CN115123503A - All-terrain seabed mining vehicle walking device - Google Patents
All-terrain seabed mining vehicle walking device Download PDFInfo
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- CN115123503A CN115123503A CN202210910340.2A CN202210910340A CN115123503A CN 115123503 A CN115123503 A CN 115123503A CN 202210910340 A CN202210910340 A CN 202210910340A CN 115123503 A CN115123503 A CN 115123503A
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- 238000005065 mining Methods 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 239000000725 suspension Substances 0.000 claims description 16
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000002689 soil Substances 0.000 abstract description 20
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000005526 G1 to G0 transition Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 150000003568 thioethers Chemical class 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000003190 viscoelastic substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/006—Mechanical control systems
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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
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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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
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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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
- B62D55/20—Tracks of articulated type, e.g. chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/08—Marine propulsion not otherwise provided for by direct engagement with water-bed or ground
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Mining & Mineral Resources (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention discloses a walking device of an all-terrain seabed mining vehicle, which comprises a frame, a steering mechanism and two crawler walking units, wherein the two crawler walking units are symmetrically arranged on the left side and the right side of the frame. The crawler traveling unit comprises a crawler support, a driving wheel, a guide wheel, a chain and a thrust wheel, wherein the driving wheel and the guide wheel are respectively arranged at the front end and the rear end of the crawler support. The thrust wheels are provided with a plurality of groups, and each group of thrust wheels is movably connected with the crawler support through a hairspring hanging mechanism. The driving wheel and the guide wheel are both meshed with the inner side of the chain, and the outer surface of the chain is provided with a plurality of square grooves which are regularly distributed. Two steering mechanisms are symmetrically arranged on two sides of the frame and can respectively and independently drive or brake the two crawler belt walking units. The invention has better climbing and obstacle crossing capabilities, and the chains enable the soil body to be self-compact and reinforced, thereby effectively preventing the phenomena of sinking and slipping. The walking device of the all-terrain seabed mining vehicle has small turning radius and high steering maneuverability, and can realize full-coverage acquisition in a mining area.
Description
Technical Field
The invention relates to the technical field of ocean mining equipment, in particular to a walking device of an all-terrain seabed mining vehicle.
Background
Energy is the basis of economic society development, and with the continuous development of modern industry and the increasing shortage of land mineral resources, the development and utilization of ocean resources are gradually enhanced in all countries in the world. Compared with land, the deep ocean contains abundant resources and treasures, and besides oil and gas resources, the deep ocean (the water depth is more than 5000m) also contains abundant polymetallic nodules and sulfides. The development and utilization of deep sea seabed solid mineral resources are favored by countries all over the world. The crawler-type mining vehicle has larger grounding area than other ore collecting mechanisms, can generate larger traction force, has better runnability and maneuverability, and can meet the submarine running requirement on the influence degree of the crawler-type mining vehicle on the submarine environment, so the crawler-type mining vehicle becomes the preferred form of submarine mining.
According to the geological conditions of deep-sea polymetallic nodule deposits, the working environment of the seabed crawler-type mining vehicle and the traditional crawler-type travelling mechanism is greatly different, and the seabed crawler-type mining vehicle is mainly represented as follows: the soil layer is rare soft, the porosity ratio is high, the compressibility is high, aspects such as basement bearing capacity low, therefore the deep sea soil can't provide the required power that carries on of traditional crawler-type concentrator. In addition, the submarine topography conditions are complex, and the mining vehicle is easy to sink, skid, cross obstacle and the like due to the fact that a certain topography gradient or barrier exists in a nodule mine area, so that the driving difficulty is caused, and the mining efficiency is reduced.
Prior to the present invention, improvements to tracked subsea mining vehicles focused primarily on improvements to grouser structures. For example, chinese patent No. CN202110269215.3 discloses a sectional type submarine mining vehicle crawler belt, which includes a section of middle crawler belt and two sections of side crawler belts, each of which can independently run without interference with each other; fixed shearing grouser teeth are distributed on the middle crawler belt, and grouser teeth with adjustable angles are arranged on the side crawler belts; the adjustable grouser is composed of a rotating tooth body and an assembling rod. This patent can solve the problem of subsidence and slippage that subsea mining vehicles are prone to, but for obstructed mine areas it can only be done by changing the mining trajectory. However, the minimum turning radius of the walking mechanism of the traditional submarine mining vehicle is 15m, so that mining is carried out by bypassing obstacles through the technical scheme of changing the mining track, full coverage collection of a mining area cannot be realized, and the mining efficiency is influenced. Accordingly, further improvements and enhancements are needed in the art.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, an object of the present invention is to provide a walking device for an all-terrain seabed mining vehicle, which solves the problems of easy sinking, slipping, difficult obstacle crossing, large turning radius, poor maneuverability, etc. of the walking device for the existing mining vehicle.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an all-terrain seabed mining vehicle running gear, includes frame, steering mechanism and two crawler travel unit, and two crawler travel unit symmetrical arrangement are in the left and right sides of frame.
The crawler traveling unit comprises crawler supports, a driving wheel, guide wheels, a chain and thrust wheels, the frame is fixedly connected with the two crawler supports, and the driving wheel and the guide wheels are respectively arranged at the front end and the rear end of each crawler support.
The supporting wheels are provided with a plurality of groups, the plurality of groups of supporting wheels are sequentially arranged below the track support from front to back, and each group of supporting wheels is movably connected with the track support through a hairspring hanging mechanism.
The chain sleeve is established in the outside of caterpillar band support, drive wheel, leading wheel and each thrust wheel, and drive wheel and leading wheel all mesh with the chain inboard, the surface of chain has a plurality of square grooves of regular arrangement.
The front side of the frame is provided with a double-output-shaft motor, the left side and the right side of the double-output-shaft motor are symmetrically provided with two steering mechanisms, and each steering mechanism can act on a driving wheel at the same side to realize driving or braking of the driving wheel.
Furthermore, the frame is steel frame construction, and it includes a plurality of longerons of vertical parallel arrangement and a plurality of crossbeams of interval arrangement in proper order along the length direction of longeron, and each crossbeam all links integratively with the longeron stationary phase, and the longeron that is located the left and right sides links integratively with two track frame stationary phases respectively.
Furthermore, every group the thrust wheel includes two thrust wheels of controlling interval arrangement, and two thrust wheels of the same group link to each other through a pivot, the cover is equipped with the bearing frame in the pivot.
The balance spring suspension mechanism is positioned between the rotating shaft and the crawler support, the upper end of the balance spring suspension mechanism is rotationally connected with the crawler support, and the lower end of the balance spring suspension mechanism is rotationally connected with the rotating shaft.
Furthermore, the balance spring suspension mechanism comprises a connecting rod, a hydraulic shock absorber and a balance spring, the connecting rod and the hydraulic shock absorber are arranged in a V-shaped structure in tandem, the upper ends of the connecting rod and the hydraulic shock absorber are rotatably connected with the bottom of the track support, and the lower ends of the connecting rod and the hydraulic shock absorber are rotatably connected with the bearing seat.
The balance spring is sleeved on the hydraulic shock absorber and is always in a compressed state.
Furthermore, the chain is formed by a plurality of chain plates which are sequentially connected end to end in a rotating mode, the main body portion of each chain plate is a rectangular flat plate, one side of each chain plate in the advancing direction is provided with at least one extending portion, and the other side of each chain plate is provided with accommodating grooves which are equal in number to the extending portions and are correspondingly matched with the extending portions.
The extension part of any one chain plate can extend into the accommodating groove of the other adjacent chain plate and is rotationally connected with the other adjacent chain plate through a pin shaft.
Further, the outer surface of each link plate is provided with at least one transverse grouser and a plurality of longitudinal grousers which are vertically intersected with the transverse grouser, and the plurality of longitudinal grousers are arranged at equal intervals along the extending direction of the transverse grouser.
The roots of the transverse grouser and the roots of the longitudinal grouser are both integrally formed with the chain plate, the cross section of the transverse grouser is of a wedge-shaped structure with a wide root and a narrow end, and the square groove is formed between any two adjacent transverse grousers and each longitudinal grouser.
Furthermore, two driving wheels are oppositely arranged on the left side and the right side of the front end of the crawler support, and the two driving wheels are fixedly connected through a first connecting shaft.
The left side and the right side of the rear end of the crawler support are provided with two guide wheels which are oppositely arranged, the two guide wheels are fixedly connected through a second connecting shaft, and the first connecting shaft and the second connecting shaft are in running fit with the crawler support.
The driving wheel and the guide wheel are both in a gear structure, and the inner surface of each chain plate is provided with a tooth socket matched with the teeth of the driving wheel or the guide wheel.
Furthermore, the steering mechanism comprises a rotating flywheel, a clutch driving disc, a clutch brake disc and a spline shaft, the rotating flywheel is fixed on the outer wall of one side, close to the driving wheel, of the motor with the double output shafts, and one end of the spline shaft is coaxially and fixedly connected with the corresponding output ends of the motor with the double output shafts.
The clutch driving disc is arranged at the other end of the spline shaft in a spline connection mode, and the clutch driving disc can drive the driving wheel to rotate in a clutch mode.
The clutch brake disc is sleeved outside the clutch driving disc, and the clutch brake disc can brake the driving wheel in a clutch mode.
By adopting the technical scheme, the invention has the beneficial technical effects that: the supporting wheel is connected with the frame by the hairspring suspension mechanism, the height of the supporting wheel can be automatically adjusted according to the terrain and the obstacles, and the supporting wheel has better climbing and obstacle crossing capabilities. The outer surface of the chain adopts a combined structure of the transverse crawler teeth and the transverse crawler teeth crossed, so that the soil body is self-compacted and reinforced, the phenomena of sinking and slipping are effectively prevented, and the mining vehicle can safely walk on the seabed soft soil layer. In addition, the turning radius is small, the turning maneuverability is high, the on-site 360-degree turning can be realized, the full-coverage collection of a mining area is realized, and the mining efficiency is greatly improved.
Drawings
Fig. 1 is a schematic structural view of a walking device of an all-terrain seafloor mining vehicle of the invention.
Fig. 2 is a schematic view of a portion of fig. 1 showing the crawler belt unit and related parts.
Fig. 3 is an enlarged view of the portion a of the present invention in fig. 1.
Fig. 4 is a schematic view of the crawler travel unit of fig. 2 with a chain removed.
Fig. 5 is a schematic view of another portion of fig. 1, showing a steering mechanism.
Fig. 6 is a schematic view of a further portion of fig. 1, showing a partial assembly of the chain.
Fig. 7 is a schematic view of the back side of the chain partial combination partial assembly of fig. 6.
Figure 8 is a line graph of the displacement response of the soil mass in the x, y and z directions.
Fig. 9 is a schematic structural view of the vehicle frame in the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
in the embodiment, with reference to fig. 1 to 9, an all-terrain seabed mining vehicle walking device comprises a vehicle frame 1, a steering mechanism 3 and two crawler walking units 2, wherein the vehicle frame 1 is of a steel frame structure, the vehicle frame 1 comprises three longitudinal beams 11 which are longitudinally arranged in parallel and three cross beams 12 which are sequentially arranged along the length direction of the longitudinal beams 11 at intervals, each cross beam 12 is fixedly connected with the three longitudinal beams 11 to form a planar frame of an integral structure, the two crawler walking units 2 are symmetrically arranged on the left side and the right side of the vehicle frame 1, and the left side and the right side of the vehicle frame 1 are respectively fixedly connected with the two crawler walking units 2.
The crawler traveling unit 2 comprises crawler supports 21, a driving wheel 22, a guide wheel 23, a chain 4 and a thrust wheel 24, two longitudinal beams 11 on the left side and the right side of the frame 1 are fixedly connected with the two crawler supports 21 into a whole respectively, and the crawler supports 21 are positioned on the upper portion of the crawler traveling unit 2. The driving wheels 22 and the guide wheels 23 are respectively provided at front and rear ends of the track frame 21 and are rotatably connected to the track frame 21. The frame 1 has a certain height from the ground so as to achieve better obstacle crossing capability, and the walking device of the submarine mining vehicle can prevent sinking and skidding, adapt to the topographic fluctuation change of shallow seabed and realize in-situ 360-degree turning.
The multiple groups of thrust wheels 24 are arranged below the track support 21 in sequence from front to back, each group of thrust wheels 24 is movably connected with the track support 21 through a hairspring suspension mechanism, and each group of thrust wheels 24 and the hairspring suspension mechanism above the same play a role in supporting the track support 21, the frame 1 and equipment on the frame 1. Each group of the thrust wheels 24 comprises two thrust wheels 24 which are arranged at left and right intervals, the two thrust wheels 24 in the same group are connected through a rotating shaft 241, and a bearing seat 242 is sleeved on the rotating shaft 241.
The balance spring suspension mechanism is located between the rotating shaft 241 and the track frame 21, and has an upper end rotatably connected to the track frame 21 and a lower end rotatably connected to the rotating shaft 241. Specifically, the balance spring suspension mechanism includes a link 51, a hydraulic damper 52 and a balance spring 53, the link 51 and the hydraulic damper 52 are arranged in a "V" configuration in tandem, the upper ends of the link 51 and the hydraulic damper 52 are rotatably connected to the bottom of the track frame 21, respectively, and the lower ends of the link 51 and the hydraulic damper 52 are rotatably connected to the bearing seat 242. The spring 53 is sleeved on the hydraulic shock absorber 52, and the spring 53 is always in a compressed state. When the submarine mining vehicle works in a mine area with a slope or an obstacle, the large-stroke suspension mechanism can ensure the stability of the submarine mining vehicle, so that the submarine mining vehicle has good maneuvering performance, and the hairspring suspension mechanism can automatically adjust the height change of each supporting wheel 24 according to the terrain condition, so that the submarine mining vehicle has stronger slope and obstacle crossing capability.
The chain 4 is sleeved outside the track support 21, the driving wheel 22, the guide wheel 23 and each supporting wheel 24, the chain 4 is a closed structure formed by a plurality of chain plates 41 which are sequentially connected end to end in a rotating manner, the main body part of each chain plate 41 is a rectangular flat plate, one side of each chain plate 41 in the advancing direction is provided with two extending parts 411 which are arranged at intervals, and the other side of each chain plate 41 is provided with accommodating grooves 412 which are equal in number to the extending parts 411 and are correspondingly matched with the extending parts 411. The extension 411 of any one link plate 41 can extend into the receiving slot 412 of another adjacent link plate 41 and is pivotally connected to the other adjacent link plate 41 by a pin.
The driving wheel 22 and the guide wheel 23 are both in a gear structure, and each link plate 41 is provided with a tooth groove 42 on the inner surface thereof for matching with the gear teeth of the driving wheel 22 or the guide wheel 23. The driving wheel 22 and the guide wheel 23 are both meshed with the inner side of the chain 4, and the outer surface of the chain 4 is provided with a plurality of regularly arranged square grooves.
Specifically, each link plate 41 has one transverse grouser 43 and five longitudinal grousers 44 perpendicularly intersecting the transverse grouser 43 on the outer surface thereof, and the five longitudinal grousers 44 are arranged at equal intervals in the extending direction of the transverse grouser 43. The transverse grousers 43 are located in the middle of the link plate 41, and the two longitudinal grousers 44 are located at the left and right ends of the link plate 41.
The roots of the transverse grousers 43 and the roots of the longitudinal grousers 44 are both integrally formed with the link plate 41, the cross section of each transverse grouser 43 is in a wedge-shaped structure with a wide root and a narrow end, and the square grooves are formed between any two adjacent transverse grousers 43 and each longitudinal grouser 44.
However, the walking process of the crawler-type mining vehicle is a complex structure-soil interaction problem, and researches show that when the mining vehicle works, not only can the stress in a seabed soil layer be redistributed to generate force action, but also the corresponding strain can be redistributed to generate displacement. Transverse and longitudinal grouser teeth with proper length are arranged in the crawler belt, so that the displacement of the soil body can be limited within a certain range, a certain compacting and reinforcing effect is further realized on the soil body, and the slip and settlement can be effectively prevented.
The improved method of the present embodiment is derived from a rigorous mathematical analysis.
The following assumptions were introduced in the analytical model building process: the soil body is a viscoelastic material, and the deformation generated by the stabilized structure and the soil body system under the load action is small deformation. According to the elastic dynamics theory and the continuous medium theory, a soil motion equation under the action of the moving load can be established as follows:
in the formula u i Is the displacement tensor (m) of the soil body, and the lambda and the mu are the Lame constant (MPa) of the soil body kk,i Is a soil bodyP is the density of the soil body (kg/m3),
fourier transformation is introduced and boundary conditions are combined to deduce and obtain displacement responses u, v and w of soil mass in x, y and z directions in the walking process of the crawler-type mining vehicle, wherein the displacement responses u, v and w are respectively as follows:
where u, v and w are displacements in the x, y and z directions, respectively, (x, y, z) are points in a spatial coordinate system, ξ, η and ω are the wavenumbers of x, y and z, respectively, and n 1 、d 1 、d 2 τ and k are the intermediate quantities in the analytical process,
for the load, i is the imaginary unit. As can be seen from the equations (2), (3), (4) and fig. 8, when the crawler-type mining vehicle works, under the action of load, the soil body will move along the three directions of x, y and z. The limiting of the displacement in the x, y and z directions enables the soil body to be self-compact, plays a role in reinforcement to a certain extent, and is helpful for preventing the phenomena of subsidence and slippage.
In a preferred embodiment of the present invention, the track frame 21 has two driving wheels 22 disposed opposite to each other on the left and right sides of the front end thereof, and the two driving wheels 22 are fixedly connected to each other by a first connecting shaft. The left side and the right side of the rear end of the crawler support 21 are provided with two guide wheels 23 which are oppositely arranged, the two guide wheels 23 are fixedly connected through a second connecting shaft, and the first connecting shaft and the second connecting shaft are in running fit with the crawler support 21.
The front side of the frame 1 is provided with a double-output-shaft motor, the left side and the right side of the double-output-shaft motor are symmetrically provided with two steering mechanisms 3, and each steering mechanism 3 can act on the driving wheel 22 at the same side to realize driving or braking.
The steering mechanism 3 comprises a rotating flywheel 31, a clutch driving disk 32, a clutch brake disk 33 and a spline shaft 34, wherein the rotating flywheel 31 is fixed on the outer wall of one side of the double-output-shaft motor close to the driving wheel 22, and one end of the spline shaft 34 is coaxially and fixedly connected with the corresponding output end of the double-output-shaft motor.
The clutch driving disk 32 is disposed at the other end of the spline shaft 34 by way of spline connection, and the clutch driving disk 32 can drive the driving wheel 22 to rotate by way of clutch. The clutch brake disc 33 is sleeved outside the clutch driving disc 32, and the clutch brake disc 33 can brake the driving wheel 22 in a clutch mode.
Specifically, the outside cover of integral key shaft 34 is equipped with spline housing 35, spline housing 35 and spline housing 35 axial sliding fit, and the one end that spline housing 35 kept away from dual output shaft motor links together with the coaxial stationary phase of clutch driving-disc 32, and spline housing 35 and clutch driving-disc 32 synchronous motion have seted up ring channel 351 on the circumferential surface of spline housing 35 near the one end of dual output shaft motor, one side of spline housing 35 is equipped with shift fork 36, the middle part below of shift fork 36 is provided with supporting seat 361, and shift fork 36 rotates with the upper end of supporting seat 361 and links to each other, and shift fork 36 can wind the upper end level of supporting seat 361 and rotate.
The notch end of the shifting fork 36 is inserted into the annular groove 351 of the spline sleeve 35, two thrust bearings 37 are respectively arranged on the shifting fork 36 along two axial sides of the spline sleeve 35, the two thrust bearings 37 are respectively positioned in the annular groove 351, a movable gap is respectively arranged between the shifting fork 36 and the two thrust bearings 37, the other end of the shifting fork 36 is hinged with a driving rod 362, the driving rod 362 can be connected with an operating mechanism and is used for providing a force for rotating the shifting fork 36, the shifting fork 36 is driven by the lever action of the shifting fork 36 to drive the spline sleeve 35 to drive the clutch driving disc 32 to move towards the rotating flywheel 31 and compress the rotating flywheel, and the driving wheel 22 is driven by friction force to rotate so as to realize the forward or backward movement of the crawler traveling unit 2.
In addition, a guide support sleeve 38 is arranged on one side of the clutch brake disc 33 close to the dual-output-shaft motor, the guide support sleeve 38 is of a cylindrical structure and is arranged coaxially with the clutch brake disc 33, one end of the guide support sleeve 38 is sleeved on the inner side of the corresponding end of the clutch brake disc 33, the inner wall of the clutch brake disc 33 is in spline fit with the outer wall of the guide support sleeve 38, one end of the guide support sleeve 38 far away from the clutch brake disc 33 is fixedly connected with a support seat 361, and the clutch brake disc 33 can slide relative to the guide support sleeve 38 along the axial direction of the guide support sleeve. Three oil cylinders 39 are arranged on the circumferential outer wall of the guide support sleeve 38, the three oil cylinders 39 are uniformly arranged in a ring shape, the cylinder body of each oil cylinder 39 is fixedly connected with the guide support sleeve 38, the end part of a piston rod of each oil cylinder 39 is fixedly connected with the outer wall of the clutch brake disc 33, the signal ends of the three oil cylinders 39 are in signal connection with a controller, and the controller adopts the existing controller and controls the three oil cylinders 39 to synchronously extend and retract and drives the clutch brake disc 33 to be close to or far away from the rotating flywheel 31. When the clutch brake disk 33 is in contact with the rotating flywheel 31 and is kept pressed against the rotating flywheel 31, the friction force of the clutch brake disk 33 on the rotating flywheel 31 decelerates and brakes it.
The walking and steering process of the all-terrain seabed mining vehicle walking device is as follows: during walking, a pulling force is applied to one end of the shifting fork 36 by the driving rod 362, the spline sleeve 35 is driven by the notch end of the shifting fork 36 to drive the clutch driving disc 32 to compress the rotating flywheel 31, meanwhile, the output end of the dual-output shaft motor drives the clutch driving disc 32 to rotate through the spline sleeve 35, the clutch driving disc 32 drives the driving wheel 22 to rotate through friction force, the driving wheel 22 is meshed with the tooth grooves 42 on the inner side of the chain plate 41 and drives the chain 4 to move, the crawler walking unit 2 is realized, and in the process, the clutch braking disc 33 is separated from the rotating flywheel 31 and is not in contact with the rotating flywheel.
When steering, the crawler belt unit 2 on one side is kept in a traveling state, and the crawler belt unit 2 on the other side is kept in a braking state. The other crawler belt unit 2 is braked as follows, the driving rod 362 applies a thrust to one end of the shift fork 36, and the notched end of the shift fork 36 drives the spline housing 35 to separate the clutch driving disk 32 from the flywheel 31, thereby removing the driving force from the driving wheel 22. Meanwhile, piston rods of the three oil cylinders 39 synchronously extend out to drive the clutch brake disc 33 to contact with the rotating flywheel 31 and keep pressing the rotating flywheel 31, the friction force of the clutch brake disc 33 on the rotating flywheel 31 enables the rotating flywheel 31 to brake rapidly, the chain 4 of the crawler unit 2 on the other side stops moving, the all-terrain seabed mining vehicle walking device turns to the crawler unit 2 which stops moving, the small turning radius is achieved, and the high turning maneuverability is achieved.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. The all-terrain seabed mining vehicle walking device is characterized by comprising a frame, a steering mechanism and two crawler walking units, wherein the two crawler walking units are symmetrically arranged on the left side and the right side of the frame;
the crawler traveling unit comprises crawler supports, a driving wheel, a guide wheel, a chain and a thrust wheel, the frame is fixedly connected with the two crawler supports, and the driving wheel and the guide wheel are respectively arranged at the front end and the rear end of each crawler support;
the multiple groups of thrust wheels are sequentially arranged below the crawler support from front to back, and each group of thrust wheels is movably connected with the crawler support through a hairspring suspension mechanism;
the chain is sleeved outside the crawler support, the driving wheel, the guide wheel and each thrust wheel, the driving wheel and the guide wheel are both meshed with the inner side of the chain, and a plurality of square grooves which are regularly distributed are formed in the outer surface of the chain;
the front side of the frame is provided with a double-output-shaft motor, the left side and the right side of the double-output-shaft motor are symmetrically provided with two steering mechanisms, and each steering mechanism can drive or brake a driving wheel at the same side.
2. The all-terrain seabed mining vehicle walking device of claim 1, wherein the frame is a steel frame structure and comprises a plurality of longitudinal beams which are longitudinally arranged in parallel and a plurality of cross beams which are sequentially arranged at intervals along the length direction of the longitudinal beams, each cross beam is fixedly connected with the longitudinal beam, and the longitudinal beams on the left side and the right side are respectively fixedly connected with the two crawler belt brackets.
3. The all-terrain seabed mining vehicle walking device as claimed in claim 1, wherein each group of thrust wheels comprises two thrust wheels which are arranged at intervals left and right, the two thrust wheels of the same group are connected through a rotating shaft, and a bearing seat is sleeved on the rotating shaft;
the balance spring suspension mechanism is positioned between the rotating shaft and the crawler support, the upper end of the balance spring suspension mechanism is rotationally connected with the crawler support, and the lower end of the balance spring suspension mechanism is rotationally connected with the rotating shaft.
4. The all-terrain seabed mining vehicle walking device as claimed in claim 3, wherein the hairspring suspension mechanism comprises a connecting rod, a hydraulic shock absorber and a hairspring, the connecting rod and the hydraulic shock absorber are arranged in a V-shaped structure in tandem, the upper ends of the connecting rod and the hydraulic shock absorber are rotatably connected with the bottom of the track support, and the lower ends of the connecting rod and the hydraulic shock absorber are rotatably connected with the bearing block;
the balance spring is sleeved on the hydraulic shock absorber and is always in a compressed state.
5. The all terrain seafloor mining vehicle running gear of claim 1, wherein the chain is formed by a plurality of link plates which are sequentially and rotationally connected end to end, the main body parts of the link plates are rectangular flat plates, one side of the link plates in the traveling direction is provided with at least one extending part, and the other side of the link plates is provided with accommodating grooves which are equal in number to the extending parts and correspondingly matched with the extending parts;
the extension part of any one chain plate can extend into the accommodating groove of the other adjacent chain plate and is rotationally connected with the other adjacent chain plate through a pin shaft.
6. The all-terrain seafloor mining vehicle running gear of claim 5, wherein the outer surface of each link plate is provided with at least one transverse grouser and a plurality of longitudinal grousers perpendicularly intersecting the transverse grouser, the plurality of longitudinal grousers being arranged at equal intervals along the extending direction of the transverse grouser;
the roots of the transverse grouser and the roots of the longitudinal grouser are both integrally formed with the chain plate, the cross section of the transverse grouser is of a wedge-shaped structure with a wide root and a narrow end, and the square groove is formed between any two adjacent transverse grousers and each longitudinal grouser.
7. The all-terrain seabed mining vehicle walking device as claimed in claim 6, wherein the left and right sides of the front end of the track frame are provided with two driving wheels which are oppositely arranged and fixedly connected through a first connecting shaft;
the left side and the right side of the rear end of the crawler support are provided with two guide wheels which are oppositely arranged, the two guide wheels are fixedly connected through a second connecting shaft, and the first connecting shaft and the second connecting shaft are in running fit with the crawler support;
the driving wheel and the guide wheel are both in a gear structure, and tooth grooves matched with the teeth of the driving wheel or the guide wheel are formed in the inner surface of each chain plate.
8. The all-terrain seabed mining vehicle walking device of claim 1, wherein the steering mechanism comprises a rotating flywheel, a clutch driving disc, a clutch braking disc and a spline shaft, the rotating flywheel is fixed on the outer wall of one side of the double-output-shaft motor close to the driving wheel, and one end of the spline shaft is coaxially and fixedly connected with the corresponding output end of the double-output-shaft motor;
the clutch driving disc is arranged at the other end of the spline shaft in a spline connection mode and can drive the driving wheel to rotate in a clutch mode;
the clutch brake disc is sleeved outside the clutch drive disc, and the clutch brake disc can brake the drive wheel in a clutch mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210910340.2A CN115123503A (en) | 2022-07-29 | 2022-07-29 | All-terrain seabed mining vehicle walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210910340.2A CN115123503A (en) | 2022-07-29 | 2022-07-29 | All-terrain seabed mining vehicle walking device |
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| CN115123503A true CN115123503A (en) | 2022-09-30 |
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| CN202210910340.2A Pending CN115123503A (en) | 2022-07-29 | 2022-07-29 | All-terrain seabed mining vehicle walking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116163734A (en) * | 2023-03-01 | 2023-05-26 | 中国海洋大学 | Deep sea mine car crawler belt viscosity removing system utilizing carbon dioxide jet flow |
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