CN207156869U - A kind of seabed ore gathering vehicle walking chassis - Google Patents
A kind of seabed ore gathering vehicle walking chassis Download PDFInfo
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- CN207156869U CN207156869U CN201721017843.8U CN201721017843U CN207156869U CN 207156869 U CN207156869 U CN 207156869U CN 201721017843 U CN201721017843 U CN 201721017843U CN 207156869 U CN207156869 U CN 207156869U
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- cylinder
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- expansion bracket
- stretching frame
- rear expansion
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Abstract
It the utility model is related to deep-sea mining implement, specifically a kind of seabed ore gathering vehicle walking chassis, one end of front stretching frame and rear expansion bracket is stretched with the front and rear sides of the body respectively to be connected, the front and rear sides of the body are mounted on push cylinder, the piston rod of both sides push cylinder is connected with the front stretching frame and rear expansion bracket respectively, and the front stretching frame and rear expansion bracket are stretched by the driving of the push cylinder；The other end of the front stretching frame and rear expansion bracket is respectively connected with hydraulic Step Cylinder, the piston rod of the hydraulic Step Cylinder is connected with the support piston shoes for occurring skidding in the caterpillar system or support stepping being completed during difficulty in walking, and the driving that the support piston shoes pass through the hydraulic Step Cylinder lifts.The utility model collection crawler travel is combined with support stepping, can adapt to the various complicated landform of deep seafloor, is saved oneself in time when skidding, difficulty in walking occurs in crawler travel, smoothly completes the task of deep seafloor mining.
Description
Technical field
Deep-sea mining implement is the utility model is related to, specifically a kind of seabed ore gathering vehicle walking chassis.
Background technology
As the continuous exhausted and deep-sea detecting of land resources, research deepen continuously, positioned at seabed mineral resources by
The visual field of people is gradually entered into.Have business extraction value known to seabed has polymetallic nodules, cobalt bearing crust, Polymetallic sulphide
Etc. mineral resources.
Wherein, polymetallic nodules preservation is in 4000~6000m of depth of water bottom sediment top layer.Bottom sediment soil bottom
Matter is extremely wished soft, and soil property constantly changes, and shear strength is 1~5kPa, and bearing capacity of soil is far below land.In order to complete
Into the exploitation of polymetallic nodules, the requirement of undersea mining car possesses the ability in seabed walking.Adopted at present in the polymetallic nodules ground
Tramcar chassis, it is essentially all using track structure.Caterpillar chassis is widely used on land, but is applied to
During seabed operation, because bearing capacity of soil is low, soil internal friction angle is small, and crawler body walking is pushed mainly by the shearing of soil
It is dynamic；Once the unexpected step-down of soil anti-shear strength, soil shear destroys during crawler travel, wishing soft substrate makes caterpillar chassis universal
Run into car body depression, crawler belt skids, the even not walking situation of sideslip.These situations once occur, in abyssalbenthic
Crawler body is difficult to save oneself.
Utility model content
In order to when solving that crawler body is walked after soil anti-shear strength step-down soil shear destroy caused by skid or row
The problem of walking difficulty, the purpose of this utility model are to provide a kind of seabed ore gathering vehicle walking chassis.The seabed ore gathering vehicle is walked
Chassis occurs skidding or during difficulty in walking in crawler belt, can start to save oneself.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes body, the track frame installed in body both sides and per the caterpillar system on the track frame of side, also
Including front stretching frame, rear expansion bracket, support piston shoes, push cylinder and hydraulic Step Cylinder, wherein front stretching frame and the one of rear expansion bracket
End is stretched with the front and rear sides of the body respectively to be connected, and the front and rear sides of the body are mounted on push cylinder, both sides push-and-pull
The piston rod of oil cylinder is connected with the front stretching frame and rear expansion bracket respectively, and the front stretching frame and rear expansion bracket pass through the push-and-pull
The driving of oil cylinder is stretched；The other end of the front stretching frame and rear expansion bracket is respectively connected with hydraulic Step Cylinder, the work of the hydraulic Step Cylinder
Stopper rod is connected with the support piston shoes for occurring skidding in the caterpillar system or support stepping being completed during difficulty in walking, the support piston shoes
Lifted by the driving of the hydraulic Step Cylinder；
Wherein：The cylinder barrel of the hydraulic Step Cylinder is hinged with front stretching frame and rear expansion bracket, is stretched in the front stretching frame with after
Support cylinder is mounted on contracting frame, the cylinder barrel of the support cylinder is articulated with front stretching frame or rear expansion bracket, the support oil
The cylinder barrel of the piston rod of cylinder and the hydraulic Step Cylinder is hinged, and the support piston shoes and seabed are adjusted by the driving of support cylinder
The position of ground contact；
The support piston shoes include lower cover, upper lid and bottom plate, and the upper surface of the bottom plate is provided with lower cover, the hydraulic Step Cylinder
Piston rod end is spherical hinge structure, and the spherical hinge structure is wrapped up by the upper lid and lower cover, and the upper lid is connected with lower cover；It is described
Upper lid is respectively equipped with the upper bushing contacted with spherical hinge structure, lower support bushing with the inwall of lower cover；The bottom plate is arc；
The body is hollow structure, provided with cavity, is provided with the cavity and the front stretching frame and rear expansion bracket are slided
The slide rail of dynamic connection, the front and rear sides of the body bottom portion are the seesaw being folded upward at；
The track frame connecting portion for installation track frame is equipped with left and right sides of the body, is divided on the track frame connecting portion
Screwed hole A and keyway A is not provided with；The track frame is hollow structure, and centre is upturned for square, front and rear sides, the shoe
The side that tape holder is connected with the track frame connecting portion is provided with body connecting plate, and screwed hole is had on the body connecting plate
B and keyway B；The screwed hole A, keyway A, screwed hole B and keyway B are fair remaining design；
Dismountable caterpillar chain is equipped with the inside of each creeper tread of the caterpillar system, outside is equipped with dismountable shoe
Thorn, the end surface shape of the grouser is inverted triangle or involute shape；
Hydraulic Step Cylinder, each stepping oil are respectively connected with left and right sides of the left and right sides of the front stretching frame and rear expansion bracket
The piston rod of cylinder is respectively connected with support piston shoes；The front and rear sides upper surface of the body is equipped with cylinder support, the push-and-pull oil
The cylinder barrel of cylinder is articulated with the cylinder support.
The advantages of the utility model is with good effect：
1. the utility model collection crawler travel is combined with support stepping, the various complicated ground of deep seafloor are can adapt to
Shape, saved oneself in time when skidding, difficulty in walking occurs in crawler travel, smoothly complete the task of deep seafloor mining.
2. hydraulic Step Cylinder of the present utility model can be adjusted by the support cylinder being arranged on forward and backward expansion bracket and connect with ground
Tactile position.
3. using hinge support structure between support piston shoes of the present utility model and the piston rod of hydraulic Step Cylinder, can adapt to
Complicated earth surface landforms.
4. the screwed hole and keyway that are designed on the utility model track frame connecting portion and body connecting plate, which use, permits remaining connect
Design is connect, link position can be adjusted according to situation is realized.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is structural front view of the present utility model；
Fig. 3 is structure top view of the present utility model；
Fig. 4 is left view sectional view of the present utility model；
Fig. 5 is the structural representation that the utility model supports piston shoes；
Fig. 6 is the structural representation of the utility model body；
Fig. 7 is the structural representation of the utility model track frame；
Fig. 8 is the dimensional structure diagram of the utility model creeper tread；
Fig. 9 is Fig. 8 structural front view；
Wherein：1 is front stretching frame, and 2 be body, and 201 be cylinder support, and 202 be cavity, and 203 be seesaw, and 204 be crawler belt
Frame connecting portion, 205 be screwed hole A, and 206 be keyway A, and 3 be track frame, and 301 be body connecting plate, and 302 be screwed hole B, and 303 are
Keyway B, 4 be caterpillar system, and 401 be grouser, and 402 be creeper tread, and 403 be caterpillar chain, and 5 be rear expansion bracket, and 6 be support piston shoes,
601 be lower cover, and 602 be lower support bushing, and 603 be upper bushing, and 604 be upper lid, and 605 be bottom plate, and 7 be push cylinder, and 8 be stepping
Oil cylinder, 9 be support cylinder, and 10 be slide rail, and 11 be nodules collector.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1~9, the utility model includes front stretching frame 1, body 2, track frame 3, caterpillar system 4, rear expansion bracket
5th, piston shoes 6, push cylinder 7, hydraulic Step Cylinder 8 and support cylinder 9 are supported, wherein body 2 is hollow structure, provided with cavity 202, is used
In bearing part buoyant material and associated inner facility；Slide rail 10, front stretching frame 1 and rear expansion bracket 5 are installed in cavity 202
One end is telescopically connected by slide rail 10 with the front and rear sides of body 2 respectively；The slide rail 10 of the present embodiment is four, slide rail 10
Form can be existing land slide rail.
The front and rear sides of body 2 are respectively provided with two cylinder supports 201, and being hinged with one on each cylinder support 201 pushes away
Draw oil cylinder 7；That is, the present embodiment is disposed with two pairs of push cylinder 7 altogether, the front and rear sides of body 2 each pair, positioned at the front side of body 2
The cylinder barrels of two push cylinder 7 be hinged on two cylinder supports 201 of the front side of body 2, piston rod is cut with scissors with front stretching frame 1
Connect, the cylinder barrel positioned at two push cylinder 7 of the rear side of body 2 is hinged on two cylinder supports 201 of the rear side of body 2, piston
Bar is be hinged with rear expansion bracket 5.Front stretching frame 1 and rear expansion bracket 5 are stretched by the driving of push cylinder 7.Before the bottom of body 2
Both sides are the seesaw 203 being folded upward at afterwards.
The left and right sides of body 2 is equipped with track frame connecting portion 204, is had on the track frame connecting portion 204 per side
Two row screwed hole A205 and four keyway A206 from top to bottom among two row screwed hole A205, for connecting band track frame 3.
Track frame 3 is hollow structure, for depositing buoyant material and part facility, makes full use of space；Among track frame 3 for it is square,
Front and rear sides are upturned, and the side that the track frame 3 is connected with track frame connecting portion 204 is provided with body connecting plate 301, body
Two row screwed hole B302 and four keyways from top to bottom among two row screwed hole B302 are had on connecting plate 301
B303.Keyway A206, keyway B303, screwed hole A205 and screwed hole B302 of the present utility model is permit remaining design, according to deep-sea
Sedimentary substrate soil difference cohesive force and bearing capacity correspond to different sedimentation depth to adjust conjunction position.Usually often it is placed in and cuts
Position corresponding to shearing stress 1kPa is not involved in running closing when absmal deposit layer substrate bearing capacity of soil is good；Work as soil shear
Intensity decreases when bearing capacity of soil declines, ensure that seesaw 203 contacts with absmal deposit layer substrate soil, improve walking to 1kPa
Recovery support piston shoes soil support force, ensures equipment normal operation during the stepping walking of chassis.
Forward and backward expansion bracket 1,5 shape and structure all sames, one end are telescopically connected with body 2 by slide rail 10 respectively, separately
The left and right sides of one end is hinged with hydraulic Step Cylinder 8, and the piston rod of each hydraulic Step Cylinder 8 is respectively connected with support piston shoes 6.This practicality
The tailpiece of the piston rod of new hydraulic Step Cylinder 8 is spherical hinge structure, the support contact with ground different angle of piston shoes 6 is conveniently adjusted, with suitable
Answer different terrain.Piston shoes 6 are supported to include lower cover 601, lower support bushing 602, upper bushing 603, upper lid 604, bottom plate 605, wherein
Bottom plate 605 is arc, and the upper surface of bottom plate 605 is provided with lower cover 601, and the piston rod end of hydraulic Step Cylinder 8 is spherical hinge structure, should
Spherical hinge structure is wrapped up by upper lid 604 and lower cover 601, and upper lid 604 is respectively equipped with the inwall of lower cover 601 to be contacted with spherical hinge structure
Upper bushing 603, lower support bushing 602.Upper lid 604 is put together on lower cover 601 by bolt.Support piston shoes 6 can use in groups
Stepping is supported, can be also used alone when caterpillar system 4 is walked, be additionally provided driving force.
Support cylinder 9 is equipped with left and right sides of the left and right sides of the other end of front stretching frame 1 and the other end of rear expansion bracket 5,
The cylinder barrel of the support cylinder 9 is hinged on front stretching frame 1 or rear expansion bracket 5, piston rod and the hydraulic Step Cylinder 8 of support cylinder 9
Cylinder barrel is hinged；Hydraulic Step Cylinder 8 is responsible for folding and unfolding, and support cylinder 9 is responsible for the position that adjustment support piston shoes 6 contact with seabed ground.This
The cylinder barrel of the hydraulic Step Cylinder 8 of utility model also can be directly put together on front stretching frame 1 or rear expansion bracket 5, so as to omit support oil
Cylinder 9, simplify the structure of hydraulic Step Cylinder 8.
The utility model caterpillar system 4 is prior art, including thrust wheel, upper track wheel, tensioning wheel, driving wheel etc., crawler belt
It is also prior art that thrust wheel and the facility of upper track wheel are installed on frame 3.The utility model is only improved creeper tread, this practicality
The inner side of each creeper tread 402 in novel crawler system 4 is equipped with dismountable caterpillar chain 403, and outside is equipped with removably
Grouser 401, the end surface shape of the grouser 401 is inverted triangle or involute shape, for adapting to absmal deposit layer jewelry, expensive clothing and other valuables
Soil substrate.
Nodules collector 11 and front stretching frame 1 are arranged together by the utility model, are slided with front stretching frame 1.
Self-rescue method of the present utility model is：
For seabed ore gathering vehicle walking chassis when stepping moves ahead, soil is only that ground pressure caused by car body is conducted oneself with dignity sinks with car body
Problem on a direction is dropped, and is related to ground pressure sedimentation and compound the asking of soil shear displacement both direction during crawler belt advance
Topic.
The utility model can bilateral caterpillar system skid, difficulty in walking when by supporting step-by-step system advance car body,
Can also unilateral or caterpillar system provide volume by transferring one or more of four support piston shoes when locally skidding serious
Outer thrust, makes walking chassis break away from current environment.Specially：
When seabed ore gathering vehicle walking chassis moves ahead in seabed, once the unexpected step-down of soil anti-shear strength, walking chassis are expert at
Soil shear destroys when walking；When the caterpillar system 4 of one or both sides occurs skidding or during difficulty in walking, the push-and-pull of the front side of body 2
The piston rod of oil cylinder 7 stretches out, releases front stretching frame 1, and then front stretching frame 1 is stretched with the piston rod of hydraulic Step Cylinder 8 on rear expansion bracket 5
Go out, while put down the support piston shoes 6 each connected, applying the reaction force of each support piston shoes 6 by seabed ground will walk bottom
Disk is held up upwards, and the piston rod of push cylinder 7 retraction of the front side of body 2, the piston rod of push cylinder 7 of rear side stretch out, and then incite somebody to action this
Body 2 is pulled along.
Then, front stretching frame 1 retracts with the piston rod of hydraulic Step Cylinder 8 on rear expansion bracket 5, puts down body 2, withdraws support cunning
Boots 6, the piston rod of push cylinder 7 of the rear side of body 2 are retracted, rear expansion bracket 5 are pulled along, and complete a circulation.Constantly repeat
Said process, walking chassis is set to complete support stepping；Until in soil anti-shear strength lifting, front stretching frame 1 and rear expansion bracket 5
The piston of hydraulic Step Cylinder 8 is retracted, and shearing soil by the caterpillar system 4 of the both sides of body 2 moves on.
Claims (9)
1. in a kind of seabed ore gathering vehicle walking chassis, including body, the track frame installed in body both sides and every side track frame
Caterpillar system, it is characterised in that：Also include front stretching frame (1), rear expansion bracket (5), support piston shoes (6), push cylinder (7) and step
Enter oil cylinder (8), one end of wherein front stretching frame (1) and rear expansion bracket (5) is stretched with the front and rear sides of the body (2) respectively to be connected
Connect, the front and rear sides of the body (2) are mounted on push cylinder (7), the piston rod of both sides push cylinder (7) respectively with it is described before
Expansion bracket (1) is connected with rear expansion bracket (5), the drive that the front stretching frame (1) and rear expansion bracket (5) pass through the push cylinder (7)
It is dynamic flexible；The other end of the front stretching frame (1) and rear expansion bracket (5) is respectively connected with hydraulic Step Cylinder (8), the hydraulic Step Cylinder (8)
Piston rod be connected with the support piston shoes (6) for occurring skidding in the caterpillar system (4) or support stepping being completed during difficulty in walking,
The support piston shoes (6) are lifted by the driving of the hydraulic Step Cylinder (8).
2. seabed ore gathering vehicle walking chassis according to claim 1, it is characterised in that：The cylinder barrel of the hydraulic Step Cylinder (8)
It is be hinged with front stretching frame (1) and rear expansion bracket (5), support oil is mounted on the front stretching frame (1) and rear expansion bracket (5)
Cylinder (9), the cylinder barrel of the support cylinder (9) are articulated with front stretching frame (1) or rear expansion bracket (5), the work of the support cylinder (9)
Stopper rod and the cylinder barrel of the hydraulic Step Cylinder (8) are hinged, by the driving of support cylinder (9) adjust the support piston shoes (6) with
The position of seabed ground contact.
3. seabed ore gathering vehicle walking chassis according to claim 1, it is characterised in that：Under the support piston shoes (6) include
Lid (601), upper lid (604) and bottom plate (605), the upper surface of the bottom plate (605) are provided with lower cover (601), the hydraulic Step Cylinder (8)
Piston rod end be spherical hinge structure, the spherical hinge structure passes through the upper lid (604) and lower cover (601) wraps up, the upper lid
(604) it is connected with lower cover (601).
4. seabed ore gathering vehicle walking chassis according to claim 3, it is characterised in that：The upper lid (604) and lower cover
(601) inwall is respectively equipped with the upper bushing (603) contacted with spherical hinge structure, lower support bushing (602).
5. seabed ore gathering vehicle walking chassis according to claim 3, it is characterised in that：The bottom plate (605) is arc.
6. seabed ore gathering vehicle walking chassis according to claim 1, it is characterised in that：The body (2) be hollow structure,
Provided with cavity (202), the slide rail being slidably connected with the front stretching frame (1) and rear expansion bracket (5) is installed in the cavity (202)
(10), the front and rear sides of body (2) bottom are the seesaw (203) being folded upward at.
7. seabed ore gathering vehicle walking chassis according to claim 1, it is characterised in that：The left and right sides of the body (2)
The track frame connecting portion (204) for installation track frame (3) is equipped with, screwed hole A is had on the track frame connecting portion (204)
And keyway A (206) (205)；The track frame (3) is hollow structure, and centre is upturned for square, front and rear sides, the shoe
The side that tape holder (3) is connected with the track frame connecting portion (204) is provided with body connecting plate (301), the body connecting plate
(301) screwed hole B (302) and keyway B (303) is had on；The screwed hole A (205), keyway A (206), screwed hole B
(302) and keyway B (303) is fair remaining design.
8. seabed ore gathering vehicle walking chassis according to claim 1, it is characterised in that：The caterpillar system (4) it is each
Dismountable caterpillar chain (403) is equipped with the inside of creeper tread (402), outside is equipped with dismountable grouser (401), the grouser
(401) end surface shape is inverted triangle or involute shape.
9. seabed ore gathering vehicle walking chassis according to claim 1, it is characterised in that：The left and right of the front stretching frame (1)
Hydraulic Step Cylinder (8) is respectively connected with left and right sides of both sides and rear expansion bracket (5), the piston rod of each hydraulic Step Cylinder (8) is all connected with
There are support piston shoes (6)；The front and rear sides upper surface of the body (2) is equipped with cylinder support (201), the push cylinder (7)
Cylinder barrel be articulated with the cylinder support (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721017843.8U CN207156869U (en) | 2017-08-15 | 2017-08-15 | A kind of seabed ore gathering vehicle walking chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721017843.8U CN207156869U (en) | 2017-08-15 | 2017-08-15 | A kind of seabed ore gathering vehicle walking chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207156869U true CN207156869U (en) | 2018-03-30 |
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ID=61717300
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721017843.8U Active CN207156869U (en) | 2017-08-15 | 2017-08-15 | A kind of seabed ore gathering vehicle walking chassis |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398007A (en) * | 2017-08-15 | 2019-03-01 | 中国科学院沈阳自动化研究所 | A kind of seabed ore gathering vehicle walking chassis and its self-rescue method |
| KR20210001161A (en) * | 2019-06-27 | 2021-01-06 | 주식회사 인 | Mud-flats escape and lifting apparatus for caterpillar track vehicle and caterpillar tracks track vehicle having this Mud-flats escape and lifting apparatus |
| CN116427930A (en) * | 2023-06-13 | 2023-07-14 | 中国地质大学（北京） | Skid plate type deep sea mining vehicle grounding mechanism and deep sea mining vehicle thereof |
-
2017
- 2017-08-15 CN CN201721017843.8U patent/CN207156869U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398007A (en) * | 2017-08-15 | 2019-03-01 | 中国科学院沈阳自动化研究所 | A kind of seabed ore gathering vehicle walking chassis and its self-rescue method |
| CN109398007B (en) * | 2017-08-15 | 2023-09-19 | 中国科学院沈阳自动化研究所 | Submarine mine collecting car walking chassis and self-rescue method thereof |
| KR20210001161A (en) * | 2019-06-27 | 2021-01-06 | 주식회사 인 | Mud-flats escape and lifting apparatus for caterpillar track vehicle and caterpillar tracks track vehicle having this Mud-flats escape and lifting apparatus |
| KR102228013B1 (en) * | 2019-06-27 | 2021-03-15 | 주식회사 인 | Mud-flats escape and lifting apparatus for caterpillar track vehicle and caterpillar tracks track vehicle having this Mud-flats escape and lifting apparatus |
| CN116427930A (en) * | 2023-06-13 | 2023-07-14 | 中国地质大学（北京） | Skid plate type deep sea mining vehicle grounding mechanism and deep sea mining vehicle thereof |
| CN116427930B (en) * | 2023-06-13 | 2023-09-01 | 中国地质大学（北京） | Skid plate type deep sea mining vehicle grounding mechanism and deep sea mining vehicle thereof |
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