, a track wheel 24 can be installed within the secondary track 203, and the track wheels 24 within the tracks 21 are coaxially connected to the track wheels 24 of the tracks 21.

[0037] This embodiment uses a track mechanism 2 consisting of two tracks 21 to achieve the function of crushing while the mining vehicle moves forward.

[0038] Example 3: As another embodiment of the present invention, such as Figures 11 to 16 As shown, the track mechanism 2 consists of two sets, including track mechanism one 201 and track mechanism two 202. Track mechanism one 201 is located inside the connecting frame 11, and track mechanism two 202 is located on both sides of the connecting frame 11. A feeding structure 7 is provided on the connecting frame 11. Multiple plows 71 are inclinedly arranged at the front end of the feeding structure 7. The plows 71 screen larger ores from the seabed into the feeding structure 7 and move within the feeding structure 7 to contact the imitation mackerel tooth cutting blade 22 at the bottom of track mechanism one 201 for crushing.

[0039] Furthermore, the two ends of the feeding structure 7 are fixedly connected to the connecting frame 11, so that the ore that enters the feeding structure 7 and comes into contact with the imitation mako tooth cutting blade 22 can be crushed. The crushed ore is pushed back from the rear of the feeding structure 7 to the seabed by the movement of the imitation mako tooth cutting blade 22, so that the suction device 3 at the rear of the vehicle body 1 can be suctioned.

[0040] See Figures 14 to 16 Various structural designs are available for the plowshare 71, among which... Figure 14 The plowshare 71 is equipped with a pointed tip, and the plowshare 71 forms a certain angle with each other. At the same time, guide plates are provided on both sides to guide the ore. Figure 15 The plows 71 are arranged in parallel, and each end of the plow is provided with a horizontal shovel. The horizontal shovel is connected to multiple plows 71 so that the multiple plows 71 form a filter plate structure. Figure 16 and Figure 15 The difference is that there are no guide plates on both sides.

[0041] See Figure 12 and Figure 13 Track mechanism 1 201 is installed at a certain angle within the connecting frame 11, and track mechanism 202 is installed horizontally on both sides of the connecting frame 11. The rear ends of track mechanism 1 201 and track mechanism 202 are coaxial, so that the drive axle 25 synchronously drives track mechanism 1 201 and track mechanism 202 to move on the connecting frame 11. The drive axle 25 drives track mechanism 202 to move the vehicle body 1, so that ore enters the lower end of track mechanism 1 201 through the feeding structure 7 and is crushed. The crushed ore is discharged through the end of the feeding structure 7, so that the suction device 3 at the rear of the vehicle body 1 can suck the crushed ore out of the seabed.

[0042] In this embodiment, a single drive axle 25 or a double drive axle 25 is used to drive track mechanism one 201 and track mechanism two 202 to rotate together, and the rear track wheels 24 of track mechanism one 201 and track mechanism two 202 are located on the same horizontal axis. Track mechanism one 201 and track mechanism two 202 are at a certain angle so that track mechanism one 201 is used for movement and crushing, and track mechanism two 202 is used to drive the vehicle body 1 to move. Track mechanism two 202 can also crush the ore around the vehicle body 1 during the movement to expand the ore crushing range of the vehicle body 1, thereby reducing the problem of suction blockage of the suction device 3.

[0043] This embodiment uses two sets of track mechanisms 201 and 202, each containing two tracks 21, to perform multi-range ore crushing on the mining vehicle. Track mechanism 201 is mainly used for ore crushing, while track mechanism 202 is used for auxiliary crushing. Track mechanism 201 and track mechanism 202 can provide power for the movement of the mining vehicle simultaneously.

[0044] Example 4: As another embodiment of the present invention, such as Figure 17 As shown, the front end of the track mechanism 201 is rotatably mounted on the front end of the connecting frame 11 via a rotating shaft. A telescopic component 8 is mounted on the connecting frame 11, and the output end of the telescopic component 8 is rotatably connected to the end of the rotating shaft. The telescopic component 8 is a hydraulic cylinder, one end of which is hinged to the connecting frame 11, and the output end of the hydraulic cylinder is rotatably connected to the end of the rotating shaft. Arc-shaped holes are provided on both sides of the connecting frame 11. The hydraulic cylinder, through its telescopic movement, drives the front end of the track mechanism 201 to swing within the arc-shaped holes at the front end of the connecting frame 11 to adjust its angle with the horizontal plane.

[0045] Furthermore, telescopic components 8 are respectively disposed on both sides of the end of the connecting frame 11, and the ends of the telescopic components 8 are rotatably connected to the rotating shaft through bearings.

[0046] In this embodiment, the tilt angle of the track mechanism 201 at the inner end of the connecting frame 11 is adjusted by setting the telescopic component 8, so that it can adapt to the crushing of different ore sizes. At the same time, the tilt of the track mechanism 201 can also be adjusted to prevent blockage.

[0047] Simulation verification of the shark tooth-inspired tracked mining vehicle of the present invention: In deep-sea mineral resource mining operations, the track structure of mining vehicles directly determines the ore crushing effect, operational efficiency, and subsequent transportation stability. To verify the crushing and operational advantages of orthogonally distributed mako tooth-like tracks compared to traditional tracks, comparative simulation analysis was conducted using professional discrete element simulation software. All simulation parameters except for the track structure and the overall vehicle structure were fixed. Through visualization simulation and quantitative data comparison, the differences in operational performance between the two types of tracks were intuitively presented.

[0048] I. Simulation Results Analysis of Traditional Tracked Mining Vehicles (Control Group) 1. Overall crushing effect before and after operation ( Figure 18 and Figure 19 ) Figure 18 This is a simulation diagram of a traditional mining vehicle before mining operations begin. The initial state of the pre-set ore in front of the vehicle can be clearly observed. The size and distribution of different particle sizes of the ore can be intuitively distinguished. The ore is in a primitive, un-crushed state.

[0049] Figure 19This is a simulation diagram of the overall operation after a traditional mining vehicle completes mining operations. As can be seen from the diagram, the original ore in the area where the mining vehicle's tracks travel is subjected to the squeezing and cutting action of the tracks. Some large-diameter ore particles are crushed, and the overall particle size of the ore changes. This proves that the traditional tracked mining vehicle has basic ore crushing capabilities and can perform preliminary crushing of seabed ore. However, it can also be observed that some large-diameter ore particles are not fully crushed, and the overall crushing effect is limited.

[0050] 2. Ore transport trajectory effect ( Figure 20 ) Figure 20 This is a trajectory diagram of ore movement after crushing in a traditional mining truck. The trajectory line clearly shows the movement path and flow direction of the crushed ore. The ore moves in a directional manner under the drive of the tracks and eventually moves towards the conveying area at the rear of the vehicle, which can achieve basic ore conveying. This proves that the overall structure of the traditional mining truck has a certain ore conveying capacity, but the ore movement trajectory is relatively dispersed, and the gathering and conveying effect is generally average.

[0051] 3. Ore particle size distribution characteristics ( Figure 21 ) Figure 21 This is a bar chart showing the particle size distribution of ore after traditional mining vehicle operation. The horizontal axis represents the diameter of the ore particles after mining, and the vertical axis represents the volume fraction of the corresponding particle size. The bar chart shows that the particle size distribution of the ore after traditional track crushing is relatively wide, with a higher proportion of large-diameter ore volume fraction and a lower proportion of small-diameter ore volume fraction. This indicates that the traditional track crushing method is not sufficiently effective, resulting in a higher proportion of large particles remaining.

[0052] 4. Characteristics of average particle size variation in ore ( Figure 22 ) Figure 22 This is a graph showing the change in average ore particle size during traditional mining vehicle operations. The horizontal axis represents mining operation time, and the vertical axis represents the average ore particle size. The curve shows a slow overall decline and eventually stabilizes at a relatively high particle size level, indicating that the traditional tracked system has a slow crushing rate and limited crushing saturation, making it difficult to crush ore to a smaller particle size in a short time.

[0053] II. Simulation Results Analysis of a Tracked Mining Vehicle with Imitation Mako Shark Tooth Cutting Blade (Experimental Group) 1. Overall crushing effect before and after operation ( Figure 23 and Figure 24 ) Figure 23 This is a simulation image of a mako shark tooth-shaped tracked mining vehicle before it begins mining operations. Figure 18The initial working conditions of traditional mining vehicles are completely identical. The quantity, particle size, and distribution of the ore in front of the vehicle are all the same, ensuring that the initial conditions of the two simulations are consistent and that the particle size distribution of the original ore can be clearly observed.

[0054] Figure 24 This is a simulation image of the entire mining vehicle after completing a mining operation using a shark tooth cutting disc track. As can be seen from the image, the original ore in the mining vehicle's travel area is significantly crushed under the action of the shark tooth cutting disc track. The original large-diameter ore particles are greatly reduced, and the overall particle size of the ore is more uniform. This proves that the shark tooth cutting disc track mining vehicle has good ore crushing capabilities and can achieve efficient crushing of seabed ore.

[0055] 2. Ore transport trajectory effect ( Figure 25 ) Figure 25 The image shows the trajectory of crushed ore after being transported by a shark tooth-shaped cutting disc tracked mining vehicle. The trajectory lines clearly show that the movement of the crushed ore is more concentrated and directional. Driven by the shark tooth-shaped cutting disc track, the ore is precisely gathered towards the rear conveying area of ​​the vehicle without significant scattering or deviation. The ore conveying path is smoother and the conveying direction is stronger.

[0056] 3. Ore particle size distribution characteristics ( Figure 26 ) Figure 26 This is a bar chart showing the particle size distribution of ore after operation by a tracked mining vehicle with a mako shark tooth cutting disc. The horizontal and vertical axes are set as follows: Figure 21 Completely consistent. As can be seen from the bar chart distribution, in the ore crushed by the imitation mako shark tooth cutting disc track, the volume fraction of small-diameter ore has increased significantly, while the volume fraction of large-diameter ore is extremely low, indicating more thorough ore crushing and a particle size distribution that better meets the requirements of deep-sea mining and transportation.

[0057] 4. Characteristics of average particle size variation in ore ( Figure 27 ) Figure 27 This is a graph showing the variation in average ore particle size during the operation of a tracked mining vehicle with a shark tooth cutting disc. The horizontal and vertical axes are plotted against the curve. Figure 22 The settings are completely identical. The curve descends at a significantly faster rate, and the final stable particle size is lower than that of traditional tracks, indicating that the mako-tooth cutting disc track can quickly crush ore, breaking it into smaller particle sizes in a short time, with better crushing sufficiency and efficiency.

[0058] III. Comparative Analysis of the Two Sets of Simulation Core Indicators 1. Comparison of overall fragmentation effects ( Figure 19 contrast Figure 24 ) Image showing the effect of traditional mining truck operation ( Figure 19(Image showing the effect of a mining vehicle with a tracked design and imitation mako shark tooth cutting blade after operation) Figure 24 A comparison shows that both mining vehicles have ore crushing capabilities, but the crushing effect of the shark tooth cutting disc track is far superior to that of the traditional track. The traditional track can only achieve preliminary crushing, leaving more large-diameter ore particles; the shark tooth cutting disc track can fully crush the ore, significantly reducing the residue of large ore particles, and significantly improving both the uniformity and degree of crushing.

[0059] 2. Comparison of ore conveying effects ( Figure 20 contrast Figure 25 ) Traditional mining truck ore movement trajectory diagram ( Figure 20 ) and the ore movement trajectory diagram of the tracked mining vehicle with imitation mackerel tooth cutting disc ( Figure 25 A comparison shows that both types of mining vehicles can transport ore, but the shark tooth cutting disc track provides superior ore transport with a denser track pattern. Traditional tracks result in a dispersed ore trajectory and poor transport cohesion; the shark tooth cutting disc track, on the other hand, concentrates the ore trajectory, resulting in better directional transport, effectively reducing ore spillage, facilitating subsequent ore collection and transport operations, and improving overall mining continuity.

[0060] 3. Comparison of crushed ore particle size ( Figure 21 contrast Figure 26 ) A comparison of the two sets of ore particle size distribution bar charts shows that the volume fraction of ore with a particle size smaller than 3mm after crushing by the imitation shark tooth cutting disc tracked mining vehicle is much higher than that of the traditional tracked mining vehicle, while the proportion of large-diameter particles is lower. This fully demonstrates that the imitation shark tooth cutting disc track crushes the ore more thoroughly and completely, and the crushed ore particle size is more suitable for the deep-sea mining transportation requirements, which can effectively reduce the risk of subsequent pipeline blockage and improve the stability of transportation.

[0061] 4. Comparison of work efficiency ( Figure 22 contrast Figure 27 ) Comparing the average particle size change curves of the two sets of ore, it can be seen that after 2 seconds, the average particle size curve of the shark tooth cutting disc tracked mining vehicle shows a faster rate of descent within the same time period, and the curve is always below that of the traditional tracked mining vehicle. This indicates that within the same working time, the shark tooth cutting disc track can crush the ore into smaller particle sizes, and the particle size descent rate is faster. This fully demonstrates that the shark tooth cutting disc track has a higher crushing rate and stronger crushing sufficiency, significantly improving the efficiency of deep-sea mining operations.

[0062] IV. Conclusion This study used Ansys Rocky 2024 R1 software to conduct comparative simulations of traditional tracked mining vehicles and those with simulated mako shark tooth cutting discs, based on the Tavares fragmentation model. The experiments were conducted while controlling for a single variable, and the following conclusions were drawn: 1. Traditional tracked mining vehicles have basic ore crushing and conveying capabilities, but they suffer from defects such as insufficient crushing, excessive large-diameter ore residue, scattered conveying trajectory, and low operating efficiency per unit time. 2. The shark tooth cutting disc tracked mining vehicle also has complete crushing and conveying capabilities, and its performance is superior to that of traditional tracks. It crushes more thoroughly, has a higher proportion of small-diameter ore, and has a better directional conveying effect of ore, significantly improving the operating efficiency per unit time. 3. The imitation mackerel tooth cutting disc track structure can effectively optimize the crushing and conveying effect of deep-sea ore, solve the problems of insufficient crushing, low efficiency and poor conveying of traditional tracks, and is more suitable for the needs of deep-sea mining operations, with higher engineering application value.

[0063] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A multi-functional mining vehicle based on orthogonal mako shark tooth-shaped crushing plates, characterized in that, include: The vehicle body (1) has a connecting frame (11) protruding from its front end; The track mechanism (2), at least one set, is provided on the connecting frame (11) and has a track (21) for traveling and breaking, wherein multiple rows and columns of imitation mackerel tooth cutting blades (22) are evenly distributed on the track (21) in the transverse and longitudinal directions. A suction device (3) is located at the rear of the vehicle body (1) to perform negative pressure suction on the ore after the track (21) is broken. The mackerel tooth cutting blade (22) is configured to move via the track mechanism (2) to travel on the seabed and crush ore; The imitation mackerel tooth cutting disc (22) has a triangular biomimetic structure. The angle between the outer oblique line at its lower end and the horizontal line is 60°-70°, and the angle between the inner oblique line and the horizontal line is 70°-80°. The angle between the two sides of the uppermost triangle of the imitation mackerel tooth cutting disc (22) and the horizontal line is 85°-87°.

2. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth crushing as described in claim 1, characterized in that, The track mechanism (2) further includes track plates (23), track wheels (24) and drive axle (25). The drive axle (25) is mounted on the connecting frame (11). The track wheels (24) are rotatably mounted on both ends of the drive axle (25). Multiple track plates (23) are hinged to form the track (21). The imitation mackerel tooth cutting blade (22) is mounted on the track plate (23). The track (21) is wound around the track wheel (24).

3. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth-shaped crushing plates according to claim 1 or 2, characterized in that, The vehicle body (1) is provided with a spoiler (4), which is a biomimetic fish scale structure.

4. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth-shaped crushing plates according to claim 3, characterized in that, The upper part of the vehicle body (1) is equipped with a searchlight (5) and a lidar (6).

5. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth crushing as described in claim 2, characterized in that, The track mechanism (2) is a set, and the set of track mechanism (2) includes two tracks (21), which are disposed in the connecting frame (11).

6. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth-shaped crushing plates according to claim 2, characterized in that, The track mechanism (2) consists of two sets, each set including track mechanism one (201) and track mechanism two (202). Track mechanism one (201) is located inside the connecting frame (11), and track mechanism two (202) is located on both sides of the connecting frame (11). A feeding structure (7) is provided on the connecting frame (11), and multiple plow rods (71) are inclinedly arranged at the front end of the feeding structure (7).

7. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth-shaped crushing plates according to claim 6, characterized in that, The track mechanism one (201) is installed at a certain angle inside the connecting frame (11), and the track mechanism two (202) is installed horizontally on both sides of the connecting frame (11). The rear end of the track mechanism one (201) is coaxial with the rear end of the track mechanism two (202) so that the drive axle (25) synchronously drives the track mechanism one (201) and the track mechanism two (202) to move on the connecting frame (11).

8. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth-shaped crushing plates according to claim 7, characterized in that, The front end of the track mechanism (201) is rotatably mounted on the front end of the connecting frame (11) via a rotating shaft; the connecting frame (11) is provided with a telescopic component (8), the output end of the telescopic component (8) is rotatably connected to the end of the rotating shaft; the telescopic component (8) is a hydraulic cylinder.

9. The multi-functional mining vehicle based on orthogonal simulated mackerel tooth-shaped crushing plates according to claim 2, characterized in that, The two tracks (21) are connected by a secondary track (203). The secondary track (203) is provided with secondary track plates, and multiple rows and columns of the imitation mackerel tooth cutting plates (22) are evenly distributed on the secondary track plates.

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