CN115144202A - Be applied to deep sea mining vehicle's track soil interact test device - Google Patents
Be applied to deep sea mining vehicle's track soil interact test device Download PDFInfo
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Abstract
The invention provides a crawler belt soil interaction test device applied to a deep sea mining vehicle, which comprises: the device comprises a test bench, a sediment simulating unit, a simulated crawler device, a horizontal movement mechanism, a vertical movement mechanism and a rotary movement mechanism; the simulated sediment unit is placed at the bottom of the test bed, and the simulated crawler device is arranged at the lower part of the test bed and is in transmission connection with the horizontal movement mechanism, the vertical movement mechanism and the rotary movement mechanism. The interaction test device for the crawler soil of the deep sea mining vehicle can realize experimental research on interaction between the deep sea mining vehicle and seabed sediments, can obtain key technical researches on motion response of the crawler plate of the deep sea mining vehicle, disturbance of a convection field, diffusion and sedimentation of plume generation and the like under different working conditions, and provides a technical basis for development of the deep sea mining vehicle.
Description
Technical Field
The invention relates to the field of civil engineering and water conservancy, in particular to a crawler soil interaction test device applied to a deep sea mining vehicle.
Background
The vast bottom of the vast ocean contains abundant mineral resources. Deep sea mineral resources which have proved to have development prospects include polymetallic nodules, cobalt-rich crusts, polymetallic sulfides and the like, wherein the reserves of metals such as manganese, nickel, cobalt and the like are far higher than the reserves of land. If the marine ecological environment can be exploited commercially safely and efficiently, and the influence on the marine ecological environment in the operation process is well controlled, abundant marine mineral products become alternative resources of onshore mineral resources, and the economic development requirements of the future human society are met.
The submarine mining operation vehicle is the foremost key equipment in a deep sea mineral resource development system, and the continuous operation performance of the whole deep sea mining system is directly determined by the submarine walking passing performance. The submarine crawler-type working vehicle is suitable for long-time large-load large-range free walking operation on an underwater extremely thin and soft substrate due to large traction force, small ground specific pressure, strong bearing capacity and good control performance, and has important application value and wide application prospect in the fields of submarine mineral resource development and underwater engineering operation.
According to the current exploration results, the seabed sediment in deep sea polymetallic nodule areas is mainly very fine silica sludge and contains a large amount of moisture. Due to the extremely small internal friction angle, the driving of the vehicle over a submarine sediment cannot follow the friction forces on which the ground vehicle relies, mainly due to the shear resistance of the sediment. On the other hand, the deep-sea crawler-type heavy-load mining vehicle weighs tens of tons, is acted by various external forces, and is quite complex to be crushed on the thin and soft seabed sediments. Because seabed sediment is thin and soft, the sediment is disturbed by the movement of the crawler structure, wherein the sediment comprises straight shearing, rotary shearing, vertical sinking, the action on the sediment when crossing terrain obstacles and the like, and the interaction relation is complex. On the other hand, sediment disturbance can produce the influence to heavily loaded equipment self motion performance, causes the dangerous operating mode that influences walking efficiency such as sink, skid, turn on one's side easily, is unfavorable for crawler-type heavy load mining vehicle to be unfavorable for the security and the stability that crawler-type heavy load mining vehicle walked in the seabed to the operating efficiency of deep sea mining of greatly reduced. Therefore, the method is very important for researching the coupling action mechanism of deep water flow-solid-soil multi-physical fields.
The prior art has the following defects:
1. when the crawler-type heavy-load deep-sea mining vehicle actually walks on the seabed surface of a mining area, the mining vehicle is easy to slip and sink due to insufficient traction and the like because the seabed terrain and ocean current conditions are complex and the sediments on the seabed surface layer are extremely soft. When a mining vehicle is required to better complete mining operation, a crawler traveling system with enough safe and stable power performance must be designed, so that the interaction rule of a crawler and a deposit must be researched under various different motion working conditions (motion speed, acceleration, motion trail and the like), crawler working conditions (caterpillar tooth shape, height, thickness, crawler plate size and the like), terrain working conditions (simulation of physical and mechanical parameters, terrain characteristics, layering conditions and the like of the deposit) and load working conditions (loading and unloading of the loaded weight and the like). When the walking performance of the crawler is tested by the conventional underwater crawler belt experimental device, the explored working conditions are incomplete, the interaction relation between the crawler belt and the submarine surface sediments during the walking of the mining vehicle cannot be accurately and completely disclosed, and the experimental device capable of accurately measuring the ground mechanical performance of the submarine sediment vehicle is not provided.
2. When the crawler-type heavy-load deep-sea mining vehicle actually walks on the seabed surface of a mining area, the actual seabed surface is not absolutely uniform and flat, the physical and mechanical properties of seabed sediments can present certain unevenness, and the topography of the seabed surface can also have certain gradient fluctuation and gully. The existing underwater crawler belt test device has less ground surface working condition conditions, can not test for a plurality of working condition conditions at one time, and is more complex to operate when different working condition conditions are changed for testing. Therefore, interaction conditions between the crawler belt and sediments under different terrain conditions and between the crawler belt and sediments under different physical and mechanical parameters cannot be researched, so that the interaction relationship between the crawler belt and sediments on the seabed surface layer when the mining vehicle travels cannot be accurately and comprehensively disclosed.
3. When the crawler-type heavy-load deep-sea mining vehicle actually walks on the seabed surface of a mining area, the traction force generated by the whole crawler is the sum of the traction force generated by each crawler unit which is superposed together. Therefore, the interaction rule between the crawler belt and the seabed sediment is required to be studied more accurately and completely, and the interaction principle between the single crawler belt unit and the sediment is preferably studied. The existing underwater crawler belt test device adopts a whole crawler belt or a section of crawler belt with a plurality of crawler teeth, so that the interaction rule between a single crawler belt unit and the bottom sediment cannot be accurately researched, and the interaction relation between the crawler belt and the bottom sediment cannot be accurately and comprehensively disclosed when the mining vehicle walks.
4. When the crawler-type heavy-load deep-sea mining vehicle actually walks on the seabed surface of a mining area, not only vertical indentation and horizontal shearing are realized, but also rotary shearing is realized at the fore end and the stern end of the crawler. The existing underwater crawler belt test device mostly analyzes the vertical subsidence relation and the horizontal shearing relation between a crawler belt and submarine sediments, and does not research the interaction during rotary shearing. Therefore, the existing underwater crawler belt test device can not accurately and comprehensively reveal the interaction relation between the crawler belt and the seabed surface sediment when the mining vehicle walks, so that the test device capable of accurately measuring the ground mechanical property of the seabed sediment vehicle is not available.
5. When the crawler type heavy-load deep sea mining vehicle actually walks on the seabed surface of a mining area, the walking performance of the mining vehicle is influenced by not only the interaction between the crawler belt and seabed sediments but also the three-phase coupling interaction between the crawler belt and a seabed deep water flow field and in front of the seabed sediments. The existing underwater crawler belt test device is used for researching the interaction relation between a crawler belt and sediments, but a test device comprehensively considering the mutual coupling action among a flow field, the sediments and the crawler belt is not available, and the coupling action mechanism of a deep water flow-solid-soil multi-physical field cannot be accurately researched.
6. When the crawler-type heavy-load deep-sea mining vehicle actually walks on the seabed surface of a mining area, the interaction between the crawler and sediments disturbs undisturbed seabed sediments, and the disturbed sediments possibly suspend in nearby flow fields to form plumes, so that the problems of turbidity increase and the like are caused. Meanwhile, the redeposited sediment can block the esophagus and respiratory tract of plankton, thereby damaging the biodiversity and ecological environment. When the walking performance of the crawler is tested by the existing underwater crawler testing device, the disturbance condition of the crawler on submarine sediments due to crawler walking and the environmental influence caused by plume and the like generated by sediment disturbance cannot be analyzed and researched simultaneously because the addition of a flow field is not considered.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a crawler belt soil interaction test device applied to a deep sea mining vehicle, and aims to solve the technical problems that the prior underwater crawler belt test device cannot accurately research the interaction between a single crawler belt unit and submarine sediments, cannot research the rotation shearing interaction of a crawler belt, has complex operation when different working condition conditions are changed for testing, cannot accurately research the coupling mechanism of deep water flow, solid and soil multi-physics fields and cannot analyze the disturbance condition generated by walking due to incomplete motion working conditions, crawler belt working conditions, loading working conditions and terrain working conditions which are explored when the walking performance of the crawler belt is tested.
In order to achieve the above object, the present invention provides a crawler soil interaction test apparatus applied to a deep sea mining vehicle, comprising: the device comprises a test bench, a sediment simulating unit, a simulated crawler belt device, a horizontal movement mechanism, a vertical movement mechanism and a rotary movement mechanism, wherein the test bench is arranged on the test bench; the simulated sediment unit is placed at the bottom of the test bed, and the simulated crawler device is arranged at the lower part of the test bed and is in transmission connection with the horizontal movement mechanism, the vertical movement mechanism and the rotary movement mechanism.
Preferably, the sediment simulating unit comprises a sediment tank and a water tank; the sediment tank is arranged in the water tank and keeps a gap in the water tank; the sediment tank and the water tank are connected through a steel cable; a plurality of clapboards are detachably connected in the sediment box, and the clapboards divide the sediment box into a plurality of areas.
Preferably, the test bed comprises a bottom frame, a top frame and a plurality of vertical frames connected between the bottom frame and the top frame; a plurality of moving wheels are installed at the bottom of the bottom frame, and the moving wheels are provided with wheel fixing switches.
Preferably, the simulated track device comprises a simulated track unit and a three-component force sensor; the simulated track unit consists of a track shoe and a single grouser; the simulated caterpillar track unit is connected with the three-component force sensor through a guide rod through a bolt.
Preferably, the horizontal movement mechanism includes: the device comprises a first horizontal guide rail, a second horizontal guide rail, a horizontal rotating rod, two rotors, a first motion controller, a first driving motor, a third horizontal guide rail, a second motion controller and a second driving motor;
the first horizontal guide rail and the second horizontal guide rail are connected to two opposite sides of the top frame through bolts; two ends of the horizontal rotating rod are respectively and rotatably connected to one end of the first horizontal guide rail and one end of the second horizontal guide rail at the same side through the rotor; two ends of the third horizontal guide rail are respectively erected on the first horizontal guide rail and the second horizontal guide rail; the first driving motor is connected with the first motion controller and is in transmission connection with the horizontal rotating rod; the horizontal rotating rod is in transmission connection with the third horizontal guide rail;
the vertical movement mechanism is movably arranged on the third horizontal guide rail along the third horizontal guide rail through the rotary movement mechanism, and the simulated crawler device is connected to the vertical movement mechanism; the second driving motor is connected with the second motion controller and is in transmission connection with the rotary motion mechanism.
Preferably, the rotary motion mechanism comprises a rotary piece, two rotary blocks, a rotation angle sensor, a first load platform, a plurality of first load blocks and a first load block;
the bottom of the first load platform is arranged on the third horizontal guide rail and is in transmission connection with the second driving motor; two sides of the rotating piece are rotatably connected to one end of the first load bearing table through the rotating block, and the other end of the first load bearing table is fixedly provided with the first load bearing block; the middle part of the rotation angle sensor is connected to the bottom of the first loading platform; one end of the rotating piece and one end of the rotating angle sensor are connected with the vertical movement mechanism; the first loading block is provided with a first through groove and clamped on the first loading block clamping block through the first through groove.
Preferably, the vertical movement mechanism comprises an upper fixing part, a lower fixing part, a clamping part, a second load platform, a plurality of second weight blocks and clamping blocks, a plurality of second weight blocks, a stress block, a third driving motor, a hook, a main guide rod, an auxiliary guide rod, a thrust rod, a fixed pulley, a cable key and a cable device;
the main guide rod sequentially penetrates through the upper fixing piece, the lower fixing piece, the clamping piece, the stress block and the second load table from top to bottom, and the main guide rod can move relative to the upper fixing piece and the lower fixing piece; the lower end of the main guide rod is connected with the upper end of the three-component force sensor through a bolt;
the auxiliary guide rod comprises an upright rod and a loop bar, and the bottom of the upright rod is connected with the top of the loop bar through a bolt; the top of the upright stanchion is provided with the fixed pulley; the sleeve rod is sleeved outside the thrust rod, and the tail end of the thrust rod extends out of the sleeve rod; the loop bar sequentially penetrates through the upper fixing piece, the rotating piece and the lower fixing piece from top to bottom and is connected with the upper fixing piece, the rotating piece and the lower fixing piece; the bottom of the loop bar is fixedly connected with the top of the third driving motor through a bolt; the thrust rod penetrates through the third driving motor and is driven by the third driving motor; the tail end of the thrust rod is matched with the stressed block in a pushing mode; the stress block is in a triangular prism shape and is in threaded connection with the main guide rod;
the clamping piece is fixed with the lower fixing piece through bolts; the clamping piece is used for locking and unlocking the main guide rod;
the second load-bearing tables are uniformly distributed and fixedly connected with second load-bearing block clamping blocks; the second load-bearing block is provided with a second through groove and is clamped on the second load-bearing block clamping block through the second through groove;
the cable device is fixed on the rotating piece and comprises a cable box and a wheel disc arranged in the cable box; the cable is wound and connected on the wheel disc, and the end part of the cable is wound around the fixed pulley and connected with the hook; the hook is connected to the stress block; the cable key is arranged on the cable box and used for locking and unlocking the cable.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the test device can realize the research of the interaction principle between a single crawler unit and the sediment, realize the research of the lower interaction rule under different crawler working conditions, and conveniently and quickly replace the simulated crawler units with different shapes, thereby better completing the research of the interaction test between the crawler and the sediment under different crawler working conditions. Meanwhile, the test data can be used for optimally designing the crawler traveling system of the mining vehicle, so that the crawler traveling system has better dynamic performance and safer and more stable traveling performance.
2. The vertical motion mechanism of the test device can drive the simulation track to move according to certain speed and acceleration in a vertical plane and release the simulation track at a certain height to move in a free falling body mode, so that the vertical sinking interaction between the track and the sediment can be better realized when the mining vehicle travels and is laid down, and the interaction relationship between the track and the seabed sediment can be more comprehensively revealed when the mining vehicle travels.
3. The horizontal motion mechanism of the experimental device can drive the simulated track unit to move in the x direction and the y direction in the horizontal plane according to a certain speed and acceleration, and the x and y directions move in a combined mode (for example, circular motion), and the combined path moves (for example, straight lines and circular arcs) and the oblique shearing motion between the horizontal direction and the vertical direction and the like, so that the horizontal direct shearing and compression shearing coupling interaction conditions between the track and the sediment during straight line walking, turning walking, straight line walking on an up-down slope and turning walking of the mining vehicle are better reduced.
3. The test device can drive the simulated track unit to rotate at a certain angular velocity and angular acceleration, so that the interaction relation between the simulated track unit and the sediments during the rotation can be researched, the interaction condition between the fore end and the stern end of the track mechanism and the seabed sediments during the walking of the mining vehicle can be better restored, and the interaction relation between the tracks and the seabed sediments can be more comprehensively disclosed.
4. The test device can research the interaction relation between the track and the sediment under different loading working conditions by additionally arranging the second weight carrier with a certain weight on the second weight carrier. The change situation of the self load of the mining vehicle in the mining operation process can be better restored through loading and unloading the second load-bearing block in the movement process, so that the interaction relation between the crawler belt and the seabed sediments can be more comprehensively revealed. The loading block on the loading platform is convenient and simple to put in and take out, which is beneficial to reducing workload and simplifying experiment operation.
5. The partition plate in the sediment box of the test device can divide the whole sediment tank into six parts (2 x 3), so that the interaction relation between the crawler belt and the sediment under a plurality of working conditions such as sediments with different terrain conditions and sediments with different physical and mechanical parameters can be researched in one test, the unevenness of the actual sea bottom surface and the terrain conditions such as the gradient of the sea bottom surface can be better reduced when the mining vehicle travels, and the interaction relation between the crawler belt and the sea bottom sediment can be more comprehensively disclosed when the mining vehicle travels. In addition, after the sediment box is partitioned, the sediment amount needed by each part is greatly reduced, the requirement of the simulation crawler unit on the sediment is met, the workload of configuration of the simulation sediment, arrangement of the simulation earth surface in the sediment box and the like is reduced, and meanwhile, the workload during working condition replacement is also reduced, so that the replacement under different working conditions is more convenient and quicker.
6. The test device can add a flow field on the basis of the crawler and the sediment, thereby exploring the mutual coupling action among the flow field, the sediment and the crawler. In addition, the device can observe the situations of the plume and the like generated by the suspended simulated sediments disturbed by the simulated crawler unit in the flow field through a turbidity meter, a high-definition camera and other instruments while performing the flow field-sediment-crawler mutual coupling effect test. Therefore, the damage condition of the mining vehicle to the seabed ecological environment in the walking process can be better analyzed, and a test basis is provided for designing and manufacturing the mining vehicle meeting the requirements of low damage and low disturbance in the future.
8. When the sediment box and the water tank need to be operated, the testing device can turn on wheel fixing switches of all moving wheels, so that the frame, a motion system, a simulated crawler device and other devices which are arranged on the frame can be moved along the space of the frame. After the relevant operation is finished, the frame which is moved away before can be moved back to the upper part of the sediment box and the water tank, and the wheel fixing switches of all the moving wheels are locked, so that the whole device can be fixed. The design enables people to carry out related operations, and the periphery of the sediment box and the water tank is not shielded any more. Operations such as filling and cleaning of sediment and water, dismounting of baffles in the sediment tank, setting of terrain, and installation of disturbance observation devices become very convenient and fast.
Drawings
FIG. 1 is a schematic view of a track soil interaction test apparatus for a deep sea mining vehicle according to an embodiment of the present invention in a first orientation;
FIG. 2 is a schematic structural view of a crawler soil interaction test apparatus for a deep sea mining vehicle according to an embodiment of the present invention in a second direction;
FIG. 3 is a third directional schematic diagram of a crawler soil interaction test apparatus for a deep sea mining vehicle according to an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, which are set forth in detail below to provide a better understanding of the function and features of the invention.
1. Referring to fig. 1 to 3, a crawler soil interaction testing apparatus for a deep sea mining vehicle according to an embodiment of the present invention includes: the device comprises a test bench, a sediment simulating unit, a simulated crawler belt device, a horizontal movement mechanism, a vertical movement mechanism and a rotary movement mechanism, wherein the test bench is arranged on the test bench; the simulated sediment unit is arranged at the bottom of the test bed, and the simulated crawler device is arranged at the lower part of the test bed and is in transmission connection with the horizontal movement mechanism, the vertical movement mechanism and the rotary movement mechanism.
2. The sediment simulating unit comprises a sediment tank 2 and a water tank 1; the sediment tank 2 is arranged in the water tank 1 and keeps a gap in the water tank 1; the sediment tank 2 is connected with the water tank 1 through a steel cable; a plurality of partitions are detachably connected in the sediment tank 2, and the partitions divide the sediment tank 2 into a plurality of areas.
In this embodiment, the water tank 1 is a hollow rectangular parallelepiped with an open top made of transparent glass and a metal frame. The sediment box 2 is a hollow iron cuboid with an open top and can be used for storing simulated seabed sediment. Simulated seawater can be added into the gap. The bottom of the sediment box 2 is provided with a groove, a detachable partition plate can be inserted into the groove, and the whole sediment box 2 can be divided into six parts (2 x 3), so that the interaction relation between the crawler belt and the sediment under multiple working conditions such as sediment under different terrain conditions and sediment with different physical and mechanical parameters can be researched in one test.
3. The test bench comprises a bottom frame 10, a top frame 3 and a plurality of vertical frames 9 connected between the bottom frame 10 and the top frame 3; the bottom of the bottom frame 10 is provided with a plurality of moving wheels 11, the moving wheels 11 are provided with wheel fixing switches 12, the moving wheels 11 can be moved by turning on the wheel fixing switches 12, and the moving wheels 11 are locked against movement by turning off the wheel fixing switches 12, so that the entire test bench can be fixed above, removed from and moved back to above the simulated sediment units.
The test bed is formed by fixedly connecting approximately square steel pipes by using bolts and screws; the bottom frame 10 at one side of the test bed is left empty;
4. the simulated crawler device comprises a simulated crawler unit 15 and a three-component force sensor 16; the simulated crawler unit 15 consists of a crawler shoe and a single crawler tooth; the simulated track unit 15 and the three-component force sensor 16 are connected through a guide rod and a bolt.
The simulated track unit 15 is composed of a track shoe and a single grouser. The trisection force sensor 16 can record the force magnitude of the simulated track unit 15 in the X direction, the Y direction and the Z direction and transmit the data to the connected computer. The simulated crawler unit 15 and the three-component force sensor 16 are connected through a guide rod and a bolt, so that the simulated crawler unit 15 can be conveniently and quickly detached and replaced.
5. The horizontal movement mechanism includes: a first horizontal guide rail 5, a second horizontal guide rail 27, a horizontal rotating rod 4, two rotors 6, a first motion controller 7, a first driving motor 8, a third horizontal guide rail 29, a second motion controller 13 and a second driving motor 14;
the first horizontal guide rail 5 and the second horizontal guide rail 27 are bolted to opposite sides of the top frame 3; two ends of the horizontal rotating rod 4 are respectively and rotatably connected with one end of the first horizontal guide rail 5 and one end of the second horizontal guide rail 27 at the same side through a rotor 6; the two ends of the third horizontal guide rail 29 are respectively erected on the first horizontal guide rail 5 and the second horizontal guide rail 27 and can move on the horizontal plane along the directions of the first horizontal guide rail 5 and the second horizontal guide rail 27; the first driving motor 8 is connected with the first motion controller 7 and is in transmission connection with the horizontal rotating rod 4; the horizontal rotating rod 4 is in transmission connection with a third horizontal guide rail 29;
the vertical movement mechanism is movably arranged on a third horizontal guide rail 29 along the third horizontal guide rail 29 through a rotary movement mechanism, and the simulated crawler device is connected with the vertical movement mechanism; the second driving motor 14 is connected with the second motion controller 13 and is in transmission connection with the rotary motion mechanism.
6. The rotary motion mechanism comprises a rotary part 25, two rotary blocks 35, a rotation angle sensor 39, a first load platform 36, a plurality of first load blocks 37 and a first load block fixture block 38;
the bottom of the first load platform 36 is arranged on the third horizontal guide rail 29 and is in transmission connection with the second driving motor 14; both sides of the rotating member 25 are rotatably connected to one end of a first weight table 36 through a rotating block 35, the rotating member 25 can rotate clockwise (front view) around the rotating block 35 from a vertical position, and a first weight block 38 is fixed to the other end of the first weight table 36; the middle part of the rotation angle sensor 39 is connected to the bottom of the first loading platform 36; one ends of the rotating member 25 and the rotation angle sensor 39 are connected with a vertical movement mechanism; the first weight 37 is provided with a first through groove and is clamped on the first weight clamping block 38 through the first through groove. Also, the first weight 37 can be removed from the first weight platform 36 or replaced with a weight of a different weight. The addition of first weight 37 increases the stability of the device when rotated.
7. The vertical movement mechanism comprises an upper fixing part 26, a lower fixing part 24, a clamping part 23, a second load platform 17, a plurality of second weight blocks 18, a plurality of second weight blocks 19, a stress block 20, a third driving motor 22, a hook 21, a main guide rod 31, an auxiliary guide rod 28, a thrust rod 40, a fixed pulley 30, a cable 32, a cable key 33 and a cable device 34;
the main guide rod 31 is a solid cylindrical metal rod and sequentially penetrates through the upper fixing piece 26, the lower fixing piece 24, the clamping piece 23, the stress block 20 and the second load table 17 from top to bottom, and the main guide rod 31 can move relative to the upper fixing piece 26 and the lower fixing piece 24; the lower end of the main guide rod 31 is connected with the upper end of the three-component force sensor 16 through a bolt;
the auxiliary guide rod 28 comprises an upright rod and a loop bar, and the bottom of the upright rod is connected with the top of the loop bar through a bolt; the top of the vertical rod is provided with a fixed pulley 30; the sleeve rod is sleeved outside the thrust rod 40, and the tail end of the thrust rod 40 extends out of the sleeve rod; the loop bar sequentially passes through and is connected with the upper fixing piece 26, the rotating piece 25 and the lower fixing piece 24 from top to bottom; the bottom of the loop bar is fixedly connected with the top of the third driving motor 22 through a bolt; the thrust rod 40 passes through the third driving motor 22 and is driven by the third driving motor 22; the tail end of the thrust rod 40 is matched with the stress block 20 in a pushing mode; the stress block 20 is a flat triangular prism with circular arc side edges and is screwed on the main guide rod 31;
the clamping piece 23 is fixed with the lower fixing piece 24 through bolts; the clamp 23 is used for locking and unlocking the main leader 31;
the clamping member 23 is a square with a hole opened with a switch, and the main leader 31 passes through the hole. The upper surface of the clamping member 23 and the bottom surface of the lower fixing member 24 are fixed by screw bolts. When the switch is open, the main leader 31 can freely move along the grip 23. When the switch is closed, no relative movement is possible between the main leader 31 and the clamping member 23. All switches should be open before the vertical movement starts and closed after the vertical movement ends.
The upper fixture 26 includes two cubes with two holes. The main guide bar 31 and the sub guide bar 28 pass through the two holes, respectively. The two cubes are fixedly connected through bolts and nuts, so that the main guide rod 31 and the auxiliary guide rod 28 are sleeved by the upper fixing piece 26. The lower fixture 24 includes two square bodies with two holes. The main guide bar 31 and the sub guide bar 28 pass through the two holes, respectively. The two cubes are fixedly connected through bolts and nuts, so that the main guide rod 31 and the auxiliary guide rod 28 are sleeved with the lower fixing piece 24. The existence of the upper fixing part 26 and the lower fixing part 24 enables the main guide rod 31 and the auxiliary guide rod 28 which are not connected originally to move horizontally and rotationally together, and the stability of the whole device is improved, so that the conditions of shaking and the like of the two rods in the moving process can be effectively prevented.
The second weight loading platforms 17 are uniformly distributed and fixedly connected with second weight loading fixture blocks 18; the second weight bearing block 19 is provided with a second through groove and is clamped on the second weight bearing block clamping block 18 through the second through groove; at the same time, the second weight 19 can also be removed from the second weight platform 17 or replaced with a different weight, thereby providing different load conditions.
The cable device 34 is fixed on the rotating member 25, and the cable device 34 comprises a cable box and a wheel disc arranged in the cable box; the cable 32 is a steel cable and is wound on the wheel disc, and the end part of the cable 32 is wound around the fixed pulley 30 and is connected with the hook 21; the hook 21 is connected with the stress block 20 and is a vertical steel round hole connected on the stress block 20; a cable key 33 is provided to the cable box for locking and unlocking the cable 32.
In this embodiment, the cable key 33 is a flat metal key that passes through the upper surface of the cable box and is inserted into an upper opening in the interior of the cable box. The cable key 33 is inserted into one end of the cable box and is half-fixed inside the cable box using a bolt.
The cable key 33 has two positions of vertical and inclined for left and right shifting. When the cable key 33 is in the vertical position, the cable 32 in the cable box is fixed and cannot move freely. So that the hook 21 of the force-receiving block 20 receives a vertically upward pulling force, so that the force-receiving block 20 and the connected main leader 31 and the analog crawler can be fixed in the vertical direction. When the cable key 33 is moved to the inclined position, the cable 32 in the cable box is no longer fixed and can move freely. If the switch on the clamp 23 is turned on at this time, the force for fixing the crawler attachment simulator in the vertical direction is eliminated, and the main leader 31 and the crawler attachment simulator connected thereto are subjected to free fall movement.
When the third driving motor 22 is not operated, the thrust rod 40 may be constrained by the internal structure of the third driving motor 22 such that the thrust rod 40 cannot move freely. After receiving the motion instruction information, the third driving motor 22 may drive the thrust rod 40 to move downward, and when the thrust rod 40 abuts against the force receiving block 20, the force receiving block 20 may transmit the force on the thrust rod 40 to the main guide rod 31 connected to the force receiving block 20. So that the main leader 31 and its attached analog crawler and the like can move vertically downward together.
The embodiment of the invention is obtained by processing and analyzing data signals obtained by a trisection force sensor 16, a first motion controller 7, a second motion controller 13 and a rotation angle sensor 39 in a data acquisition system and then drawing a force-displacement curve of interaction of a crawler and simulated sediments, including a pressure intensity-subsidence curve, a shear stress-shear displacement curve and the like, so that the force-displacement curve is used for analyzing walking performance indexes of the crawler of the deep sea mining vehicle, such as running resistance, driving force, slip rate and the like, and the walking capability of the tracked robot bed surface in the deep sea soft soil is evaluated according to the analysis result.
1. Analyzing the running resistance of the crawler when the crawler robot walks based on a pressure intensity-subsidence amount formula:
wherein p is pressure, k c In order to obtain the modulus of cohesive deformation,
is the modulus of internal friction deformation, b is the width of the track plate, n is the deformation index, z is the amount of subsidence, R c For the motion resistance, 1 is the grounding length of the track shoe.
Expressing the total stress condition in the vertical direction as the sum of the stress of each track unit, the normal force F acting on the ith unit on each track ni The pressure per track unit can be calculated by multiplying the area by the pressure:
wherein
As normal pressure,. DELTA.A i Is the area of each track unit, b is the width of the track link, k c For the cohesive deformation modulus of the deposit,
modulus of friction deformation for deposit, Δ z i N is the sediment amount and the sediment deformation index.
2. Analyzing the traction of the caterpillar based on a Wong shearing stress-shearing displacement relational expression applied to soft soil, and calculating to obtain the maximum driving force obtained by shearing the ground by the caterpillar:
wherein τ is shear stress; tau is max Maximum shear stress; k r As residual shear stress tau r With maximum shear stress τ max A ratio; j is the shear displacement; k is w Is the maximum shear stress tau max Corresponding shear displacement when present; f is a crawler driving force; b is the width of the crawler belt; and 1 is the grounding length of the track shoe.
The total stress in the horizontal direction is expressed as the sum of the stress of each track unit, and then the longitudinal shearing force is obtained
Is calculated by multiplying the shear stress by the area of each track unit:
where "sgn" is a sign function,
is a dynamic longitudinal shear displacement, τ max Is the maximum shear stress, K r Is the residual shear stress tau r And τ max Ratio of (A) to (B), K w Is τ max Shear displacement when occurring.
Also, the transverse shearing forces acting on each track unit
The calculation method comprises the following steps:
8. the specific test steps comprise:
(1) the switches of the wheel fixing switches 12 on all the moving wheels 11 are turned on, and the test bed, the motion system and the simulated crawler device and the like which are arranged on the frame are removed along the vacancy of the frame.
Before each movement, it is necessary to make sure that the analog tracked unit 15 is at a height higher than the top of the tank 1. If the simulated track unit 15 is not higher than the top of the water tank 1, the switch of the clamping member 23 is turned on, the cable key 33 is turned to the inclined position, and the main guide rod 31 and the simulated track device connected to the main guide rod 31 are lifted upwards until the simulated track unit 15 is higher than the top of the water tank 1. The switch of the clamp 23 is then closed, the cable key 33 is pulled back to the vertical position, the device is fixed and moved again.
Therefore, when subsequent operations are carried out in the water tank 1 and the sediment tank 2, the periphery of the water tank 1 and the sediment tank 2 is not shielded. The operations of filling and cleaning sediment and water, disassembling the baffle plate in the sediment tank 2, arranging the terrain, installing the disturbance observation device and the like become very convenient and fast.
(2) Simulated seafloor sediment is added to the sediment tank 2 and a simulated sediment surface is produced according to the test requirements. The different simulated surface conditions may include: different terrain conditions, simulated sediments with different physical and mechanical parameters, different sediment layering conditions and the like.
The detachable partition plates are additionally arranged in the deposit box, the whole deposit box 2 can be divided into six parts (2 x 3) by the partition plates, and the interaction relation test of the crawler belt and the deposit under multiple working conditions can be realized in one test, so that the terrain conditions such as the unevenness of the actual seabed surface, the gradient of the seabed surface and the like during the running of the mining vehicle can be better reduced.
The probe of the turbidimeter is placed in the flow field, so that the situation of plume and the like generated by suspension of simulated sediments disturbed by the simulated crawler unit 15 in the flow field can be observed through instrument equipment while the mutual coupling test of the flow field-sediment-crawler is carried out, the damage situation of the mining vehicle to the seabed ecological environment in the walking process can be better analyzed, and a test basis is provided for designing and manufacturing the mining vehicle meeting the low-damage and low-disturbance requirements in the future.
(3) After the simulated sediment is placed in the sediment tank 2, the simulated seawater can be added into the gap between the water tank 1 and the sediment tank 2 until the simulated sediment is submerged for a certain height. If only the interaction relation between the crawler belt and the sediment is researched, simulated seawater does not need to be added. Therefore, the flow field can be added on the basis of the track and the sediment, and the mutual coupling effect among the flow field, the sediment and the track is researched.
(4) After the operations related to the water tank 1 and the sediment tank 2 are finished, the test bed which is removed previously, the motion system and the simulated track unit 15 which are arranged on the frame and the like are moved back to the upper parts of the water tank 1 and the sediment tank 2, and the whole device is fixed by closing the wheel fixing switches 12 on all the moving wheels 11. Subsequent experimental investigations can then be started.
(5) Before the test, whether the places of the test device, which should be fixedly connected, are close enough or not and whether the parts which should move freely relative to each other have enough lubrication or not needs to be confirmed, so that the test result deviation caused by factors such as self resistance and instability of the test device is reduced to the maximum extent.
(6) The interaction relationship between the simulated track unit 15 and the sediment in the horizontal shearing motion is studied:
the switch of the clamping member 23 is opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are slowly released until the grousers completely go into the simulated sediment. The switch of the gripper 23 is then closed and the cable key 33 is toggled to the vertical position, which prevents the simulated track from moving in the vertical direction during horizontal movement, thus reducing the disturbance of the test.
When the first motion controller 7 sends command information according to the test requirements, the first driving motor 8 connected with the first motion controller starts to work, and the horizontal rotating rod 4 and the rotor 6 are driven to rotate, so that the third horizontal guide rail 29 and the simulated crawler device connected with the third horizontal guide rail 29 move along the first horizontal guide rail 5 and the second horizontal guide rail 27 in the horizontal plane at a specified speed and acceleration.
According to the requirement of the test, the second motion controller 13 is sent with a command message, and the second driving motor 14 connected with the second motion controller starts to work to drive the guide rod and the rotor 6 in the third horizontal guide rail 29 to rotate, so that the simulated crawler device connected with the third horizontal guide rail 29 moves at a specified speed and acceleration along the direction of the third horizontal guide rail 29 in the horizontal plane.
According to the test requirements, command information can be sent to the first motion controller 7 and the second motion controller 13 at the same time, so that the simulated crawler device can not only carry out the motion of a path in the x direction or the y direction independently, but also carry out the motion of a compound track in the x direction and the y direction, such as an arc. On the basis, the simulated crawler device can also move along a complex path consisting of circular arcs and straight lines.
Therefore, a series of different horizontal movement working conditions can be set for the simulated crawler device, so that the situations of straight line walking, turning walking, arc walking, straight line lane changing, straight line turning around and other composite line walking, which can be met by the crawler type heavy-load mining vehicle in actual walking, can be better reduced. Under the condition of keeping other working conditions unchanged, the interaction relation between the crawler belt and the sediment under different horizontal movement working conditions can be better researched.
During the horizontal shearing movement, the first movement controller 7 and the second movement controller 13 can store and transmit the movement information of the simulated track unit to the computer, and the three-component force sensor 16 can collect and transmit the stress condition of the simulated track unit 15 to the computer.
After the horizontal shearing movement and the data acquisition are finished, the switch of the clamping piece 23 can be opened, the cable key 33 is shifted to the inclined position, and the main guide rod 31 and the simulated crawler device connected to the main guide rod 31 are lifted to a certain height. The switch of the clamp 23 is then closed, the cable key 33 is pulled back to the vertical position, and the device is secured. And then sends command information to the first motion controller 7 and the second motion controller 13 to move the apparatus back to the initial position.
(7) The interaction relationship research of simulating the track unit 15 and the sediment in the vertical indentation motion is as follows:
the switch of the clamping member 23 is turned on, the cable key 33 is turned to the inclined position, the main leader 31 and the simulated crawler attachment connected to the main leader 31 are slowly released until the grouser just contacts the surface of the simulated deposit, and then the switch of the clamping member 23 is turned off to fix the attachment.
According to the test requirement, a second weight 19 with the specified specification and number is added to the second weight clamping block 18 on the second weight platform 17. To maintain the balance of the device, the second weight elements 19 are typically zero or two or four in opposing positions. When four are added, two at opposite positions should weigh the same.
According to the test requirement, command information is sent to the third driving motor 22 to drive the thrust rod 40 connected with the third driving motor to move downwards. After the thrust rod 40 is pressed against the stressed block 20, the switch of the clamping part 23 is turned on, and the main guide rod 31 and the simulated crawler device connected to the main guide rod 31 can perform vertical and downward indentation movement on the simulated sediment according to the designated speed and acceleration.
Therefore, a series of different vertical movement working conditions can be set for the simulated crawler device, and the vertical subsidence condition of the crawler type heavy-load mining vehicle when the vehicle is still can be better restored. Under the condition that other working conditions are kept unchanged, the interaction relation between the crawler and the sediments under different working conditions of vertical subsidence movement can be better researched.
During the vertical indentation movement, the third driving motor 22 can store and transmit the movement information of the simulated crawler unit to the computer, and the three-component force sensor 16 collects and transmits the stress condition of the simulated crawler unit 15 to the computer.
After the vertical indentation movement and the data acquisition are finished, all the second weight blocks 19 are taken down from the second weight block blocks 18 on the second weight platform 17, and then the main guide rod 31 and the simulated crawler device connected to the main guide rod 31 are lifted to a certain height. The switch of the clamp 23 is then closed, the cable key 33 is pulled back to the vertical position, and the device is secured.
(8) The interaction relationship research of the simulation crawler belt unit 15 and the sediment in the free-falling body movement in the vertical direction is as follows:
the switch of the clamp 23 is opened, the cable key 33 is toggled to the inclined position, the main leader 31 and the simulated crawler attachment attached to the main leader 31 are moved to the desired height, and then the cable key 33 is toggled back to the vertical position to secure the attachment.
According to the test requirement, a second weight block 19 with the specified specification and number is added to a second weight block 18 on a second weight table 17. To maintain balance of the device, the second weight 19 is typically zero plus or two or four in opposite positions. When four are added, two at opposite positions should weigh the same.
The cable key 33 is again indexed to the inclined position, at which time the main leader 31 and its attached simulated crawler, etc. are free to fall through the simulated sediment.
By setting different initial heights, the free-falling body movement working condition can be set for the simulated crawler device, so that the vertical subsidence condition and the impact condition of the crawler type heavy-load mining vehicle when the cloth is placed and falls can be better reduced. Under the condition of keeping other working conditions unchanged, the interaction relation between the track and the sediment under different working conditions of free-fall movement can be researched.
The three-component force sensor 16 on the simulated crawler unit collects the stress condition of the simulated crawler unit 15 in the free falling and landing process and transmits the stress condition to the computer.
After the free fall movement and the data acquisition are finished, all the second weight carriers 19 are taken down from the second weight carrier blocks 18 on the second weight carrier 17, and then the main guide rod 31 and the simulated crawler device connected to the main guide rod 31 can be lifted to a certain height. The switch of the clamp 23 is then closed, pulling the cable key 33 back to the vertical position, securing the device.
(9) The interaction relation research of the track unit 15 and the sediment under the condition of the compression-shear coupling is simulated:
the switch of the clamping member 23 is opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are slowly released until the grousers just contact the surface of the simulated deposit. The switch of the clamp 23 is then closed, fixing the device.
According to the test requirement, a second weight 19 with the specified specification and number is added to the second weight clamping block 18 on the second weight platform 17. To maintain the balance of the device, the second weight elements 19 are typically zero or two or four in opposing positions. When four are added, two at opposite positions should weigh the same.
And when the switch of the clamping part 23 is turned on and command information is sent to the first motion controller 7 and the second motion controller 13 according to test requirements, the simulated crawler device can perform horizontal shearing motion and simultaneously bear a fixed vertical load in the vertical direction.
Therefore, a series of different compression-shear coupling motion working conditions can be set for the simulated crawler device. Under the condition that other working conditions are kept unchanged, the interaction relation between the track and the sediment under different compression-shear coupling conditions can be researched.
During the press-shear coupling movement, the first movement controller 7 and the second movement controller 13 can store and transmit the movement information of the simulated crawler unit to the computer, and the three-component force sensor 16 can collect and transmit the stress condition of the simulated crawler unit 15 to the computer.
After the press-shear coupling movement and the data acquisition are finished, all the second weight blocks 19 are removed from the second weight block 18 on the second weight table 17. The switch of the clamp 23 is then opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are raised back to a certain height. The switch of the clamp 23 is then closed, the cable key 33 is pulled back to the vertical position, and the device is secured. And then sends command information to the first motion controller 7 and the second motion controller 13 to move the apparatus back to the initial position.
Research on interaction relation between crawler belt unit 15 and sediment in oblique shearing motion at r:
the switch of the clamping member 23 is opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are slowly released until the grousers just contact the surface of the simulated deposit. The switch of the clamp 23 is then closed, fixing the device.
According to the test requirement, a second weight 19 with the specified specification and number is added to the second weight clamping block 18 on the second weight platform 17. In order to maintain the balance of the device, the second weight elements 19 are typically zero or two or four in opposite positions. When four are added, two at opposite positions should weigh the same.
According to the test requirement, command information is sent to the third driving motor 22 to drive the thrust rod 40 connected with the third driving motor to move downwards. After the thrust rod 40 abuts against the stressed block 20, the switch of the clamping part 23 is turned on, and meanwhile, command information is sent to the first motion controller 7 and the second motion controller 13 according to test requirements, so that the oblique shearing motion which can be simultaneously carried out by the horizontal shearing motion and the vertical indentation motion of the crawler belt device can be simulated.
Therefore, a series of different oblique shearing movement working conditions can be set for the simulated crawler device, so that the condition that seabed sediments are simultaneously subjected to dynamic loads in the horizontal direction and the vertical direction during actual walking of the crawler type heavy-load mining vehicle is better reduced. Under the condition that other working conditions are kept unchanged, the interaction relation between the crawler and the sediments under different working conditions of the oblique shearing motion can be researched.
During the horizontal shearing movement, the first movement controller 7 and the second movement controller 13 can store and transmit the movement information of the simulated crawler device into the computer, during the vertical indentation movement, the third driving motor 22 can store and transmit the movement information of the simulated crawler device into the computer, and the three-component force sensor 16 can collect and transmit the stress condition of the simulated crawler unit 15 into the computer.
After the oblique shearing movement and the data acquisition are finished, all the second weight loading blocks 19 are taken down from the second weight loading block 18 on the second weight loading platform 17. The switch of the clamp 23 is then opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are raised back to a certain height. The switch of the clamp 23 is then closed, the cable key 33 is pulled back to the vertical position, and the device is secured. And then sends command information to the first motion controller 7 and the second motion controller 13 to move the apparatus back to the initial position.
the switch of the clamping member 23 is opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are slowly released until the grousers just contact the surface of the simulated deposit. The switch of the clamp 23 is then closed, fixing the device.
According to the test requirement, a second weight block 19 with the specified specification and number is added to a second weight block 18 on a second weight table 17. To maintain balance of the device, the second weight 19 is typically zero plus or two or four in opposite positions. When four are added, two at opposite positions should weigh the same.
According to the test requirement, command information is sent to the third driving motor 22 to drive the thrust rod 40 connected with the third driving motor to move downwards. After the thrust rod 40 is pressed against the stressed block 20, the switch of the clamping piece 23 is opened, and the main guide rod 31 and the simulation crawler device connected to the main guide rod 31 can perform vertical downward indentation movement on the simulation sediment. When the simulated crawler is sunk to a designated depth, the third drive motor 22 is stopped and the switch of the clamping member 23 is closed, and the cable key 33 is pulled back to the vertical position to fix the device.
According to the test requirement, the third driving motor 22 is sent with the rotating motion command information to drive the auxiliary guide rod 28 connected with the third driving motor and the rotating member 25 connected with the auxiliary guide rod 28 to rotate around the rotating block 35 fixed on the first loading platform 36 from the vertical position clockwise (front view). The main leader 31 and the simulated crawler attachment connected to the main leader 31 are relatively fixed to the sub leader 28 by the upper fixing member 26, the lower fixing member 24 and the switch-off clamp member 23, so that they can be rotated clockwise (in front view) at a prescribed angular velocity and angular acceleration from the vertical position by a prescribed angle together with the sub leader 28 around the rotating block 35 fixed to the first load table 36.
By selecting different initial sinking depths and angles, angular velocities and angular accelerations of rotary motion, a series of different rotary shearing motion working conditions can be set for the simulated crawler device, so that the interaction conditions between the crawler units at the fore end and the aft end of the crawler and submarine sediments in the actual walking of the crawler type heavy-duty mining vehicle can be better restored. Under the condition of keeping other working conditions unchanged, the interaction relation between the track and the sediment under different working conditions of rotary shearing movement can be researched.
During the rotating and shearing movement, the rotating angle sensor 39 can store and transmit the rotating movement information of the simulated crawler device to the computer, and the three-component force sensor 16 can collect and transmit the stress condition of the simulated crawler unit 15 to the computer.
After the rotational shearing movement and the data acquisition are finished, all the second weight blocks 19 are removed from the second weight block 18 on the second weight table 17. The switch of the clamp 23 is then opened, the cable key 33 is moved to the inclined position, and the main leader 31 and the simulated crawler attached to the main leader 31 are raised back to one end height so as to avoid the device from still interacting with the sediment when it is rotated back to the initial position. The switch of the clamp 23 is then closed, the cable key 33 is pulled back to the vertical position, and the device is secured. A rotation command is then sent to the third drive motor 22 to rotate the device motion back to the vertical position.
the test apparatus was designed to test a crawler shoe with one grouser as the simulated crawler unit 15 to study the interaction relationship between the individual crawler units and the sediment. Because the simulated track units 15 are bolted to the connecting rods, different simulated track units 15 can be replaced to be tested conveniently and quickly before each test is started.
By designing and manufacturing the simulated track units 15 of different track shoe sizes and different grouser heights, thicknesses and shapes, a series of different track shape and size working conditions can be set for the simulated track device. Under the condition that other working conditions are kept unchanged, the interaction relation between the crawler belt and the sediments under different crawler belt working conditions can be researched.
the test apparatus was designed with a second load bed 17. The second weight 19 may be secured to the second weight platform 17 for movement with the main guide rod 31 by the cooperation of the second weight block 18 through the slot in the indentation. Second weight 19 also facilitates quick and easy removal from second weight platform 17 and replacement of weights of different weights.
By additionally arranging the second weight blocks 19 with different total weights on the weight bearing table and loading and unloading the second weight blocks 19 in the movement process, a series of different loading working conditions can be set for the simulated crawler device, and the actual condition of the crawler type heavy-load mining vehicle in the walking process and the self-loading change condition of the crawler type heavy-load mining vehicle in the operation process can be better restored. Under the condition that other working conditions are kept unchanged, the interaction relation between the crawler belt and the sediments under different loading working conditions can be researched.
The application is finished and realizes normal debugging of the device.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (7)
1. The utility model provides a be applied to deep sea mining vehicle's track soil interaction test device which characterized in that includes: the device comprises a test bench, a sediment simulating unit, a simulated crawler belt device, a horizontal movement mechanism, a vertical movement mechanism and a rotary movement mechanism, wherein the test bench is arranged on the test bench; the simulated sediment unit is placed at the bottom of the test bed, and the simulated crawler device is arranged at the lower part of the test bed and is in transmission connection with the horizontal movement mechanism, the vertical movement mechanism and the rotary movement mechanism.
2. The crawler soil interaction test device for deep sea mining vehicles according to claim 1, wherein the sediment simulating unit comprises a sediment tank (2) and a water tank (1); the sediment tank (2) is arranged in the water tank (1) and keeps a gap in the water tank (1); the sediment tank (2) is connected with the water tank (1) through a steel cable; a plurality of clapboards are detachably connected in the sediment box (2), and the clapboards divide the sediment box (2) into a plurality of areas.
3. The crawler soil interaction test device for deep sea mining vehicles according to claim 2, wherein the test rig comprises a bottom frame (10), a top frame (3) and a plurality of vertical frames (9) connected between the bottom frame (10) and the top frame (3); a plurality of moving wheels (11) are installed at the bottom of the bottom frame (10), and the moving wheels (11) are provided with wheel fixing switches (12).
4. The deep sea mining vehicle applied track soil interaction test device according to claim 3, characterized in that the simulated track means comprises a simulated track unit (15) and a three-component force sensor (16); the simulated track unit (15) consists of a track shoe and a single crawler tooth; the simulated crawler unit (15) is connected with the three-component force sensor (16) through a guide rod through a bolt.
5. The deep sea mining vehicle applied track soil interaction test device of claim 4, wherein the horizontal movement mechanism comprises: a first horizontal guide rail (5), a second horizontal guide rail (27), a horizontal rotating rod (4), two rotors (6), a first motion controller (7), a first driving motor (8), a third horizontal guide rail (29), a second motion controller (13) and a second driving motor (14);
the first horizontal guide rail (5) and the second horizontal guide rail (27) are connected to two opposite sides of the top frame (3) through bolts; two ends of the horizontal rotating rod (4) are respectively and rotatably connected to one end of the first horizontal guide rail (5) and one end of the second horizontal guide rail (27) at the same side through the rotor (6); two ends of the third horizontal guide rail (29) are respectively erected on the first horizontal guide rail (5) and the second horizontal guide rail (27); the first driving motor (8) is connected with the first motion controller (7) and is in transmission connection with the horizontal rotating rod (4); the horizontal rotating rod (4) is in transmission connection with the third horizontal guide rail (29);
the vertical movement mechanism is movably mounted on the third horizontal guide rail (29) along the third horizontal guide rail (29) through the rotary movement mechanism, and the simulated track device is connected to the vertical movement mechanism; the second driving motor (14) is connected with the second motion controller (13) and is in transmission connection with the rotary motion mechanism.
6. The deep sea mining vehicle applied crawler soil interaction test device according to claim 5, wherein the rotary motion mechanism comprises a rotary member (25), two rotary blocks (35), a rotation angle sensor (39), a first weight block (36), a plurality of first weight blocks (37) and a first weight block (38);
the bottom of the first load platform (36) is arranged on the third horizontal guide rail (29) and is in transmission connection with the second driving motor (14); two sides of the rotating piece (25) are rotatably connected to one end of the first load bearing table (36) through the rotating block (35), and the other end of the first load bearing table (36) is fixed with the first load bearing block (38); the middle part of the rotation angle sensor (39) is connected to the bottom of the first loading platform (36); one end of the rotating piece (25) and one end of the rotating angle sensor (39) are connected with the vertical movement mechanism; the first weight block (37) is provided with a first through groove and clamped on the first weight block clamping block (38) through the first through groove.
7. The deep sea mining vehicle track soil interaction test device as claimed in claim 6, wherein the vertical movement mechanism comprises an upper fixing member (26), a lower fixing member (24), a clamping member (23), a second weight bearing table (17), a plurality of second weight bearing block blocks (18), a plurality of second weight bearing blocks (19), a stress block (20), a third driving motor (22), a hook (21), a main guide rod (31), an auxiliary guide rod (28), a thrust rod (40), a fixed pulley (30), a cable (32), a cable key (33) and a cable device (34);
the main guide rod (31) sequentially passes through the upper fixing piece (26), the lower fixing piece (24), the clamping piece (23), the stress block (20) and the second load bearing platform (17) from top to bottom, and the main guide rod (31) can move relative to the upper fixing piece (26) and the lower fixing piece (24); the lower end of the main guide rod (31) is connected with the upper end of the three-component force sensor (16) through a bolt;
the auxiliary guide rod (28) comprises an upright rod and a loop bar, and the bottom of the upright rod is connected with the top of the loop bar through a bolt; the top of the upright stanchion is provided with the fixed pulley (30); the sleeve rod is sleeved outside the thrust rod (40), and the tail end of the thrust rod (40) extends out of the sleeve rod; the loop bar sequentially penetrates through the upper fixing piece (26), the rotating piece (25) and the lower fixing piece (24) from top to bottom; the bottom of the loop bar is fixedly connected with the top of the third driving motor (22) through a bolt; the thrust rod (40) penetrates through the third driving motor (22) and is driven by the third driving motor (22); the tail end of the thrust rod (40) is matched with the stressed block (20) in a pushing mode; the stress block (20) is in a triangular prism shape and is in threaded connection with the main guide rod (31);
the clamping piece (23) is fixed with the lower fixing piece (24) through bolts; the clamping piece (23) is used for locking and unlocking the main guide rod (31);
the second weight loading platforms (17) are uniformly distributed and fixedly connected with second weight loading clamping blocks (18); the second weight block (19) is provided with a second through groove and is clamped on the second weight block clamping block (18) through the second through groove;
the cable device (34) is fixed on the rotating piece (25), and the cable device (34) comprises a cable box and a wheel disc arranged in the cable box; the cable (32) is wound and connected on the wheel disc, and the end part of the cable (32) is wound around the fixed pulley (30) and connected with the hook (21); the hook (21) is connected to the stress block (20); the cable key (33) is provided to the cable box for locking and unlocking the cable (32).
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