CN113844562B - Crab-foot-imitating crawler belt suitable for seabed mining vehicle and use method thereof - Google Patents
Crab-foot-imitating crawler belt suitable for seabed mining vehicle and use method thereof Download PDFInfo
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- CN113844562B CN113844562B CN202111438954.7A CN202111438954A CN113844562B CN 113844562 B CN113844562 B CN 113844562B CN 202111438954 A CN202111438954 A CN 202111438954A CN 113844562 B CN113844562 B CN 113844562B
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
Abstract
The invention discloses a crab-foot-imitating crawler belt suitable for a submarine mining vehicle and a using method thereof. The crawler belt type crawler belt comprises an internal crawler belt, an external crawler belt (7) and a connecting crawler belt (8), wherein the internal crawler belt is arranged on the inner side of the connecting crawler belt (8), the external crawler belt (7) is arranged on the outer side of the connecting crawler belt (8), and the internal crawler belt is fixedly connected with the external crawler belt (7) through the connecting crawler belt (8); the external crawler belt (7) is provided with a basic crawler tooth and a crab-imitating crawler tooth (9), and the basic crawler tooth and the crab-imitating crawler tooth (9) are arranged at intervals; the bionic crab foot caterpillar tooth (9) comprises a tooth body (901) and a bionic crab foot (904), wherein the bionic crab foot (904) is arranged at the outer end of the tooth body (901), and the bionic crab foot (904) is connected with the tooth body (901) through a first rotating shaft (903). The invention can solve the problem that the crawler-type submarine mining vehicle is easy to sink and slip.
Description
Technical Field
The invention relates to the technical field of deep sea mining equipment, in particular to a crab-foot-imitated crawler belt suitable for a seabed mining vehicle and a using method thereof.
Background
The deep sea floor is the largest mineral resource site on earth that has not yet been developed. To date, it has been found that the major economically valuable deep-sea mineral resources are: polymetallic nodules containing nickel, copper, cobalt and manganese, cobalt encrustations rich in cobalt, nickel, copper, manganese and seabed polymetallic sulfide deposits rich in copper, lead, zinc, gold and silver. The reserves of the deep sea polymetallic nodules reach hundreds of billions of tons, the metal contents of the copper, the nickel and the cobalt are 20 hundreds of millions of tons, particularly, the cobalt resources are indispensable important raw materials of new energy materials, the resources are important material bases for the development of human beings in the future, and the development of the deep sea resources is an inevitable choice in the future.
The deep sea mining vehicle is key equipment of a deep sea polymetallic nodule mining system, and the deep sea mining vehicle undergoes evolution of different design concepts, namely a floating type, a dragging type, an Archimedes propulsion type and a crawler type, wherein the floating type mining vehicle is easy to generate counter force due to hydraulic backflow to cause unstable running form; the trailor path of the drag-type mining vehicle is difficult to control, stable acquisition cannot be guaranteed, and the cost is extremely high; the Archimedes mining vehicle is eliminated because of the defects of low traction force, difficult obstacle crossing and the like; the crawler-type mining vehicle has the advantages of strong bearing capacity, large traction force, small ground pressure and good running and passing performance, so that the crawler-type mining vehicle is widely applied to various fields, and the crawler-type mining vehicle is also suitable for the operation requirement of the deep-sea soft substrate environment. For example, chinese patent application publication No. CN106812529A discloses a cluster type deep sea ore collecting device based on vortical and hydrodynamic characteristics, which includes a device main body, a plurality of seabed adaptive ore collectors, and ore conveying pipes corresponding to the seabed adaptive ore collectors; the seabed adaptive ore collector is provided with a crawler walking mechanism and can walk independently and under control.
However, because the surface soil of the deep sea seabed is uneven in nature and the soil body strength of a thin and soft soil layer is very low, the grouted teeth are inserted into the soil layer in the advancing process of the traditional crawler-type mining vehicle at the deep sea bottom, the shearing force provided by the soil body is not enough to support the mining vehicle to advance, and the mining vehicle is easy to sink or slip, so that the traveling difficulty is caused, and the acquisition efficiency is reduced. The existing research mostly focuses on the improvement of the grouser structure. For example, the chinese patent application with publication number CN111016560A, previously filed by the applicant, discloses a crawler belt comprising two walking tracks mounted on both sides of a track support, wherein the walking tracks are provided with a plurality of long grousers and short grousers arranged at intervals, and the height of the long grousers is greater than that of the short grousers; when the long crawler teeth are completely inserted into the soil, the arrangement direction of the long crawler teeth and the advancing direction of the walking crawler belt form an acute angle; the mining vehicle is characterized in that the long toothed plate is an arc plate with a certain radian, the middle part of the long toothed plate is recessed backwards relative to the advancing direction of the mining vehicle, a middle reinforcing rib beam with a certain width is vertically arranged at the middle position on the convex surface, side reinforcing rib beams with a certain width are vertically arranged at two ends of the convex surface, and the form and the material of the middle reinforcing rib beam are consistent with those of the side reinforcing rib beams; the short grouser is a wedge-shaped body with certain height and width, the interior of the wedge-shaped short grouser is in a hollow state, a short grouser bar beam for supporting and reinforcing is arranged in the middle of a cavity in the interior of the wedge-shaped short grouser, and a step-shaped micro-protrusion is arranged on the outer surface of the wedge-shaped short grouser along the length direction.
Chinese patent application with publication number CN207332879U discloses a slip state monitoring device for deep sea mining vehicle, which is characterized in that it comprises a control device, a track speed measuring device and a speed measuring land wheel, wherein the track speed measuring device is installed on the track driving wheel of the deep sea mining vehicle and connected with the control device through an underwater cable and a watertight connecting piece, the speed measuring land wheel is installed at the tail of the deep sea mining vehicle and hinged through an axle for measuring the running speed of the deep sea mining vehicle relative to the seabed ground, and the speed measuring land wheel is connected with the control device through the underwater cable and the watertight connecting piece. It only provides a monitoring of the slip condition and does not present a specific solution to the slip problem.
The inventor also proposes a segmented submarine mining vehicle crawler belt as described in publication No. CN 112977658A, comprising two side crawler belts and a middle crawler belt, the side crawler belts and the middle crawler belt being arranged side by side in a direction perpendicular to the advancing direction, the middle crawler belt being located between the two side crawler belts, the side crawler belts and the middle crawler belt being capable of operating independently; the track shoe of the middle track is fixedly provided with a shearing crawler tooth; adjustable crawler teeth are arranged on the crawler plates of the side crawler; the adjustable grouser comprises a rotatable tooth body and an assembling rod; the rotatable tooth body is fixedly connected with an assembling rod, and the assembling rod penetrates through an assembling hole in a track shoe of the side track; the rotatable tooth body can rotate under the drive of the assembling rod, so that the angle of the adjustable grouser relative to the side track can be adjusted.
Bionics is an emerging edge science combining the interpenetration of biology, mathematics and engineering technologies, and the task of bionics is to study the excellent abilities and the resulting principles of biological systems, model them, and then apply these principles to design and manufacture new technical devices. Crabs are ancient organisms and are widely distributed, and exist in all the seas in the world, and many of them live in fresh water and on land. In the course of the continuous evolution of living beings, crabs, which are polypod animals, are able to travel over irregular, complex terrains and are one of their advantages in surviving the harsh competition in nature. At present, a plurality of crab robots are successfully researched and developed. However, no studies have been found for its use in subsea mining vehicle tracks. This application is tried to the easy subsidence of track seabed mining vehicle that exists among the prior art, the scheduling problem that skids, combines together with bionics, sets out from improving the track structure and solves.
Disclosure of Invention
The invention aims to provide a crab-foot-imitating crawler belt suitable for a submarine mining vehicle and a using method thereof, which can solve the problem that the crawler type submarine mining vehicle is easy to sink and slip.
In order to solve the problems in the prior art, the invention provides a crab-leg-imitating crawler belt suitable for a submarine mining vehicle, which comprises an internal crawler belt, an external crawler belt and a connecting crawler belt, wherein the internal crawler belt is arranged on the inner side of the connecting crawler belt, the external crawler belt is arranged on the outer side of the connecting crawler belt, and the internal crawler belt is fixedly connected with the external crawler belt through the connecting crawler belt; the crawler belt is characterized in that the external crawler belt is provided with a base crawler belt tooth and a crab-imitating crawler belt tooth, and the base crawler belt tooth and the crab-imitating crawler belt tooth are arranged at intervals. The bionic crab foot caterpillar tooth comprises a tooth body and a bionic crab foot, wherein the bionic crab foot is arranged at the outer end of the tooth body, and the bionic crab foot is connected with the tooth body through a first rotating shaft.
Preferably, the bionic crab leg comprises a fixing device, a wrist section, a front section and a knuckle, wherein the fixing device 908 is rotatably connected with the first rotating shaft, the wrist section is rotatably connected with the fixing device through the second rotating shaft, the front section is rotatably connected with the wrist section through the third rotating shaft, and the knuckle is rotatably connected with the front section through the fourth rotating shaft.
Preferably, the tooth body is further provided with a containing groove for containing the bionic crab feet when being collected.
Preferably, the bionic crab feet are provided with bionic crab hairs, and the bionic crab hairs can reduce or avoid adhesion of benthon so as to ensure that the bionic crab feet can still be normally stored into the storage groove in a long-time working environment.
Preferably, two symmetrically arranged imitation crab-foot grousers are arranged between every 1-5 basic grousers.
Preferably, when the crab-imitating foot crawler teeth are in a retracted state, the height of the crab-imitating foot crawler teeth is equal to or slightly lower than that of the basic crawler teeth, so that the running of the submarine mining vehicle on normal and stable road conditions is not influenced; when the crab-imitating foot crawler teeth are in an unfolded state, the height of the crab-imitating foot crawler teeth is equal to or higher than that of the basic crawler teeth, so that the stability of the whole submarine mining vehicle can be ensured, and meanwhile, the crab-imitating foot crawler teeth can better cope with severe road conditions.
In order to solve the problems in the prior art, the invention also provides a use method of the crab-foot-imitated caterpillar suitable for the seabed mining vehicle, which comprises the following steps:
A. assembling the crab-feet-imitating crawler belt on a submarine mining vehicle;
B. under the drive of the drive gear, the built-in crawler belt runs, and simultaneously the connection crawler belt drives the external crawler belt to run, so that the submarine mining vehicle starts to advance;
C. when the submarine mining vehicle runs on a stable road condition, the bionic crab feet are in a retracted state, namely the bionic crab feet are stored in the storage groove;
D. when the submarine mining vehicle runs on a bad road condition, the bionic crab feet are unfolded through the control system, the unfolding process is sequentially and gradually completed in the running process, the bionic crab feet on the front side, the rear side and the upper side rotate to the unfolding positions, and the bionic crab feet are unfolded one by one when the bionic crab feet on the lower side move to the upper side along with the forward movement until all the bionic crab feet enter the unfolding state; when the bionic crab legs are required to be recovered after leaving the bad road condition, the bionic crab legs are recovered into the containing grooves one by one through the control system, and the whole crawler returns to the running state on the normal road condition.
Preferably, the included angle among the wrist section, the front section and the knuckle is controlled according to the road condition.
The invention has the characteristics and beneficial effects that:
the crab-feet-imitating crawler belt suitable for the safe travelling of the deep-sea mining vehicle can improve the bearing capacity of a common crawler belt and improve the overall performance of the submarine mining vehicle. The crawler belt is suitable for different road conditions, and when the crawler belt faces complicated and severe road conditions, the crab-imitating crawler belt teeth can reduce the energy consumption of entering and leaving the earth in the movement, improve the movement efficiency and play the effects of energy conservation and consumption reduction. The adhesion of the soil body to the caterpillar band can be improved, the mining vehicle can be favorably separated from a dangerous situation when sinking or slipping occurs, and the normal running of the mining vehicle is ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of an internal track configuration;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic view of the recovery state of the artificial crab feet and the grousers;
FIG. 5 is a schematic view of the unfolding state of the simulated crab feet and the grousers;
FIG. 6 is a side view of a crabsoofer tooth.
List of reference numerals: 1. a first front drive gear; 2. a first rear drive gear; 3. a second front drive gear; 4. a second rear drive gear; 5. a first built-in crawler; 6. a second built-in crawler; 7. an external crawler belt; 8. connecting a crawler belt; 9. imitating crab feet to carry out tooth-tracking; 901. a tooth body; 902. a receiving groove; 903. a first rotating shaft; 904. bionic crab feet; 905. a wrist section; 906. a front section; 907. a knuckle; 908. a fixing device; 909. a second rotating shaft; 910. a third rotating shaft; 911. a fourth rotating shaft; 912. bionic crab hair.
Detailed Description
In order that the present invention may be more effectively carried out with the intended purpose and function, the structure, features and embodiments of the present invention will be further described with reference to the accompanying drawings.
Detailed description of the preferred embodiment 1
As shown in fig. 1-6, a crab-leg-imitating crawler belt suitable for a submarine mining vehicle comprises an internal crawler belt, an external crawler belt 7 and a connecting crawler belt 8, the built-in crawler comprises a first built-in crawler 5 and a second built-in crawler 6, the first built-in crawler 5 and the second built-in crawler 6 are arranged in parallel, the first built-in crawler 5 is driven by the first front driving gear 1 and the first rear driving gear 2, the second built-in crawler 6 is driven by the second front driving gear 3 and the second rear driving gear 4, the first built-in crawler 5 and the second built-in crawler 6 are arranged side by side, the first built-in crawler 5 and the second built-in crawler 6 are arranged at the inner side of the connecting crawler 8, the external crawler 7 is arranged on the outer side of the connecting crawler 8, and the first internal crawler 5 and the second internal crawler 6 are fixedly connected with the external crawler 7 through the connecting crawler 8; the external crawler 7 is provided with a basic crawler tooth and a crab-imitating crawler tooth 9, and the basic crawler tooth and the crab-imitating crawler tooth 9 are arranged at intervals.
The bionic crab-foot caterpillar-band tooth 9 comprises a tooth body 901 and a bionic crab foot 904, wherein the bionic crab foot 904 is arranged at the outer end of the tooth body 901, and the bionic crab foot 904 is connected with the tooth body 901 through a first rotating shaft 903. The bionic crab foot comprises a fixing device 908, a wrist joint 905, an anterior joint 906 and a knuckle 907, wherein the fixing device 908 is rotatably connected with a first rotating shaft 903, the wrist joint 905 is rotatably connected with the fixing device 908 through a second rotating shaft 909, the anterior joint 906 is rotatably connected with the wrist joint 905 through a third rotating shaft 910, and the knuckle 907 is rotatably connected with the anterior joint 906 through a fourth rotating shaft 911. The tooth body 901 is further provided with a receiving groove 902 for receiving the bionic crab feet 904 in the receiving process. The bionic crab feet 904 are provided with bionic crab hairs 912, and the bionic crab hairs 912 can reduce or avoid adhesion of benthons so as to ensure that the bionic crab feet 904 can still be normally stored into the storage groove 902 in a long-time working environment.
The two crab-imitating groupers 9 which are symmetrically arranged are arranged between the two basic groupers, and when the crab-imitating groupers 9 are in a retracted state, the height of the crab-imitating groupers 9 is equal to or slightly lower than that of the basic groupers, so that the running of the submarine mining vehicle on normal and stable road conditions is not influenced; when the crab-imitating foot crawler teeth are in an unfolded state, the height of the crab-imitating foot crawler teeth is equal to or higher than that of the basic crawler teeth, so that the stability of the whole submarine mining vehicle can be ensured, and meanwhile, the crab-imitating foot crawler teeth can better cope with severe road conditions.
In use, the crab-leg-imitating caterpillar suitable for the submarine mining vehicle is firstly assembled on the submarine mining vehicle.
Under the drive of the first front driving gear 1, the first rear driving gear 2, the second front driving gear 3 and the second rear driving gear 4, the first built-in crawler 5 and the second built-in crawler 6 synchronously run, and simultaneously the external crawler 7 is driven to run by the connecting crawler 8, so that the submarine mining vehicle starts to advance.
When the submarine mining vehicle runs on a steady road condition, the bionic crab foot grouser 9 is in a retracted state, namely the bionic crab feet 904 are stored in the storage groove 902.
When the mining vehicle runs on a bad road condition, such as a soft soil body which is easy to sink, the bionic crab feet 904 are unfolded through the control system, and a certain included angle is formed among the wrist section 905, the front section 906 and the knuckle 907 according to the road condition, for example, 150-170 degrees. Because of the limited space under the track, the deployment is done progressively during the walking process. The bionic crab feet 904 on the front side, the rear side and the upper side rotate to the unfolding position firstly, and the bionic crab feet 904 are unfolded one by one when the bionic crab feet on the lower side move to the upper side along with the forward movement. Until all the artificial crab feet grousers 9 enter the unfolding state. The insertion and movement of the bionic crab legs 904 can improve the bearing capacity of the whole crawler, the sinking depth of the crawler can be reduced when the crawler normally runs, and meanwhile, the friction and supporting force of the seabed on the crawler are increased, so that the mining vehicle can better run under the road condition. When the bionic crab legs 904 are to be retracted after leaving the bad road condition, contrary to the above operation, the bionic crab legs 904 are retracted into the accommodating grooves 902 one by one through the control system, so that the whole crawler returns to the driving state on the normal road condition.
Specific example 2
Different from the embodiment 1, the number of the built-in crawler belts can be 1 or more, and can be adapted to the arrangement mode of the driving gear and the like. A pair of simulated crab peduncles 9 may also be provided at intervals of a plurality of basic peduncles, for example 2-5.
It should be noted that, the present invention is directed to the improvement of the track structure of the subsea mining vehicle, and the rest of the subsea mining vehicle can achieve the functions of the track, for example, a power system and a control system for driving the built-in track to operate, and an adjusting device and a control system for controlling the unfolding and the retraction of the bionic crab feet 904, which are all achieved by the prior art in the field, and detailed descriptions thereof are omitted here.
The crab-feet-imitating crawler belt suitable for the safe travelling of the deep-sea mining vehicle can improve the bearing capacity of a common crawler belt and improve the overall performance of the submarine mining vehicle. The crawler belt is suitable for different road conditions, and when the crawler belt faces complicated and severe road conditions, the crab-imitating crawler belt teeth can reduce the energy consumption of entering and leaving the earth in the movement, improve the movement efficiency and play the effects of energy conservation and consumption reduction. The adhesion of the soil body to the caterpillar band can be improved, the mining vehicle can be favorably separated from a dangerous situation when sinking or slipping occurs, and the normal running of the mining vehicle is ensured.
The present invention has been described with reference to the preferred embodiments, but the scope of the present invention is not limited thereto, and the structures, the proportions, the sizes, and the like, which are shown in the drawings attached to the present specification, are only used for understanding and reading the contents disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented, so they have no technical essence, and any structural modifications, changes in the proportion, or adjustments in the sizes, should fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and attainment of the same. Meanwhile, the terms such as "front", "rear", "first" and "second" used in the present specification are for convenience of description only and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also considered to be the scope of the present invention without substantial changes in the technical content.
Claims (6)
1. The use method of the crab-foot-imitating crawler belt suitable for the submarine mining vehicle comprises an internal crawler belt, an external crawler belt (7) and a connecting crawler belt (8), wherein the internal crawler belt is arranged on the inner side of the connecting crawler belt (8), the external crawler belt (7) is arranged on the outer side of the connecting crawler belt (8), and the internal crawler belt is fixedly connected with the external crawler belt (7) through the connecting crawler belt (8); the crawler belt is characterized in that the external crawler belt (7) is provided with a basic crawler belt tooth and a crab-imitating crawler belt tooth (9), and the basic crawler belt tooth and the crab-imitating crawler belt tooth (9) are arranged at intervals; the bionic crab foot caterpillar tooth (9) comprises a tooth body (901) and a bionic crab foot (904), wherein the bionic crab foot (904) is arranged at the outer end of the tooth body (901), and the bionic crab foot (904) is connected with the tooth body (901) through a first rotating shaft (903); the tooth body (901) is also provided with a containing groove (902); the method is characterized in that:
A. assembling the crab-feet-imitating crawler belt on a submarine mining vehicle;
B. under the drive of the drive gear, the built-in crawler belt runs, and simultaneously the external crawler belt (7) is driven to run through the connecting crawler belt (8), so that the submarine mining vehicle starts to advance;
C. when the submarine mining vehicle runs on a stable road condition, the bionic crab feet grouser (9) is in a retracted state, namely the bionic crab feet (904) are stored in the storage groove (902);
D. when the submarine mining vehicle runs on a bad road condition, the bionic crab feet (904) are unfolded through the control system, the unfolding process is sequentially and gradually completed in the running process, the bionic crab feet (904) on the front side, the rear side and the upper side rotate to the unfolding position, and the bionic crab feet (904) are unfolded one by one when the bionic crab feet crawler teeth on the lower side move to the upper side along with the forward movement until all the bionic crab feet crawler teeth (9) enter the unfolding state; when the bionic crab legs are required to be recovered after the bionic crab legs leave the bad road condition, the bionic crab legs (904) are recovered into the containing grooves (902) one by one through the control system, and the whole crawler is returned to the running state on the normal road condition.
2. The use method of the bionic crab-foot crawler belt suitable for the submarine mining vehicle according to claim 1, wherein the bionic crab-foot comprises a fixing device (908), a wrist section (905), a front section (906) and a knuckle (907), the fixing device (908) is rotatably connected with a first rotating shaft (903), the wrist section (905) is rotatably connected with the fixing device (908) through a second rotating shaft (909), the front section (906) is rotatably connected with the wrist section (905) through a third rotating shaft (910), and the knuckle (907) is rotatably connected with the front section (906) through a fourth rotating shaft (911).
3. The method of claim 2, wherein the angle between the wrist (905), front (906) and finger (907) is controlled according to the road conditions.
4. Use of a bionic crab foot crawler according to claim 1, wherein the bionic crab foot (904) is provided with bionic crab hairs (912).
5. The method of using the crab-imitating caterpillar band for a subsea mining vehicle as claimed in claim 1, wherein two symmetrically arranged crab-imitating caterpillar bands (9) are provided between every 1-5 basic caterpillar bands.
6. The method of using the crab-foot-imitating caterpillar band for a subsea mining vehicle as claimed in claim 1, wherein the height of the crab-foot-imitating grouser (9) is equal to or slightly lower than the height of the base grouser when in a retracted state; the height of the imitation crab-foot grouser (9) is equal to or higher than that of the basic grouser when the imitation crab-foot grouser is in an unfolded state.
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| CN202111438954.7A CN113844562B (en) | 2021-11-29 | 2021-11-29 | Crab-foot-imitating crawler belt suitable for seabed mining vehicle and use method thereof |
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