CN115123503A - An all-terrain seabed mining vehicle traveling device - Google Patents

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

An all-terrain seabed mining vehicle traveling device

technical field

The invention relates to the technical field of marine mining equipment, in particular to an all-terrain seabed mining vehicle traveling device.

Background technique

Energy is the foundation of economic and social development. With the continuous development of modern industries and the increasing scarcity of land-based mineral resources, countries around the world are gradually stepping up the development and utilization of marine resources. Compared with the land, the deep ocean contains abundant resource treasures. In addition to oil and gas resources, the deep ocean (water depth greater than 5000m) also contains abundant polymetallic nodules and sulfides. The development and utilization of deep seabed solid mineral resources are also favored by countries all over the world. Because the crawler-type mining vehicle has a larger grounding area than other ore collecting mechanisms, it can generate greater traction, has better drivability and maneuverability, and its impact on the seabed environment can meet the requirements of seabed driving. Mining vehicles became the preferred form of seabed mining.

According to the geological conditions of the deep-sea polymetallic nodule deposits, the working environment of the subsea crawler mining vehicle is very different from that of the traditional crawler traveling mechanism, which is mainly manifested in: soft soil layer, high void ratio, high compressibility, and low base bearing capacity Therefore, deep-sea soil cannot provide the power required by traditional crawler-type mining concentrators. In addition, the seabed terrain conditions are relatively complex, and there are often certain terrain slopes or obstacles in the nodule mining area, which makes mining vehicles prone to subsidence, slippage, and difficulty in overcoming obstacles, which in turn makes driving difficult and reduces mining efficiency.

Prior to the present invention, the improvement of the crawler-type seabed mining vehicle mainly focused on the improvement of the crawler tooth structure. For example, the Chinese Patent No. CN202110269215.3 discloses a segmented seabed mining vehicle crawler, which includes a middle crawler and two side crawler tracks, each crawler can operate independently without interfering with each other; the middle track The crawler belts are provided with fixed shearing crawler teeth, and the side crawler belts are provided with crawler teeth with an adjustable angle; the adjustable crawler teeth are composed of a rotating tooth body and an assembly rod. The patent can solve the problems of subsidence and slippage that are prone to occur in seabed mining vehicles, but for mining areas with obstacles, it can only be achieved by changing the mining trajectory. However, the minimum turning radius of the walking mechanism of the traditional seabed mining vehicle is 15m. Therefore, mining around obstacles by changing the mining trajectory will not achieve full coverage of the mining area and affect the mining efficiency. Therefore, the prior art needs to be further improved and improved.

SUMMARY OF THE INVENTION

In view of the deficiencies of the above-mentioned prior art, an object of the present invention is to propose an all-terrain seabed mining vehicle traveling device, which solves the problems of subsidence, slippage, difficulty in overcoming obstacles, large turning radius, poor mobility, etc. that are prone to occur in the existing mining vehicle traveling device. question.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

An all-terrain seabed mining vehicle traveling device comprises a frame, a steering mechanism and two crawler walking units, and the two crawler walking units are symmetrically arranged on the left and right sides of the frame.

The crawler walking unit includes a crawler support, a driving wheel, a guide wheel, a chain and a supporting 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 and rear ends of the crawler support.

There are multiple groups of the rollers, and the multiple groups of rollers are sequentially arranged under the track support from front to back, and each group of rollers is movably connected to the track support through a hairspring suspension mechanism.

The chain is sleeved on the outside of the crawler support, the drive wheel, the guide wheel and each support wheel, the drive wheel and the guide wheel are engaged with the inner side of the chain, and the outer surface of the chain has a plurality of square grooves arranged regularly.

The front side of the frame is provided with dual output shaft motors, and two steering mechanisms are symmetrically arranged on the left and right sides of the dual output shaft motors, and each steering mechanism can act on the driving wheels on the same side to realize its driving or braking.

Further, the frame is a steel frame structure, which includes a plurality of longitudinal beams arranged in parallel in the longitudinal direction and a plurality of transverse beams arranged at intervals along the longitudinal direction of the longitudinal beams. The longitudinal beams on both sides are respectively fixedly connected with the two crawler supports to form a whole.

Further, each group of the rollers includes two rollers arranged at intervals on the left and right, the two rollers in the same group are connected by a rotating shaft, and a bearing seat is sleeved on the rotating shaft.

The hairspring suspension mechanism is located between the rotating shaft and the crawler support, the upper end of which is rotatably connected with the crawler support, and the lower end is rotatably connected with the rotating shaft.

Further, the hairspring suspension mechanism includes a connecting rod, a hydraulic shock absorber and a hairspring spring. The connecting rod and the hydraulic shock absorber are arranged in a "V" structure in tandem, and the upper end of the connecting rod and the hydraulic shock absorber is connected to the bottom of the track bracket. Rotationally connected, and the lower end is rotatably connected with the bearing seat.

The hairspring is sleeved on the hydraulic shock absorber, which is always in a compressed state.

Further, the chain is composed of a plurality of chain plates that are connected in turn in turn, the main part of the chain plate is a rectangular flat plate, one side of the chain plate located in the traveling direction of the chain plate has at least one extension part, and the other side has the same number of extension parts. And it is located in the corresponding matching accommodating slot.

The extension part of any one of the chain plates can extend into the accommodating groove of the other adjacent chain plate, and is rotatably connected with the adjacent other chain plate through the pin shaft.

Further, the outer surface of each chain plate has at least one transverse crawler tooth and a plurality of longitudinal crawler teeth perpendicularly intersecting with the transverse crawler tooth, and the plurality of longitudinal crawler teeth are arranged at equal intervals along the extending direction of the transverse crawler tooth.

The roots of the lateral crawler teeth and the longitudinal crawler teeth are integrally formed with the chain plate. The cross-section of the lateral crawler teeth is a wedge-shaped structure with wide roots and narrow ends. Described square slot.

Further, the left and right sides of the front end of the crawler support have two oppositely arranged driving wheels, and the two driving wheels are fixedly connected through the first connecting shaft.

The left and right sides of the rear end of the track support are provided with two guide wheels arranged oppositely, and the two guide wheels are fixedly connected by a second connecting shaft, and the first and second connecting shafts are both rotatably matched with the track support.

The drive wheel and the guide wheel are both gear structures, and the inner surface of each chain plate is provided with a tooth slot matched with the gear teeth of the drive wheel or the guide wheel.

Further, the steering mechanism includes a rotating flywheel, a clutch drive disc, a clutch brake disc and a spline shaft, the rotating flywheel is fixed on the outer wall of one side of the dual output shaft motor close to the driving wheel, and one end of the splined shaft is connected to the dual output shaft motor. The corresponding output ends of the s are coaxially and fixedly connected.

The clutch driving disc is arranged on the other end of the spline shaft by means of spline connection, and the clutch driving disc can drive the driving wheel to rotate by means of the clutch.

The clutch brake disc is sleeved on the outside of the clutch drive disc, and the clutch brake disc can brake the driving wheel in a clutch manner.

By adopting the above technical scheme, the beneficial technical effect of the present invention is: the roller of the present invention is connected with the frame by the hairspring suspension mechanism, the height of the roller can be adjusted by itself according to the terrain and obstacles, and it has better climbing and stability. Obstacle crossing ability. The outer surface of the chain adopts the combined structure of transverse crawler teeth and transverse crawler teeth cross, which makes the soil self-compact and reinforce, effectively prevent the occurrence of subsidence and slippage, and realize the safe walking of mining vehicles on the weak soil layer on the seabed. In addition, it has a small turning radius and high steering maneuverability, which can realize 360° steering in situ, realize full coverage of the mining area, and greatly improve mining efficiency.

Description of drawings

1 is a schematic structural diagram of an all-terrain seabed mining vehicle traveling device of the present invention.

FIG. 2 is a schematic structural diagram of a certain part of FIG. 1 , showing a crawler traveling unit and related parts.

FIG. 3 is an enlarged view of part A of the present invention in FIG. 1 .

FIG. 4 is a schematic structural diagram of the crawler traveling unit in FIG. 2 after removing the chain.

FIG. 5 is a schematic structural diagram of another part of FIG. 1 , showing a steering mechanism.

Fig. 6 is a schematic structural view of another part of Fig. 1, showing a partial assembly of the chain.

FIG. 7 is a schematic view of the back of the partial assembly of the chain in FIG. 6 .

Figure 8 is a line graph of the displacement response of the soil in the x, y and z directions.

FIG. 9 is a schematic view of the structure of the frame of the present invention.

Detailed ways

The present invention is described in detail below in conjunction with the accompanying drawings:

1 to 9, an all-terrain seabed mining vehicle traveling device, including a frame 1, a steering mechanism 3 and two crawler walking units 2, the frame 1 is a steel frame structure, the frame 1 includes Three longitudinal beams 11 arranged in parallel in the longitudinal direction and three transverse beams 12 arranged at intervals along the longitudinal direction of the longitudinal beam 11, each transverse beam 12 is fixedly connected with the three longitudinal beams 11 to form a plane frame of an integrated structure, two crawler walking units 2 are symmetrically arranged on the left and right sides of the frame 1, and the left and right sides of the frame 1 are respectively fixedly connected to the two crawler walking units 2.

The crawler traveling unit 2 includes a crawler support 21, a driving wheel 22, a guide wheel 23, a chain 4 and a supporting wheel 24. The two longitudinal beams 11 on the left and right sides of the frame 1 are respectively connected to the two crawler supports 21 to form a whole. , the crawler support 21 is located on the upper part of the crawler traveling unit 2 . The driving wheel 22 and the guide wheel 23 are respectively disposed at the front and rear ends of the track bracket 21 and are connected to the track bracket 21 in rotation. The frame 1 has a certain height from the ground to achieve better obstacle-surmounting ability. The traveling device of the seabed mining vehicle can prevent subsidence, skidding, adapt to the topographic fluctuation of the shallow seabed, and can realize 360° turning in situ.

There are multiple groups of the rollers 24, and the multiple groups of rollers 24 are arranged under the track support 21 in order from front to back. Each group of rollers 24 is movably connected to the track support 21 through a hairspring suspension mechanism. The wheel 24 and the hairspring suspension mechanism above it support the track bracket 21 , the frame 1 and the equipment located on the frame 1 . Each group of the rollers 24 includes two rollers 24 spaced left and right. The two rollers 24 in the same group are connected by a rotating shaft 241 , and a bearing seat 242 is sleeved on the rotating shaft 241 .

The hairspring suspension mechanism is located between the rotating shaft 241 and the crawler track bracket 21 , the upper end of which is rotatably connected to the crawler track bracket 21 , and the lower end is rotatably connected to the rotating shaft 241 . Specifically, the hairspring suspension mechanism includes a connecting rod 51, a hydraulic shock absorber 52 and a hairspring spring 53. The connecting rod 51 and the hydraulic shock absorber 52 are arranged in a "V" structure one after the other, and the connecting rod 51 and the hydraulic shock absorber 52 are arranged in a "V" structure. The upper ends of the connecting rods 51 and the lower ends of the hydraulic shock absorbers 52 are rotatably connected with the bottom of the crawler support 21 respectively, and the lower ends of the connecting rod 51 and the hydraulic shock absorber 52 are rotatably connected with the bearing seat 242 . The hairspring 53 is sleeved on the hydraulic shock absorber 52, and the hairspring 53 is always in a compressed state. When the seabed mining vehicle works in a mining area with slopes or obstacles, the large-stroke suspension mechanism can ensure the stability of the seabed mining vehicle and make it have good maneuverability. The hairspring suspension mechanism can adjust each The height of the rollers 24 is changed, and it has stronger slope and obstacle-surmounting ability.

The chain 4 is sleeved on the outside of the crawler support 21 , the driving wheel 22 , the guide wheel 23 and each supporting wheel 24 . The main body part is a rectangular flat plate. One side of the chain plate 41 in the traveling direction thereof has two extending portions 411 arranged at intervals, and the other side has correspondingly matching accommodating grooves 412 with the extension portions 411 . The extension portion 411 of any one link plate 41 can extend into the accommodating groove 412 of the other adjacent link plate 41 , and is rotatably connected to the adjacent other link plate 41 through a pin shaft.

The driving wheel 22 and the guide wheel 23 are both gear structures, and the inner surface of each link plate 41 has a tooth slot 42 matched with the gear teeth of the driving wheel 22 or the guide wheel 23 . Both the driving wheel 22 and the guide wheel 23 are engaged with the inner side of the chain 4, and the outer surface of the chain 4 has a plurality of square grooves arranged regularly.

Specifically, the outer surface of each link plate 41 has one transverse crawler tooth 43 and five longitudinal crawler teeth 44 perpendicularly intersecting with the transverse crawler tooth 43 . cloth. The transverse crawler teeth 43 are located in the middle of the chain plate 41 , and the two longitudinal crawler teeth 44 are respectively located at the left and right ends of the chain plate 41 .

The roots of the lateral crawler teeth 43 and the longitudinal crawler teeth 44 are integrally formed with the chain plate 41. The cross-section of the lateral crawler teeth 43 is a wedge-shaped structure with wide roots and narrow ends. The square grooves are formed between the teeth 44 .

However, the walking process of the crawler mining vehicle is a complex structure-soil interaction problem. The study shows that when the mining vehicle is working, it will not only cause the redistribution of stress in the seabed soil layer, resulting in the effect of force, but also cause The corresponding strain is redistributed, resulting in displacement. The horizontal and vertical crawler teeth with suitable lengths are arranged in the crawler track, which can limit the displacement of the soil mass within a certain range, and then play a certain role in compacting and reinforcing the soil mass, which can effectively prevent the occurrence of slippage and subsidence.

The improved method of this embodiment is derived from strict mathematical analysis.

In the process of establishing the analytical model, the following assumptions are introduced: the soil is viscoelastic material, and the deformation of the stabilized structure and soil system under load is small deformation. According to elastic dynamics theory and continuum theory, the equation of motion of soil under moving load can be established as:

In the formula, u _i is the displacement tensor of the soil (m), λ and μ are the Lame constants of the soil (MPa), ε _kk,i is the strain tensor of the soil, and ρ is the density of the soil (kg/ m3),

Introducing the Fourier transform and combining the boundary conditions, the displacement responses u, v and w of the soil in the x, y and z directions during the walking process of the crawler mining vehicle can be derived as:

为荷载，i为虚数单位。由式(2)、(3)、(4)和图8可知，履带式采矿车工作时，在荷载作用下，土体将会沿着x、y和z三个方向运动。限制x、y和z方向上的位移将使土体发生自密实，在一定程度上起到加固的作用，有助于防止沉陷、打滑现象的发生。where u, v, and w are the displacements in the x, y, and z directions, respectively, (x, y, z) are points in the space coordinate system, ξ, η, and ω are the wavenumbers of x, y, and z, respectively, n ₁ , d ₁ , d ₂ , τ and k are the intermediate quantities of the analytical process, respectively,

is the load, and i is the imaginary unit. From equations (2), (3), (4) and Figure 8, it can be known that when the crawler mining vehicle is working, under the action of the load, the soil will move along the three directions of x, y and z. Limiting the displacement in the x, y and z directions will make the soil self-compact, which will act as reinforcement to a certain extent and help prevent the occurrence of subsidence and slippage.

As a preferred solution of the present invention, two driving wheels 22 are arranged on the left and right sides of the front end of the track bracket 21 opposite to each other, and the two driving wheels 22 are fixedly connected by a first connecting shaft. The left and right sides of the rear end of the track support 21 are provided with two guide wheels 23 arranged oppositely. The two guide wheels 23 are fixedly connected by a second connecting shaft.

The front side of the frame 1 is provided with a dual output shaft motor, and two steering mechanisms 3 are arranged symmetrically on the left and right sides of the dual output shaft motor. Each steering mechanism 3 can act on the driving wheel 22 on the same side to realize its driving or braking. .

The steering mechanism 3 includes a rotating flywheel 31, a clutch driving disc 32, a clutch braking disc 33 and a spline shaft 34. The rotating flywheel 31 is fixed on the outer wall of the double output shaft motor near the driving wheel 22, and one end of the spline shaft 34 is It is coaxially and fixedly connected with the corresponding output end of the dual output shaft motor.

The clutch driving disc 32 is disposed on the other end of the spline shaft 34 by means of spline connection, and the clutch driving disc 32 can drive the driving wheel 22 to rotate by means of the clutch. The clutch brake disc 33 is sleeved on the outside of the clutch drive disc 32 , and the clutch brake disc 33 can brake the driving wheel 22 in a clutch manner.

Specifically, a spline sleeve 35 is sleeved on the outer side of the spline shaft 34, the spline sleeve 35 is axially slidably fitted with the spline sleeve 35, and the end of the spline sleeve 35 away from the dual output shaft motor is connected to the clutch drive plate 32 are coaxially fixed and connected to form a whole, the spline sleeve 35 moves synchronously with the clutch drive plate 32, and an annular groove 351 is opened on the circumferential surface of one end of the spline sleeve 35 close to the double output shaft motor. One side of the spline sleeve 35 A shift fork 36 is provided, and a support base 361 is provided under the middle of the shift fork 36 .

The notch end of the shift fork 36 is inserted into the annular groove 351 of the spline sleeve 35 , and a thrust bearing 37 is respectively provided on both sides of the shift fork 36 along the axial direction of the spline sleeve 35 , and two thrust bearings 37 They are respectively located in the annular grooves 351, and there is a movable gap between the fork 36 and the two thrust bearings 37. The other end of the fork 36 is hinged with a driving rod 362. The driving rod 362 can be connected with the operating mechanism. The force of the rotation of the shifting fork 36 drives the spline sleeve 35 through the lever action of the shifting fork 36 to drive the clutch drive plate 32 to move toward the rotating flywheel 31 and press it, and drives the driving wheel 22 to rotate through friction to realize the advance of the crawler walking unit 2 or back.

In addition, a guide support sleeve 38 is provided on the side of the clutch brake disc 33 close to the dual output shaft motor. The guide support sleeve 38 has a cylindrical structure and is arranged coaxially with the clutch brake disc 33. On the inner side of the corresponding end of the clutch brake disc 33, the inner wall of the clutch brake disc 33 is splined with the outer wall of the guide support sleeve 38, and the end of the guide support sleeve 38 away from the clutch brake disc 33 is fixedly connected to the support seat 361. The clutch brake disc 33 is slidable relative to the guide support sleeve 38 in its axial direction. Three oil cylinders 39 are arranged on the circumferential outer wall of the guide support sleeve 38, and the three oil cylinders 39 are uniformly arranged in a ring shape. The signal terminals of the three oil cylinders 39 are signal-connected to the controller. The controller adopts an existing controller, which controls the three oil cylinders 39 to expand and contract synchronously, and drives the clutch brake disc 33 to approach or move away from the rotating flywheel 31 . When the clutch brake disc 33 is in contact with the rotating flywheel 31 and keeps pressing the rotating flywheel 31 , the frictional force of the clutch brake disc 33 on the rotating flywheel 31 decelerates and brakes it.

The walking and steering process of an all-terrain seabed mining vehicle traveling device is as follows: when walking, the driving rod 362 exerts a pulling force on one end of the shifting fork 36, and the notch end of the shifting fork 36 drives the spline sleeve 35 to drive the clutch drive plate 32 to rotate. The flywheel 31 is pressed tightly, and at the same time, the output end of the dual output shaft motor drives the clutch drive plate 32 to rotate through the spline sleeve 35, and the clutch drive plate 32 drives the drive wheel 22 to rotate through friction. The tooth slot 42 meshes and drives the chain 4 to move, so as to realize the crawler track running unit 2. During this process, the clutch brake disc 33 is separated from the rotating flywheel 31 and not in contact.

When turning, the crawler traveling unit 2 on one side maintains the running state, and the crawler traveling unit 2 on the other side maintains the braking state. The braking process of the crawler traveling unit 2 on the other side is as follows. The driving rod 362 exerts a thrust on one end of the shift fork 36, and the notch end of the shift fork 36 drives the spline sleeve 35 to drive the clutch drive disc 32 to separate from the rotating flywheel 31, thereby releasing the coupling. The driving force of the driving wheel 22 . At the same time, the piston rods of the three oil cylinders 39 synchronously extend to drive the clutch brake disc 33 to contact the rotating flywheel 31 and keep pressing the rotating flywheel 31. The chain 4 of the crawler traveling unit 2 on the other side is stopped, and the traveling device of the all-terrain seabed mining vehicle turns to the crawler traveling unit 2 that has stopped moving, so as to achieve a small turning radius and high steering maneuverability.

The parts not mentioned in the present invention can be realized by adopting or learning from the prior art.

Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on those shown in the accompanying drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention should also belong to the present invention. the scope of protection of the invention.

Claims (8)

1. an all-terrain seabed mining vehicle traveling device, is characterized in that, comprises a vehicle frame, a steering mechanism and two crawler track running units, and two crawler track running units are symmetrically arranged on the left and right sides of the vehicle frame; The crawler walking unit includes a crawler support, a driving wheel, a guide wheel, a chain and a supporting 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 and rear ends of the crawler support; There are multiple groups of the rollers, and the multiple groups of rollers are sequentially arranged under the track support from front to back, and each group of rollers is movably connected to the track support through a hairspring suspension mechanism; The chain is sleeved on the outside of the track bracket, the driving wheel, the guide wheel and each support wheel, the driving wheel and the guide wheel are engaged with the inner side of the chain, and the outer surface of the chain has a plurality of square grooves arranged regularly; The front side of the frame is provided with dual output shaft motors, two steering mechanisms are symmetrically arranged on the left and right sides of the dual output shaft motors, and each steering mechanism can drive or brake the driving wheels on the same side. 2 . The traveling device of an all-terrain seabed mining vehicle according to claim 1 , wherein the frame is a steel frame structure, which comprises a plurality of longitudinal beams arranged in parallel longitudinally and spaced in sequence along the length direction of the longitudinal beams. 3 . A plurality of beams are arranged, and each beam is fixedly connected to the longitudinal beam to form an integral body, and the longitudinal beams located on the left and right sides are respectively fixedly connected to the two crawler supports to form an integral body. 3. a kind of all-terrain seabed mining vehicle traveling device according to claim 1, is characterized in that, each group of described rollers comprises two rollers that are arranged at left and right intervals, and the two rollers of the same group pass through a The rotating shaft is connected, and a bearing seat is sleeved on the rotating shaft; The hairspring suspension mechanism is located between the rotating shaft and the crawler support, the upper end of which is rotatably connected with the crawler support, and the lower end is rotatably connected with the rotating shaft. 4. An all-terrain seabed mining vehicle traveling device according to claim 3, characterized in that the hairspring suspension mechanism comprises a connecting rod, a hydraulic shock absorber and a hairspring spring, and the connecting rod and the hydraulic shock absorber are arranged in a " V" structure arrangement, the upper end of the connecting rod and the hydraulic shock absorber is connected in rotation with the bottom of the track support, and the lower end is connected in rotation with the bearing seat; The hairspring is sleeved on the hydraulic shock absorber, which is always in a compressed state. 5. A kind of all-terrain seabed mining vehicle traveling device according to claim 1 is characterized in that, the chain is formed by a plurality of chain plates that are connected in turn in turn from end to end, the main part of the chain plate is a rectangular flat plate, and the chain plate is located in its travel. One side of the direction has at least one extension part, and the other side has at least one accommodating groove that is equal in number to the extension part and is located in a corresponding matching; The extension part of any one of the chain plates can extend into the accommodating groove of the other adjacent chain plate, and is rotatably connected with the adjacent other chain plate through the pin shaft. 6. An all-terrain seabed mining vehicle traveling device according to claim 5, wherein the outer surface of each chain plate has at least one transverse crawler tooth and a plurality of longitudinal crawler teeth perpendicularly intersecting with the transverse crawler The longitudinal track teeth are arranged at equal intervals along the extension direction of the transverse track teeth; The roots of the lateral crawler teeth and the longitudinal crawler teeth are integrally formed with the chain plate. The cross-section of the lateral crawler teeth is a wedge-shaped structure with wide roots and narrow ends. Described square slot. 7. An all-terrain seabed mining vehicle traveling device according to claim 6, wherein the left and right sides of the front end of the crawler support have oppositely arranged two driving wheels, and the two driving wheels are fixedly connected by the first connecting shaft; The left and right sides of the rear end of the track support are provided with two guide wheels arranged oppositely, the two guide wheels are fixedly connected by a second connecting shaft, and the first and second connecting shafts are both rotatably matched with the track support; The drive wheel and the guide wheel are both gear structures, and the inner surface of each chain plate is provided with a tooth slot matched with the gear teeth of the drive wheel or the guide wheel. 8. a kind of all-terrain seabed mining vehicle traveling device according to claim 1 is characterized in that, the steering mechanism comprises a rotating flywheel, a clutch drive disc, a clutch brake disc and a spline shaft, and the rotating flywheel is fixed on the double-sided close to the drive wheel. On the outer wall of one side of the output shaft motor, one end of the spline shaft is coaxially and fixedly connected to the corresponding output end of the double output shaft motor; The clutch drive disc is arranged on the other end of the spline shaft by means of spline connection, and the clutch drive disc can drive the drive wheel to rotate by means of the clutch; The clutch brake disc is sleeved on the outside of the clutch drive disc, and the clutch brake disc can brake the driving wheel in a clutch manner.

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