CN104802867B - Undersea mining car walking chassis - Google Patents
Undersea mining car walking chassis Download PDFInfo
- Publication number
- CN104802867B CN104802867B CN201510238573.2A CN201510238573A CN104802867B CN 104802867 B CN104802867 B CN 104802867B CN 201510238573 A CN201510238573 A CN 201510238573A CN 104802867 B CN104802867 B CN 104802867B
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- China
- Prior art keywords
- tooth plate
- long
- creeper tread
- walking chassis
- crawler
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Road Paving Machines (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of undersea mining car walking chassis, including vehicle body hanger, crawler rack and it is installed on two traveling crawlers of crawler rack both sides, traveling crawler is provided with some spaced apart tooth plates long, some spaced apart short tooth plates, the height of the height more than short tooth plate of tooth plate long are provided between adjacent tooth plate long；Each tooth plate long is perpendicular to the ground plane of traveling crawler and at an acute angle with traveling crawler direct of travel.The present invention has the advantages that propulsive performance is good, skidding rate is low, energy consumption is small, can adapt to deep-sea soft substrate environment.
Description
Technical field
The present invention relates to seabed engineering implement technical field, and in particular to a kind of undersea mining car walking chassis.
Background technology
Polymetallic nodules are located on bottom sediment, often in partly burying state.Tuberculosis in the seabed of different depth all
In the presence of, but it is most abundant in the deep seafloor preservation amount that depth is 4000 meters to 6000 meters.Halmeic deposit is uneven in nature,
It is that, by different deposition formation, deposit cohesive force and the equal very little of internal friction angle, the wherein cohesive force of mud is minimum,
This is but the large percentage that mud is accounted in bottom sediment because its water content is high and in the reason of liquid-plastic state, can be right
The tractive force of Operation Van produces influence.Because when mining car is exercised on bottom sediment, crawler belt is applied to sea bottom surface
Plus horizontal force backward, there is detrusion in ground, corresponding shearing force just constitutes bottom sediment and Operation Van is pushed away therewith
Power.
Additionally, the influence factor of seabed mining car also has under abyssal environment, the excessive grounding pressure of car body is caused
Car body excess depression；Excessive upstream face；Adhesion of the deposit to Operation Van's underbody and caterpillar teeth；Crawler belt grounding form and Duo Jin
Category tuberculosis is to card chain of chain etc..
The content of the invention
The technical problem to be solved in the present invention is to overcome the shortcomings of that prior art is present, there is provided a kind of propulsive performance is good, beat
Sliding rate is low, energy consumption is small, can adapt to the undersea mining car walking chassis of deep-sea soft substrate environment.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of undersea mining car walking chassis, including vehicle body hanger, crawler rack and it is installed on the two of crawler rack both sides
Bar traveling crawler, the traveling crawler is provided with some spaced apart tooth plates long, and some intervals are provided between adjacent tooth plate long
The short tooth plate of arrangement, the height of the height more than short tooth plate of tooth plate long；Each tooth plate long perpendicular to traveling crawler ground plane and with
Traveling crawler direct of travel is at an acute angle.
Above-mentioned walking chassis, it is preferred that the traveling crawler is connected in sequence by some creeper treads, in each creeper tread
The both sides on surface are equipped with for by inclined-plane derived from bottom sediment, the inclined-plane creeper tread inner surface upward when to crawler belt
Plate outside is arranged diagonally downward.
Above-mentioned walking chassis, it is preferred that the both sides of the creeper tread inner surface have been respectively and fixedly connected with a non-metal guide block,
Each inclined-plane is on the non-metal guide block of corresponding side.
Above-mentioned walking chassis, it is preferred that the creeper tread inner surface is respectively provided on two sides with track drive chain, each non-gold
The medial surface for belonging to guide pad is close to the medial surface of corresponding side track drive chain.
Above-mentioned walking chassis, it is preferred that if the creeper tread include interleaved connection some long tooth creeper treads and
Dry short tooth creeper tread, is equipped with a tooth plate long and two short tooth plates on each long tooth creeper tread, two short tooth plates set up separately
In the both sides of tooth plate long；The short tooth plate of two or more uniform intervals arrangement is equipped with each short tooth creeper tread；Each tooth plate long
Reinforcement fagging is equipped between both sides and long tooth creeper tread, the section of each short tooth plate is triangular in shape or trapezoidal.
Above-mentioned walking chassis, it is preferred that the ground plane of the long tooth creeper tread and short tooth creeper tread is coated with nonmetallic
Low-resistance material.
Above-mentioned walking chassis, it is preferred that the bottom of the crawler rack is provided with multiple guiding contacted with traveling crawler
Wheel, multiple directive wheels arrangement arranged in a straight line along the horizontal plane.
Above-mentioned walking chassis, it is preferred that the inside of the crawler rack is floating box structure, is filled out in the space of floating box structure
Filled with buoyant material；The floating box structure is lattice supporting framework or honeycomb supporting construction.
Above-mentioned walking chassis, it is preferred that the bottom surface of the vehicle body hanger is the flat board for being coated with nonmetallic low-resistance material,
The front end of the flat board is equiped with the spray module for being sprayed water to vehicle body hanger front lower portion, and the spray module includes rotatable
Multiple nozzles that the jet pipe and interval for adjusting angle are installed on the jet pipe, the inner chamber of the jet pipe passes through pipeline and water pump
It is connected, the inner space of each nozzle and jet pipe.
Above-mentioned walking chassis, it is preferred that the tie-beam in the middle of the crawler rack is installed in car body by elevating mechanism
On support.
Compared with prior art, the advantage of the invention is that：Undersea mining car walking chassis of the present invention are on traveling crawler
Some spaced apart tooth plates long are provided with, some spaced apart short tooth plates, long tooth during walking are provided with again between adjacent tooth plate long
Plate is easily inserted in deposit, and tooth plate long shears deposit, there is provided principal propulsive force, short tooth plate can equally shear deposit, and
The frictional force between crawler belt and deposit is improved, so as to the section of shear with layer deposition thing can be improved to improve propulsive force, is dropped
Low crawler belt skidding rate, and reached the purpose of reasonable reducing energy consumption；Meanwhile, each tooth plate long perpendicular to traveling crawler ground plane simultaneously
It is at an acute angle with traveling crawler direct of travel, the deposit on traveling crawler is slid along the long tooth plate surface of oblique arrangement,
Reduce influence of the deposit to driving power and driving force on traveling crawler.The walking chassis can adapt to deep-sea soft substrate ring
Border.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of undersea mining car walking chassis of the present invention.
Fig. 2 is the cross section structure diagram of undersea mining car walking chassis of the present invention.
Fig. 3 is that the stereochemical structure that traveling crawler is installed on crawler rack in undersea mining car walking chassis of the present invention is illustrated
Figure.
Fig. 4 is the dimensional structure diagram of long tooth creeper tread in undersea mining car walking chassis of the present invention.
Fig. 5 is the top view of long tooth creeper tread in undersea mining car walking chassis of the present invention.
Fig. 6 is the dimensional structure diagram of short tooth plate creeper tread in undersea mining car walking chassis of the present invention.
Fig. 7 is walking schematic diagram of the undersea mining car walking chassis of the present invention under dilute softground.
Marginal data：
1st, vehicle body hanger；11st, flat board；2nd, crawler rack；21st, directive wheel；3rd, traveling crawler；31st, creeper tread；311st, long tooth
Creeper tread；312nd, short tooth creeper tread；32nd, inclined-plane；33rd, non-metal guide block；34th, track drive chain；4th, tooth plate long；41st, strengthen
Fagging；5th, short tooth plate；6th, jet pipe；7th, nozzle；8th, elevating mechanism；9th, tie-beam.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Figures 1 to 4, undersea mining car walking chassis of the invention, including vehicle body hanger 1, crawler rack 2 and peace
Two loaded on the both sides of crawler rack 2 traveling crawlers 3 being parallel to each other, each traveling crawler 3 is provided with some spaced apart length
Tooth plate 4, is provided with some spaced apart short tooth plates 5, the height of the height more than short tooth plate 5 of tooth plate long 4 between adjacent tooth plate long 4
Degree, wherein, the height of tooth plate long 4 is 150mm, and the height of short tooth plate 5 is 30mm, each connecing perpendicular to traveling crawler 3 of tooth plate long 4
Ground（Namely the outer surface of traveling crawler 3）And it is at an acute angle with the direct of travel of traveling crawler 3, referring to Fig. 5, the direction of arrow is in figure
The length direction of the direct of travel of traveling crawler 3, the direction namely traveling crawler 3.On the left and right sides traveling crawler 3 of crawler rack 2
Tooth plate long 4 symmetrically, namely tooth plate long 4 on two traveling crawlers 3 is symmetrical in " eight " font.Walking duration tooth plate
In 4 easy insertion deposits, the shearing deposit of tooth plate long 4, there is provided principal propulsive force, short tooth plate 5 can equally shear deposit, and
The frictional force between crawler belt and deposit is improved, so as to the section of shear with layer deposition thing can be improved to improve propulsive force, is dropped
Low crawler belt skidding rate, and reached the purpose of reasonable reducing energy consumption；Meanwhile, ground plane of each tooth plate long 4 perpendicular to traveling crawler 3
And it is at an acute angle with the direct of travel of traveling crawler 3, make the deposit on traveling crawler 3 can be along the surface of tooth plate long 4 of oblique arrangement
Slide, reduce influence of the deposit to driving power and driving force on traveling crawler 3.It is dilute soft that the walking chassis can adapt to deep-sea
Bottom environment.
In the present embodiment, traveling crawler 3 is connected in sequence by some creeper treads 31, and creeper tread 31 connects including interleaved
The some long tooth creeper treads 311 and some short tooth creeper treads 312 for connecing, as shown in Figure 4 and Figure 5, on each long tooth creeper tread 311
A tooth plate long 4 and two short tooth plates 5 are provided with, two short tooth plates 5 are divided into the both sides of tooth plate long 4, long tooth creeper tread 311 and length
All ground planes of tooth plate 4 spray nonmetallic low-resistance material, it is possible to decrease the adhesion of deposit, reduce deposit to driving work(
The influence of rate and driving force.The top of tooth plate long 4 is trapezoidal（The both sides at the top of tooth plate long 4 have chamfering）.The two of each tooth plate long 4
Reinforcement fagging 41 can be also provided between side and long tooth creeper tread 311, it is possible to increase the bonding strength and flexing resistance of tooth plate long 4.Such as
Shown in Fig. 6, three short tooth plates 5 of uniform intervals arrangement are equipped with each short tooth creeper tread 312, the section of each short tooth plate 5 is in
Triangle is trapezoidal, and this kind of short tooth plate 5 of shape has all ground connection of intensity higher, short tooth creeper tread 312 and short tooth plate 5
Face also sprays nonmetallic low-resistance material, to reduce the adhesion of deposit, reduces deposit to driving power and driving force
Influence.
In the present embodiment, as shown in Figure 4 and Figure 5, the both sides of the inner surface of each creeper tread 31 are equipped with for by sea-bottom deposit
Inclined-plane 32 derived from thing, the inclined-plane 32 the inner surface of creeper tread 31 upward when arranged diagonally downward to the outside of creeper tread 31, that is,
Each inclined-plane 32 and the ground plane of creeper tread 31（Outer surface）The distance between be gradually reduced to the direction of side along the middle part of creeper tread 31.
Inclined-plane 32 on creeper tread 31 can derive bottom sediment to the both sides of creeper tread 31, it is possible to decrease it is heavy to be taken up after caterpillar teeth depression
The amount of product thing, being capable of further reducing energy consumption.The setting on above-mentioned inclined-plane 32 is specifically to distinguish in the both sides of the inner surface of creeper tread 31
A non-metal guide block 34 is connected with, each inclined-plane 32 is on the non-metal guide block 33 of corresponding side.
In the present embodiment, the inner surface of creeper tread 31 is respectively provided on two sides with track drive chain 33, each non-metal guide block 34
Medial surface be close to the track drive chain 33 of corresponding side, non-metal guide block 34 can effectively stop that polymetallic nodules particle snaps in shoe
V belt translation chain 33, the de- chain equivalent risk that reduction brings after snapping in.
In the present embodiment, the bottom of crawler rack 2 is provided with multiple directive wheels 21 contacted with traveling crawler 3, and multiple is oriented to
The arrangement arranged in a straight line along the horizontal plane of wheel 21, makes the bottom of traveling crawler 3 remain plane and is contacted with seabed（Referring to Fig. 7）,
And tooth plate long 4 and short tooth plate 5 on traveling crawler 3 is inserted perpendicularly into seabed.
In the present embodiment, the inside of crawler rack 2 is floating box structure, in the space of floating box structure filled with buoyant material with
Weight of the walking chassis in water is reduced, reduce increases the water resistance that buoyant material brings in outside；Floating box structure can be purlin
Frame support structure or honeycomb supporting construction, lattice supporting framework or honeycomb supporting construction refer to prior art.
In the present embodiment, the bottom surface of vehicle body hanger 1 is flat board 11, can increase walking chassis contact area, reduces walking bottom
The grounding pressure and depression depth of disk；Flat board 11 is coated with nonmetallic low-resistance material, it is possible to decrease the adhesion of deposit, reduces heavy
Influence of the product thing to driving power and driving force.The front end of flat board 11 is equiped with the spray for being sprayed water to the front lower portion of vehicle body hanger 1
Water assembly, spray module includes multiple nozzles 7 that the jet pipe 6 of rotatable regulation angle and interval are installed on jet pipe 6, jet pipe
6 is the steel pipe of a closed at both ends, and its inner chamber is connected by pipeline with water pump, the inner space of each nozzle 7 and jet pipe 6, using spray
Mouth 7 sprays water under high pressure, and car body front lower portion deposit can be made to liquefy, and reduces the viscosity of deposit, so as to reduce when car body advances
Resistance.Above-mentioned jet pipe 6 rotatably adjusts angle, and then adjusts the spray angle of nozzle 7.
In the present embodiment, the tie-beam 9 in the middle of crawler rack 2 is installed in vehicle body hanger 1 by elevating mechanism 8, is passed through
Regulation elevating mechanism 8 can adjust two synchronization liftings of traveling crawler 3, realize regulation vehicle body hanger 1 with each tooth on traveling crawler 3
The distance of plate, so as to be suitable for the dilute softground under different shear strengths, and two synchronization liftings of traveling crawler 3 can ensure two
Bar traveling crawler 3 is always positioned at sustained height, the driving force of two traveling crawlers 3 is more or less the same, beneficial to lifting its straight line
Walking performance.The elevating mechanism 8 can use prior art, for example, telescopic oil cylinder etc..
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example.To those of ordinary skill in the art, the improvement and change resulting in the case where the technology of the present invention concept thereof is not departed from
Change and also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of undersea mining car walking chassis, including vehicle body hanger（1）, crawler rack（2）Be installed on crawler rack（2）Two
Two traveling crawlers of side（3）, it is characterised in that：The traveling crawler（3）It is provided with some spaced apart tooth plates long（4）,
Adjacent tooth plate long（4）Between be provided with some spaced apart short tooth plates（5）, tooth plate long（4）Height be more than short tooth plate（5）Height
Degree；Each tooth plate long（4）Perpendicular to traveling crawler（3）Ground plane and and traveling crawler（3）Direct of travel is at an acute angle；The walking
Crawler belt（3）By some creeper treads（31）It is connected in sequence, the creeper tread（31）Some long tooths including interleaved connection
Creeper tread（311）With some short tooth creeper treads（312）, each long tooth creeper tread（311）On be equipped with a tooth plate long（4）With two
Individual short tooth plate（5）, two short tooth plates（5）It is divided into tooth plate long（4）Both sides；Each short tooth creeper tread（312）On be all provided with
There is the short tooth plate that two or more uniform intervals are arranged（5）；Each tooth plate long（4）Both sides and long tooth creeper tread（311）Between be all provided with
There is reinforcement fagging（41）, each short tooth plate（5）Section it is triangular in shape or trapezoidal.
2. undersea mining car walking chassis according to claim 1, it is characterised in that：Each creeper tread（31）The two of inner surface
Side is equipped with for by inclined-plane derived from bottom sediment（32）, the inclined-plane（32）In creeper tread（31）Inner surface upward when to
Creeper tread（31）Outside is arranged diagonally downward.
3. undersea mining car walking chassis according to claim 2, it is characterised in that：The creeper tread（31）Inner surface
Both sides have been respectively and fixedly connected with a non-metal guide block（33）, each inclined-plane（32）Located at the non-metal guide block of corresponding side（33）On.
4. undersea mining car walking chassis according to claim 3, it is characterised in that：The creeper tread（31）Inner surface
It is respectively provided on two sides with track drive chain（34）, each non-metal guide block（33）Medial surface and corresponding side track drive chain（34）'s
Medial surface is close to.
5. undersea mining car walking chassis according to claim 1, it is characterised in that：The long tooth creeper tread（311）With
Short tooth creeper tread（312）Ground plane be coated with nonmetallic low-resistance material.
6. undersea mining car walking chassis according to any one of claim 1 to 5, it is characterised in that：The crawler belt branch
Frame（2）Bottom be provided with multiple and traveling crawler（3）The directive wheel of contact（21）, multiple directive wheels（21）Straight line is arranged along the horizontal plane
Row arrangement.
7. undersea mining car walking chassis according to any one of claim 1 to 5, it is characterised in that：The crawler belt branch
Frame（2）Inside be floating box structure, in the space of floating box structure be filled with buoyant material；The floating box structure is truss support knot
Structure or honeycomb supporting construction.
8. undersea mining car walking chassis according to any one of claim 1 to 5, it is characterised in that：The car body branch
Frame（1）Bottom surface be the flat board for being coated with nonmetallic low-resistance material（11）, the flat board（11）Front end be equiped with for car
Body support frame（1）The spray module of front lower portion water spray, the spray module includes the jet pipe of rotatable regulation angle（6）And interval
It is installed in the jet pipe（6）On multiple nozzles（7）, the jet pipe（6）Inner chamber be connected with water pump by pipeline, each nozzle
（7）With jet pipe（6）Inner space.
9. undersea mining car walking chassis according to any one of claim 1 to 5, it is characterised in that：The crawler belt branch
Frame（2）Middle tie-beam（9）By elevating mechanism（8）It is installed in vehicle body hanger（1）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510238573.2A CN104802867B (en) | 2015-05-12 | 2015-05-12 | Undersea mining car walking chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510238573.2A CN104802867B (en) | 2015-05-12 | 2015-05-12 | Undersea mining car walking chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104802867A CN104802867A (en) | 2015-07-29 |
| CN104802867B true CN104802867B (en) | 2017-07-07 |
Family
ID=53688187
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510238573.2A Active CN104802867B (en) | 2015-05-12 | 2015-05-12 | Undersea mining car walking chassis |
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| CN (1) | CN104802867B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398007B (en) * | 2017-08-15 | 2023-09-19 | 中国科学院沈阳自动化研究所 | Submarine mine collecting car walking chassis and self-rescue method thereof |
| CN108909860B (en) * | 2018-05-29 | 2023-08-22 | 上海交通大学 | Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof |
| LU101166B1 (en) * | 2019-03-29 | 2020-09-30 | Solarcleano S A R L | Drive tracks and robot cleaner for solar panels comprising such tracks |
| CN111016560B (en) * | 2019-11-20 | 2022-04-01 | 中国海洋大学 | Crawler-type deep-sea mining vehicle walking crawler device |
| CN112247994A (en) * | 2020-08-28 | 2021-01-22 | 南京驭逡通信科技有限公司 | Climbing surveying robot suitable for multiple topography |
| CN112772621B (en) * | 2020-12-31 | 2023-02-07 | 象山海鹰环保科技有限公司 | Mud flat weed removing machine |
| CN114670942A (en) * | 2022-03-17 | 2022-06-28 | 大连交通大学 | Auxiliary mud scraping device |
| CN116163734B (en) * | 2023-03-01 | 2024-01-30 | 中国海洋大学 | Deep sea mine car crawler belt viscosity removing system utilizing carbon dioxide jet flow |
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| JPS60244626A (en) * | 1985-05-09 | 1985-12-04 | Teijin Seiki Co Ltd | Travelling device of crawler type vehicle |
| JP4776080B2 (en) * | 2001-01-19 | 2011-09-21 | 住友ゴム工業株式会社 | Elastic crawler |
| US6540310B1 (en) * | 2002-02-01 | 2003-04-01 | Ironwood Designs Llc | Grouser |
| CN2897769Y (en) * | 2006-05-12 | 2007-05-09 | 山东普利建设机械有限公司 | Buoyancy-tank caterpillar chassis with four driven |
| CN101407229B (en) * | 2008-11-21 | 2013-01-16 | 北汽福田汽车股份有限公司 | Track walking driving device for caterpillar crane |
| CN201509431U (en) * | 2009-10-20 | 2010-06-23 | 舒应成 | Combine harvester used in paddy fields |
| CN202063198U (en) * | 2011-03-31 | 2011-12-07 | 中国人民解放军装甲兵技术学院 | General fast caterpillar pulling and connecting integral device |
| CN103085900B (en) * | 2013-01-23 | 2015-09-30 | 长沙矿冶研究院有限责任公司 | A kind of deep-sea soft substrate collecting machine walking chassis |
| CN103392400A (en) * | 2013-06-01 | 2013-11-20 | 莫林珠 | Miniature caterpillar drive multi-purpose cultivator |
| CN204659846U (en) * | 2015-05-12 | 2015-09-23 | 长沙矿冶研究院有限责任公司 | Chassis is walked by submarine mining garage |
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2015
- 2015-05-12 CN CN201510238573.2A patent/CN104802867B/en active Active
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