CN207045645U - Undersea mining chassis and undersea mining car - Google Patents
Undersea mining chassis and undersea mining car Download PDFInfo
- Publication number
- CN207045645U CN207045645U CN201720898300.5U CN201720898300U CN207045645U CN 207045645 U CN207045645 U CN 207045645U CN 201720898300 U CN201720898300 U CN 201720898300U CN 207045645 U CN207045645 U CN 207045645U
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- creeper undercarriage
- chassis
- undersea mining
- bar
- control system
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Abstract
It the utility model is related to a kind of undersea mining chassis and undersea mining car.Mining chassis includes electric drive formula creeper undercarriage, hitch, sole and chassis control system, electric drive formula creeper undercarriage has four, it is separately mounted on four hitches, electric drive formula creeper undercarriage is arranged on by track frame on the bearing bar of corresponding hitch, bearing bar is connected by nut and screw mandrel with turning-bar, the inner of turning-bar is connected by sliding bearing with the hangoff receptacle of sole, and the chassis control system installed on sole includes electronics storehouse, acoustic marker and Inertial Navigation Unit.When undersea mining car in the process of running, the data that chassis control system gathers according to sensor are calculated adjusts each creeper undercarriage in real time, can be with separately adjustable each creeper undercarriage height, mining vehicle is set to be maintained at balance in the process of walking, the landform adaptability and obstacle climbing ability of mining vehicle are improved, is suitable for complicated environments such as subsea.
Description
Technical field
It the utility model is related to undersea mining technology field, more particularly to a kind of undersea mining chassis and undersea mining
Car.
Background technology
With the increasingly depleted of landing field mineral resources, marine resources are increasingly paid attention to by various countries, and China proposes " dimension
The grand blueprint of shield maritime rights and interests, construction ocean power ", builds and develops China's marine cause.There is a large amount of in ocean
Living resources and mineral resources.Seabed main Mineral Resources mainly have Polymetallic sulphide, polymetallic nodules and cobalt bearing crust
Shell.These resources are explored for countries in the world particularly western developed country and runin is adopted.Opened from " eight or five " in China
Beginning develops to undersea mining car, completes the lake examination of collection mine car, and just sets about being ready for polymetallic nodules mining
The examination of 1000m seas.
At present, undersea mining chassis is fitted using the hydraulic-driven differential steering of double crawler belts, this crawler body landform more
Ability is answered, is unfavorable for the mining of mining vehicle.Simultaneously because using hydraulic-driven, the speed of travel control to crawler belt has tight
The hysteresis of weight, it is unfavorable for the run trace control of mining vehicle.On the other hand, hydraulic-driven is inevitable that hydraulic oil
The phenomenon of leakage, pollution of marine environment, destroy marine ecology balance.
In summary, the hydraulic-driven mining vehicle of double crawler belts is to landform adaptability and obstacle climbing ability difference and hydraulic-driven
The defects of low-response leakiness oily pollution, into the technical problem of those skilled in the art's urgent need to resolve.
Utility model content
Main purpose of the present utility model is to provide a kind of undersea mining chassis and undersea mining car, it is intended to improves sea
The response speed of bottom mining vehicle, while the phenomenon of hydraulic fluid leak is avoided the occurrence of, and improve undersea mining car and landform is adapted to
Ability and obstacle climbing ability.
To achieve these goals, the utility model provides a kind of undersea mining chassis, the undersea mining chassis
Including electric drive formula creeper undercarriage, hitch, sole and chassis control system,
The opposite sides of the sole is provided with four hitches, and each hitch is correspondingly connected with an electricity
Drive formula creeper undercarriage, the electric drive formula creeper undercarriage includes crawler belt, track frame, reduction box and servomotor, described
Crawler belt is arranged on track frame, and the track frame is provided with the driving wheel for being used for driving crawler travel, and the servomotor, which drives, to be driven
Driving wheel is run, and the reduction box is used to control servomotor the speed of service of creeper undercarriage is adjusted,
The hitch bag bearing bar, screw mandrel, guide sleeve, turning-bar, displacement transducer, lifting motor, sliding bearing,
Deflection motor and angular transducer, each creeper undercarriage are arranged on holding for corresponding hitch by its track frame
On weight bar, nut and the screw mandrel coordinated with the nut are provided with the bearing bar, the upper end of the screw mandrel is rotationally pacified
On turning-bar, the guide sleeve is connected between bearing bar and turning-bar and carried out with the elevating movement to creeper undercarriage
It is oriented to；
The both sides of the sole are respectively provided with two hangoff receptacles, and the inner of the turning-bar passes through sliding bearing and sole
Hangoff receptacle be rotatably coupled, institute's displacement sensors and lifting motor are on turning-bar, the lifting motor and screw mandrel
Top connection rotated with drive screw, and drive matched nut to be done together with whole creeper undercarriage by screw mandrel
Elevating movement, institute's displacement sensors are used to measure the adjustable height of creeper undercarriage and feed back to chassis control system；Institute
Angular transducer and deflection motor are stated on sliding bearing, the deflection motor driving sliding bearing turns together with turning-bar
Dynamic, so as to adjust the pivot angle of creeper undercarriage, the angular transducer is used for the pivot angle and feedback for measuring creeper undercarriage
To chassis control system；
The chassis control system includes electronics storehouse and acoustic marker on the sole, the electronics storehouse be used for
Water surface scientific investigation ship realizes communication, and the acoustic marker is used to position undersea mining car, and posture is provided with the electronics storehouse
Sensor, for detecting the overall posture of the undersea mining chassis.
Preferably, the servomotor and the reduction box use integrated design to save installing space.
Preferably, the electric drive formula creeper undercarriage further comprises speed probe, the speed probe installation
On reduction box, for measuring the rotating speed of the servomotor and feeding back to the chassis control system.
Preferably, the chassis control system also includes Inertial Navigation Unit, for the side of measurement mining vehicle walking
Parallactic angle and body speed of vehicle.
Preferably, the chassis control system also includes compensator, for the servomotor and the decelerator
Pressure compensation.
Preferably, motor driver and intelligent controller are installed, the intelligent controller passes through logical in the electronics storehouse
Communication interface is communicated with water surface scientific investigation ship.
Preferably, the attitude transducer is located in the intelligent controller.
To achieve these goals, the utility model also provides a kind of undersea mining car, before the undersea mining car includes
State undersea mining chassis.
Undersea mining chassis and undersea mining car of the present utility model, four cocoas are driven independently to rise using servomotor
Drop and the creeper undercarriage of angle rotation, the fast response time that undersea mining garage is walked, and avoid the occurrence of hydraulic fluid leak
Phenomenon, and each creeper undercarriage work compound does not interfere with each other again so that chassis control flexibility is high, and can
Undersea mining car is improved to landform adaptability and obstacle climbing ability.Chassis control system is by the control to electronics storehouse, with scientific investigation
Ship realizes communication, and realizes the positioning to mining vehicle by acoustic marker, is fed back using angular transducer and displacement transducer
The height and pivot angle of electric drive formula creeper undercarriage are adjusted, realizes the intelligent control to mining vehicle running status.In addition, pass through
The feedback of the speed probe of creeper undercarriage, the speed of travel of creeper undercarriage can be accurately controlled, adopts seabed
Mine car is according to predetermined route.
Brief description of the drawings
Fig. 1 is the structure chart of the embodiment of the utility model undersea mining chassis one；
Fig. 2 is electric the drive formula creeper undercarriage and hitch structure chart of undersea mining chassis shown in Fig. 1.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit the scope of the utility model.
As depicted in figs. 1 and 2, a kind of embodiment of the present utility model is a kind of motor-driven undersea mining car
Chassis, including：Electric drive formula creeper undercarriage 10, hitch 20, sole 30 and chassis control system.Electric drive formula crawler belt
Walking mechanism 10 includes the parts such as crawler belt 11, track frame 12, reduction box 13, servomotor 14 and speed probe 15, wherein,
Crawler belt 11 is arranged on track frame 12, and track frame 12 is provided with the driving wheel 121 for being used for driving crawler belt 11 to walk, the band of servomotor 14
Dynamic driving wheel 121 is run, using the driving creeper undercarriage 10 of servomotor 14, the fast response time that undersea mining garage is walked,
And avoid the occurrence of the phenomenon of hydraulic fluid leak.
Reduction box 13 is used to control servomotor 14 the speed of service of creeper undercarriage 10 is adjusted, and pacifies simultaneously
Speed probe 15 on reduction box 13 can measure to the rotating speed of servomotor 14, and indirect measuring goes out servomotor 14
The speed of travel of the creeper undercarriage 10 driven, preferably speed probe 15 therein, non-contact type tachometric sensor.
By the feedback of the speed probe 15 of creeper undercarriage 10, the walking that can be accurately controlled creeper undercarriage 10 is fast
Degree, makes undersea mining car according to predetermined route.
Above-mentioned electric drive formula creeper undercarriage 10 can be symmetrically distributed in the both sides of sole 30 multiple, and the present embodiment
In preferably have four, then hitch 20 is also correspondingly arranged as four.The bag bearing bar 21 of hitch 20, screw mandrel 22, guide sleeve
23rd, turning-bar 24, displacement transducer 25, lifting motor 26, sliding bearing 27, deflection motor 28 and angular transducer 29.
Each creeper undercarriage 10 is arranged on the bearing bar 21 of corresponding hitch 20 by its track frame 12
On, nut 211 and the screw mandrel 22 coordinated with nut 211 are provided with bearing bar 21, the upper end of screw mandrel 22 is installed in rotation on
On turning-bar 24, guide sleeve 23 is connected between bearing bar 21 and turning-bar 24, when creeper undercarriage 10 moves up and down
It is oriented to.
The both sides of sole 30 are respectively provided with two hangoff receptacles 31, and the inner of turning-bar 24 passes through sliding bearing 27 and sole
30 hangoff receptacle 31 is rotatably coupled, and whole hitch 20 is installed along with together with corresponding creeper undercarriage 10
On sole 30.Wherein, displacement transducer 25 and lifting motor 26 are on turning-bar 24, the top of lifting motor 26 and screw mandrel 22
Portion's connection is rotated with drive screw 22, and drives matched nut 211 together with whole creeper undercarriage 10 by screw mandrel 22
Move up and down together, therefore the height of the i.e. adjustable creeper undercarriage 10 of rotating by controlling lifting motor 26.Position
Displacement sensor 25 can measure the adjustable height of creeper undercarriage 10.
Angular transducer 29 and deflection motor 28 on sliding bearing 27, deflection motor 28 drive sliding bearing 27 together with
Turning-bar 24 rotates together, and so as to adjust the pivot angle of creeper undercarriage 10, angular transducer 29 can measure crawler travel machine
The pivot angle of structure 10.(i.e. displacement transducer 25 and angle pass for two groups of motors (i.e. lifting motor 26 and deflection motor 28) and sensor
Sensor 29) cooperation feedback, the operation conditions of creeper undercarriage 10 can be adjusted in real time, be maintained at creeper undercarriage 10
Balance under different sea situations and advance in a predetermined direction.
Include chassis control system on the sole 30 of motor-driven undersea mining car, pacify in the chassis control system
Equipped with electronics storehouse 321 and acoustic marker 324, motor driver and intelligent controller are installed in electronics storehouse 321.Intelligent controller leads to
Communication interface is crossed to be communicated with water surface scientific investigation ship.Acoustic marker 324 is communicated with scientific investigation ship, for forming acoustics positioning system
System, orient the accurate location of mining vehicle.Preferably, attitude transducer is also equipped with intelligent controller, is adopted for detecting
The overall posture of tramcar chassis.
Each creeper undercarriage 10 of undersea mining chassis can independent-lifting and angle rotation, each crawler travel
The work compound of mechanism 10 does not interfere with each other again so that chassis control flexibility is high, and can improve undersea mining car to landform
Adaptability and obstacle climbing ability.
In a preferred embodiment, Inertial Navigation Unit 322 can be also installed on sole 30 to be used to measure mining vehicle
The parameters such as the azimuth of walking, body speed of vehicle.
In a preferred embodiment, compensator 323 is also equipped with sole 30, for servomotor 14 and is slowed down
The pressure compensation of case 13.
In a preferred embodiment, servomotor 14 and the integrated design of reduction box 13 are to save installing space.
In a preferred embodiment, electric drive formula creeper undercarriage 10 and hitch 20 and sole 30 use steel
Structure.
Another embodiment of the present utility model is a kind of motor-driven undersea mining car, have any of the above or
The undersea mining chassis of structural property of portfolio.
In the present embodiment, the control method of undersea mining car is as follows：
Undersea mining car receives the travel commands that water surface scientific investigation ship host computer is sent, and under the driving of servomotor 14, presses
Cook up the walking path of mining vehicle in advance according to water surface scientific investigation ship, walked in the case of adaptive landform by intended trajectory；
When seabed ground has height to rise and fall, therefore undersea mining car can produce inclination, and the posture in electronics storehouse 321 passes
Sensor can sense inclined angle and direction data, and be fed back with this data combination displacement transducer 25 and angular transducer 29
Information, calculate the adjustable height of each creeper undercarriage 10, by controlling lifting motor 26, control corresponding crawler travel
Mechanism 10 lifts, and makes the basic keep level state of car body.By attitude transducer parameter, each creeper undercarriage is adjusted in real time
10 liftings, make undersea mining car be maintained at certain horizontality in the process of walking, are that the operating system of undersea mining car is made
Industry provides powerful guarantee.In the process of walking, the driving trace by the location finding undersea mining car of acoustic marker 324 and pre- orbit determination
When mark deviates, the deflection motor 28 that the intelligent controller control of chassis control system drives turning-bar 24 to rotate rotates, and adjusts
The angle of whole each creeper undercarriage 10, the trajector deviation of mining vehicle is corrected, realize the TRAJECTORY CONTROL of mining vehicle.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in
Within the scope of shield.
Claims (8)
- A kind of 1. undersea mining chassis, it is characterised in that the undersea mining chassis include electric drive formula creeper undercarriage, Hitch, sole and chassis control system,The opposite sides of the sole is provided with four hitches, and each hitch is correspondingly connected with an electric drive formula Creeper undercarriage, the electric drive formula creeper undercarriage include crawler belt, track frame, reduction box and servomotor, the crawler belt On track frame, the track frame is provided with the driving wheel for being used for driving crawler travel, and the servomotor drives driving wheel Operation, the reduction box are used to control servomotor the speed of service of creeper undercarriage is adjusted,The hitch bag bearing bar, screw mandrel, guide sleeve, turning-bar, displacement transducer, lifting motor, sliding bearing, deflection Motor and angular transducer, each creeper undercarriage are arranged on the bearing bar of corresponding hitch by its track frame On, nut and the screw mandrel coordinated with the nut are provided with the bearing bar, the upper end of the screw mandrel is installed in rotation on On turning-bar, the guide sleeve is connected between bearing bar and turning-bar and led with the elevating movement to creeper undercarriage To；The both sides of the sole are respectively provided with two hangoff receptacles, and the inner of the turning-bar passes through the outstanding of sliding bearing and sole Hanging seat is rotatably coupled, and institute's displacement sensors and lifting motor are on turning-bar, the top of the lifting motor and screw mandrel Portion's connection is rotated with drive screw, and drives matched nut to be lifted together with whole creeper undercarriage by screw mandrel Motion, institute's displacement sensors are used to measure the adjustable height of creeper undercarriage and feed back to chassis control system；The angle Sensor and deflection motor are spent on sliding bearing, the deflection motor driving sliding bearing rotates together with turning-bar, So as to adjust the pivot angle of creeper undercarriage, the angular transducer is used to measure the pivot angle of creeper undercarriage and feeds back to bottom Disk control system；The chassis control system includes electronics storehouse and acoustic marker on the sole, and the electronics storehouse is used for and the water surface Scientific investigation ship realizes communication, and the acoustic marker is used to position undersea mining car, and posture sensing is provided with the electronics storehouse Device, for detecting the overall posture of the undersea mining chassis.
- 2. undersea mining chassis according to claim 1, it is characterised in that the servomotor and the reduction box use Integrated design is to save installing space.
- 3. undersea mining chassis according to claim 1, it is characterised in that the electric drive formula creeper undercarriage is further Including speed probe, the speed probe is arranged on reduction box, and the rotating speed for the measurement servomotor is simultaneously anti- It is fed to the chassis control system.
- 4. undersea mining chassis according to claim 1, it is characterised in that the chassis control system also includes inertia Navigation arrangement, azimuth and body speed of vehicle for measurement mining vehicle walking.
- 5. undersea mining chassis according to claim 1, it is characterised in that the chassis control system also includes compensation Device, for the servomotor and the pressure compensation of the decelerator.
- 6. undersea mining chassis according to claim 1, it is characterised in that be provided with motor driver in the electronics storehouse And intelligent controller, the intelligent controller are communicated by communication interface and water surface scientific investigation ship.
- 7. undersea mining chassis according to claim 6, it is characterised in that the attitude transducer is controlled positioned at the intelligence In device processed.
- 8. a kind of undersea mining car, it is characterised in that the undersea mining car is included such as any one in claim 1 to 7 The undersea mining chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898300.5U CN207045645U (en) | 2017-07-21 | 2017-07-21 | Undersea mining chassis and undersea mining car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898300.5U CN207045645U (en) | 2017-07-21 | 2017-07-21 | Undersea mining chassis and undersea mining car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207045645U true CN207045645U (en) | 2018-02-27 |
Family
ID=61496359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720898300.5U Expired - Fee Related CN207045645U (en) | 2017-07-21 | 2017-07-21 | Undersea mining chassis and undersea mining car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207045645U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521643A (en) * | 2017-07-21 | 2017-12-29 | 长沙矿山研究院有限责任公司 | Undersea mining chassis, undersea mining car and its control method |
| CN112810710A (en) * | 2019-02-25 | 2021-05-18 | 泉州市比邻三维科技有限公司 | 3D printing robot's that conveniently turns to crawler-type running gear |
-
2017
- 2017-07-21 CN CN201720898300.5U patent/CN207045645U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521643A (en) * | 2017-07-21 | 2017-12-29 | 长沙矿山研究院有限责任公司 | Undersea mining chassis, undersea mining car and its control method |
| CN112810710A (en) * | 2019-02-25 | 2021-05-18 | 泉州市比邻三维科技有限公司 | 3D printing robot's that conveniently turns to crawler-type running gear |
| CN112810710B (en) * | 2019-02-25 | 2022-09-06 | 泉州市比邻三维科技有限公司 | 3D printing robot's that conveniently turns to crawler-type running gear |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180227 Termination date: 20190721 |