CN211974970U - Deep sea mining vehicle with auxiliary motion device - Google Patents
Deep sea mining vehicle with auxiliary motion device Download PDFInfo
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- CN211974970U CN211974970U CN202020534337.1U CN202020534337U CN211974970U CN 211974970 U CN211974970 U CN 211974970U CN 202020534337 U CN202020534337 U CN 202020534337U CN 211974970 U CN211974970 U CN 211974970U
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Abstract
The utility model discloses a deep sea mining car with auxiliary motion device, it relates to mining equipment technical field. The side edge of a mining vehicle body is provided with a hydraulic crawler wheel, the head and the tail of the mining vehicle body are additionally provided with a transverse crawler wheel, and the transverse crawler wheel is lifted through a hydraulic lifting device; the head of the mining vehicle body is connected with a drill bit through a three-dimensional mechanical arm, the three-dimensional mechanical arm is driven through a hydraulic oil cylinder, a hydraulic ore collector and an underwater illuminating lamp are arranged on the head of the mining vehicle body, and a main controller is arranged in a main control chamber of the mining vehicle body; the mining vehicle body is provided with a plurality of sensor information fusion systems, data collected by a plurality of sensors are input into a fusion information base for processing, and the processed data are transmitted to the main controller. The utility model has the advantages that: the self-rescue device can realize the self-rescue of the deep sea mining vehicle during the original-site steering and trapped-in of the deep sea mining vehicle walking on the seabed, can carry out path planning and correction during the operation of the deep sea mining vehicle, and improves the accuracy and the safety of the mining vehicle walking on the seabed.
Description
Technical Field
The utility model relates to a mining equipment technical field, concretely relates to deep sea mining car with auxiliary motion device.
Background
The walking geology of the mining vehicle is mostly composed of clastic rock, basalt, silicate rock, phosphorite and the like, and a layer of sediment is attached to the surface of the mining vehicle, so that sudden conditions such as jamming and the like are easy to occur during walking, and an auxiliary device is required to be arranged on the mining vehicle for self rescue.
In the prior art, application No. 201720898300.5 discloses a subsea mining vehicle chassis and a subsea mining vehicle, the mining vehicle chassis comprising an electrically driven crawler travel mechanism, a suspension mechanism, a chassis frame and a chassis control system. When the submarine mining vehicle runs, the chassis control system calculates and calculates according to data collected by the sensor and adjusts each crawler traveling mechanism in real time, and the height of each crawler traveling mechanism can be independently adjusted, so that the mining vehicle keeps balance in the traveling process, and the terrain adaptability and obstacle crossing capability of the mining vehicle are improved.
However, the crawler mining vehicle is adjusted and steered only under the condition of space allowance, and cannot steer or damage the crawler when meeting terrain limitation or jamming, so that the crawler mining vehicle is more convenient if the auxiliary device can be used for realizing the pivot steering of the mining vehicle; when large scale crust type cobalt-rich crust is mined, other useless rocks in the crust are easily mined out by a drill bit or a cutting head which is vertical to the crust surface, so that the mining efficiency is influenced, and if the horizontal direction of the crust surface can be mined, the efficiency is much higher.
In order to reasonably adjust the path of the mining vehicle during operation and avoid adverse consequences caused by measurement errors, the acquired data of the submarine mining area needs to be verified. In the prior art, errors are easily caused by only depending on data of a single sensor or a plurality of sensors for control during operation of the crawler mining vehicle, information fusion among the sensors is realized, the movement track of the mining vehicle can be more finely adjusted during movement and operation, and reasonable allocation of resources is achieved.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a deep sea mining car with auxiliary motion device can realize the deep sea mining car in the former place of seabed walking turn to, stranded saving oneself when sinking in, and the deep sea mining car can carry out the route planning when the operation and rectify, combines the information fusion technique of multisensor, improves the inspection precision of mining car to seabed microenvironment to improve the accuracy and the security of mining car at seabed walking.
In order to solve the technical problem, the utility model adopts the technical scheme that: the mining vehicle comprises a mining vehicle body, wherein each side edge of the mining vehicle body is provided with at least two hydraulic crawler wheels, a transverse crawler wheel is additionally arranged at the head and the tail of the mining vehicle body respectively, the transverse crawler wheels are driven by a motor and are lifted through a hydraulic lifting device, and the hydraulic lifting device and the transverse crawler wheels are controlled by a main controller;
the mining vehicle comprises a mining vehicle body, a hydraulic mining device and an underwater illuminating lamp, wherein the head of the mining vehicle body is connected with the mining drill bit through a three-dimensional mechanical arm, the three-dimensional mechanical arm is driven by a hydraulic cylinder, the head of the mining vehicle body is also provided with the hydraulic mining device and the underwater illuminating lamp, the hydraulic cylinder and the drill bit are controlled by a main controller, the main controller is arranged in a main control chamber of the mining vehicle body, and the hydraulic mining device and the underwater illuminating lamp are also connected;
the mining vehicle body is provided with a multi-sensor information fusion system, the multi-sensor information fusion system is provided with a multi-sensor system consisting of a plurality of sensors, the multi-sensor system comprises a depth meter, an inertial navigation sensor, an active sonar, an underwater camera, a water leakage detection module, a temperature and humidity sensor and a current detection sensor which are arranged in a main control room, the depth meter, the inertial navigation sensor, the active sonar and the underwater camera are arranged at the head of the mining vehicle body, data collected by the plurality of sensors are input into a fusion information base to be processed, and the fusion information base is used for processing the information and then transmitting the result to;
the mining vehicle body is connected with an onshore control system through a communication unit, the walking of the mining vehicle is controlled through the onshore control system, and the communication unit comprises an optical fiber and a twisted pair.
Further, connect through the platform between the horizontal crawler wheel of the locomotive of mining vehicle body, the rear of a vehicle, two hydraulic lifting device that two horizontal crawler wheel of drive go up and down all are connected with the platform, and hydraulic lifting device has universal bulb, hydraulic jacking mechanism, support node and hydraulic expansion bend, universal bulb is connected hydraulic jacking mechanism and mining vehicle body bottom, and hydraulic jacking mechanism's bottom is connected with four hydraulic expansion bends through support node, the hydraulic expansion bend leans out and evenly establishes in support node's bottom periphery, is equipped with semi-circular groove on the platform, and the bottom of hydraulic expansion bend is located in the semi-circular groove.
Further, the multi-sensor information fusion system is specifically fused as follows:
a. depth measurement is carried out by utilizing a depth meter, the measured information is recorded as S1, and the information S1 is used for measuring the depth of the seabed where the mining vehicle is located;
b. the inertial navigation sensor measures angular velocity and acceleration information of a carrier through a gyroscope and an accelerometer, velocity and position information of the carrier are obtained through integral operation, measured data are recorded as S2, information S2 measures the velocity and direction of a mining vehicle, the measured result is transmitted to a main controller through an RS 232 communication protocol and finally transmitted to a shore control system, relevant data are displayed on a human-computer interaction interface in real time, data S1 and data S2 are fused into coordinate information S12 of the mining vehicle at a node 1, real-time attitude data of the mining vehicle are obtained through the data obtained through the information S12, the velocity and the motion direction of the mining vehicle after motion are obtained through acceleration integration, and the distance length of the mining vehicle can be obtained through secondary integration;
c. detecting the direction and the linear distance of the beacon by using an active sonar carried on the mining vehicle, recording the measured data as S3, fusing the data into information S123 at the node 2, and determining the distance and the corresponding direction between the mining vehicle and a mining point marked with the beacon by using the information S123;
d. the underwater camera carries out underwater shooting, the measured data is recorded as S4, the data is fused into information S1234 at the node 3, images of the front and the back of the mining vehicle obtained by the underwater camera can be obtained through the information S1234, whether an obstacle exists in a walking path of the mining vehicle is judged according to the obtained images when the mining vehicle walks, if the obstacle exists, the main controller sends a signal to the driving device, the rotating speed of the hydraulic crawler wheels is adjusted to adjust the direction, and the adaptability of the mining vehicle to a seabed microenvironment is enhanced;
e. and recording data measured by each sensor in the main control room as S5, fusing the data into result information S at the node 4, sending the result information S into a fusion information base, judging the running state and running environment of the main control indoor instrument of the mining vehicle by the information S, and stopping the running of the machine and powering off by the main controller once an emergency occurs.
Furthermore, when the information of the multi-sensor information fusion system is fused, the input and output information of the fusion nodes adopt a vector form, and each fusion node can fuse various information; the number of the fusion nodes is at least one, the information generated by each intermediate fusion node is also directly sent into a fusion information base, and the information in the fusion information base is also used as the input information of the fusion nodes; the information obtained from each sensor is stored in an information temporary storage library and waits for the calling of an information fusion processor.
The utility model has the advantages that: when the hydraulic crawler wheels of the mining vehicle are trapped, the transverse crawler wheels can be ejected out by using a hydraulic lifting device, and the rotation force provided by the transverse crawler wheels is assisted to quickly separate from the trapped area; if terrain limitation is met when the deep sea mining vehicle needs to turn, the hydraulic crawler wheels at the head or the tail of the vehicle can be used as fulcrums, and the transverse crawler wheel at the other end moves to turn, so that the deep sea mining vehicle is particularly suitable for mining tasks with narrow terrains, and can realize in-situ steering of deep sea mining vehicle walking and self rescue during trapped situations;
the front transverse crawler wheels can be matched with a mining drill bit to provide transverse assistance for the mining drill bit, and the mining drill bit is suitable for mining large crusting layer type cobalt-rich ores; when mining is carried out, the rear auxiliary transverse crawler wheels can be lowered, the three-dimensional mechanical arm is utilized to carry out longitudinal displacement, the hydraulic crawler wheels on the two sides in front provide forward thrust, and the rear auxiliary transverse crawler wheels provide horizontal assistance, so that a drill bit of the mining vehicle can comprehensively mine ore with crusted layers; for some special terrains on the seabed, when the mining vehicle needs to be transversely displaced, the transverse displacement can be realized by simultaneously descending the front auxiliary transverse crawler wheels and the rear auxiliary transverse crawler wheels;
the deep sea mining vehicle can carry out path planning correction during operation, and the detection precision of the mining vehicle on a seabed microenvironment is improved by combining the information fusion technology of multiple sensors, so that the walking precision and safety of the mining vehicle on the seabed are improved.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a side view of the present invention;
fig. 3 is a schematic structural view of the hydraulic lifting device of the present invention;
FIG. 4 is a schematic diagram of the connection of the units of the present invention;
fig. 5 is a working mode diagram of the multi-sensor information fusion system of the present invention.
Description of reference numerals: 1. a drill bit; 2. a three-dimensional mechanical arm; 3. a hydraulic cylinder; 4. an underwater camera; 5. a main control room; 6. a twisted pair; 7. a mining vehicle body; 8. an optical fiber; 9. a main controller; 10. a transverse track wheel; 11. an underwater light; 12. a hydraulic ore collector; 13. a hydraulic lifting device; 14. a hydraulic track wheel; 15. sonar; 16. a depth meter; 17. an inertial navigation sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the following detailed description. The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, fig. 2 and fig. 3, the following technical solutions are adopted in the present embodiment: the mining vehicle comprises a mining vehicle body 7, wherein each side edge of the mining vehicle body 7 is provided with at least two hydraulic crawler wheels 14, a transverse crawler wheel 10 is additionally arranged at the head and the tail of the mining vehicle body 7 respectively, the transverse crawler wheels 10 are driven by a motor, the transverse crawler wheels 10 are lifted by corresponding hydraulic lifting devices 13 respectively, the two transverse crawler wheels 10 are connected through a platform, the two hydraulic lifting devices 13 are connected with the platform, the hydraulic lifting devices 13 are provided with universal ball heads 131, hydraulic jacking mechanisms 132, supporting nodes 133 and hydraulic retractors 134, the universal ball heads 131 connect the hydraulic jacking mechanisms 132 with the bottom of the mining vehicle body 7, the universal ball heads 131 can rotate 360 degrees in the horizontal direction and rotate 30 degrees in the vertical direction to effectively adapt to slope terrain, the hydraulic jacking mechanisms 132 can stretch to different lengths as required, the bottom of the hydraulic jacking mechanisms 132 is connected with four hydraulic retractors 134 through the supporting nodes 133, the hydraulic expanders 134 are inclined outwards and evenly arranged on the periphery of the bottom of the support node 133, semicircular grooves are formed in the platform, and the bottoms of the small hydraulic expanders 134 in four different directions are arranged in the semicircular grooves, so that the fine adjustment capability of the electric transverse crawler wheel 10 on the rugged seabed can be enhanced; the transverse crawler wheels 10 are smaller in size relative to the main driving hydraulic crawler wheels 14, the design of the double transverse crawler wheels 10 is adopted, and the two transverse crawler wheels 10 are connected through a small platform, so that the hydraulic lifting device 13 can conveniently drive the transverse crawler wheels 10 to lift.
The locomotive of mining car body 7 passes through three-dimensional arm 2 and connects exploitation drill bit 1, three-dimensional arm 2 passes through hydraulic cylinder 3 drive, the locomotive of mining car body 7 still is equipped with water conservancy collection ore ware 12, light 11 under water, hydraulic cylinder 3, drill bit 1 passes through main control unit 9 control, main control unit 9 locates in the main control room 5 of mining car body 7, water conservancy collection ore ware 12, light 11 under water also all is connected with main control unit 9, main control unit 9 adopts the STM32 singlechip.
The mining vehicle body 7 is connected with an onshore control system through a communication unit, the walking of the mining vehicle is controlled through the onshore control system, and the communication unit comprises an optical fiber 8 and a twisted pair 6.
Be equipped with multisensor information fusion system on the mining car body 7, the running state data of the mining car and the environmental information in seabed mining area are provided, multiple sensor information fusion system has the multisensor system of compriseing multiple sensor, multiple sensor system is including installing in the depth gauge 16 of mining car body 7 locomotive, inertial navigation sensor 17, active sonar 15, the inside detection module that leaks of camera 4 and main control room 5 under water, temperature and humidity sensor, current detection sensor, the data input that multiple sensor collected handles in the fusion information base, fuse the information base and carry the result for main control unit 9 after with information processing.
According to the topographic characteristics of the cobalt-rich mining area, when the mining vehicle travels on the seabed, manual operation and control are carried out by a controller on the water surface, a four-wheel drive mode is adopted during traveling, and each wheel adopts a hydraulic drive working mode; the motion path during mining vehicle operation adopts an automatic control mode, and various sensors carried on the mining vehicle are utilized to perform data fusion on the collected data, so that a set of control system related to the mining vehicle is formed. As shown in fig. 4, the control system of this mining vehicle set comprises a main controller 9, a drive unit 18, a sensor unit 19, an auxiliary device unit 20, a work tool unit 21, a water surface control unit 22, and a communication unit, and the main controller 9 controls the operation of each unit.
The working tool unit 21 comprises a vertical drum-type drill bit 1 (a cutting pick is inlaid on the cylindrical surface to facilitate cutting), a hydraulic ore collector 12 and a hydraulic oil cylinder 3; the auxiliary device unit 20 comprises an underwater illuminating lamp 11 and an underwater camera 4; the sensor unit 19 includes a depth meter 16, an inertial navigation sensor 17, a water leakage detection module, a temperature and humidity sensor, a current detection sensor, and a sonar 15; the four-wheel drive in the driving unit 18 adopts a hydraulic drive mode, the four hydraulic crawler wheels 14 can respectively control the rotating speed thereof, the auxiliary transverse crawler wheels 10 adopt motor drive, the reaction is fast, and the left and right movement of the mining vehicle can be realized; the water surface control unit 22 includes a human-computer interface, an industrial controller, and a computer server.
The picture phase transmission of the underwater camera 4 adopts a TCP/IP protocol, the inertial navigation sensor 17 and the main controller 9 adopt RS-232 communication, the depth gauge 16 adopts RS-485 communication, and the temperature and humidity sensor and the main controller 9 adopt serial port communication.
The function of the auxiliary transverse-track wheel 10 is as follows:
firstly, when the hydraulic crawler wheels 14 of the mining vehicle are trapped, the hydraulic crawler wheels can be ejected out by using a hydraulic lifting device 13, and meanwhile, the hydraulic crawler wheels are quickly separated from the trapped area by the aid of rotating force provided by the transverse crawler wheels 10;
if terrain limitation is met when the mining vehicle needs to turn, the hydraulic crawler wheels 14 on two sides of the vehicle head or the vehicle tail can be used as fulcrums, and the transverse crawler wheel 10 on the other end moves to turn, so that the mining vehicle is particularly suitable for mining tasks with narrow terrain;
and thirdly, the front transverse crawler wheels 10 can be matched with the mining drill bit 1 to provide transverse assistance for the mining drill bit, so that the mining drill bit is suitable for mining of large crusting layer type cobalt-rich ores.
firstly, in the running process of the mining vehicle, if the mining vehicle is trapped and cannot run continuously, a danger escaping program is started, the rotating speed sensors in the four main driving hydraulic crawler wheels 14 on the mining vehicle start to detect the rotating speed to judge which direction of the main driving wheel has a fault, and on the premise of issuing action instructions to the main driving hydraulic crawler wheels 14, a system detects that the rotating speed of the wheels is zero and all parameters of the hydraulic crawler wheels 14 are normal, and then the wheels are judged to be stuck. If the front right wheel is stuck, the main controller 9 sends an instruction to start the front hydraulic lifting device 13, lower the transverse crawler wheels 10, jack the front of the vehicle body, start the motor of the auxiliary transverse crawler wheels 10, make the vehicle body deviate from a trapped area, and finally retract the auxiliary transverse crawler wheels;
when mining, the rear auxiliary transverse crawler wheels 10 can be lowered, the three-dimensional mechanical arm 2 is used for longitudinal displacement, the hydraulic crawler wheels 14 on the two sides in front provide forward thrust, and the rear auxiliary transverse crawler wheels 10 provide horizontal assistance, so that the drill bit 1 of the mining vehicle can comprehensively mine ores with crusted layers;
for some special terrains on the seabed, when the mining vehicle needs to be transversely displaced, the auxiliary transverse crawler wheels 10 on the front side and the rear side can be simultaneously lowered, the motor is rotated, the running distance of the vehicle body cannot be too long in the mode, and otherwise the auxiliary transverse crawler wheels 10 can be damaged.
The mining vehicle adopts a multi-sensor information fusion system in operation, as shown in fig. 5, the system consists of a plurality of sensors to form the multi-sensor system, and provides running state data of the mining vehicle and environment information of a submarine mining area, 5 kinds of information in the system need to be fused, a depth meter 16 is used for depth measurement, and the measured information is marked as S1; the inertial navigation sensor 17 measures angular velocity and acceleration information of the carrier through a gyroscope and an accelerometer, velocity and position information of the carrier are obtained through integral operation, measured data are recorded as S2, and data S1 and data S2 are fused into coordinate information S12 of the mining vehicle at a node 1; the active sonar 15 mounted on the mining vehicle detects the direction and the linear distance of the beacon, records the measured data as S3, fuses the data into information S123 at the node 2, and repeats this process until the result information S is fused with the information S5 transmitted from the sensor inside the main control room, and sends the result information S to the fusion information base. The fusion database stores the information fusion result and also belongs to a part of the mining vehicle monitoring system database.
The supplementary explanation for the information fusion process is as follows:
firstly, input and output information of fusion nodes generally adopt a vector form, each fusion node can perform fusion of various information, and a simplest information fusion mode is only adopted in a graph;
the number of the fusion nodes is not limited, the number of the fusion nodes is only 1, information generated by each intermediate fusion node can also be directly sent into a fusion information base, and as shown by a dotted line in the figure, the information in the fusion information base can also be used as input information of the fusion nodes;
the quantity of the fused information is not limited, and the fused information can be increased or reduced to meet the requirements of engineering;
and fourthly, all the information acquired from the sensors is stored in an information temporary storage library and waits for the calling of the information fusion processor.
The utility model provides an information that each fusion node generated can satisfy the realization of following function:
firstly, information S1 can be used for measuring the depth of the seabed where the mining vehicle is located, information S2 measures the speed and direction of the mining vehicle, the measured result is transmitted to the main controller 9 through an RS 232 communication protocol, and finally the measured result is transmitted to a water surface control unit, and relevant data are displayed on a human-computer interaction interface in real time;
acquiring real-time attitude data of the mining vehicle from the data acquired by the information S12, acquiring the speed and the moving direction of the mining vehicle after the mining vehicle moves by utilizing acceleration integral, and acquiring the advancing distance length of the mining vehicle by integrating again; if the mining vehicle is above the slope, the slope can be measured, and the slope value is continuously corrected, so that the mining vehicle can be timely adjusted to prevent the mining vehicle from overturning in a steep slope; if the speed is suddenly reduced to zero in the operation process, the mining vehicle is stuck in the mud pit, and the auxiliary self-rescue device can be started;
information S3 is the position information of the beacon obtained by sonar 15, the distance and the corresponding direction between the mining vehicle and the mining point marked with the beacon can be determined by information S123, the main driving direction of the mining vehicle is kept unchanged, and the direction loss of the mining vehicle is prevented;
fourthly, the front and rear images of the mining vehicle acquired by the underwater camera 4 can be obtained through the information S1234, whether an obstacle exists in a traveling path of the mining vehicle is judged according to the acquired images when the mining vehicle travels, if the obstacle exists, the main controller 9 sends a signal to the driving device, the rotating speeds of wheels on two sides of the hydraulic crawler wheels 14 are adjusted to adjust the direction, and the adaptability of the mining vehicle to a seabed microenvironment is enhanced; during operation, the mining vehicle can adjust the direction and the speed of the mining drill bit 1 and the hydraulic ore collector 12 according to the image information in the fused information, the stability of the mining vehicle is judged according to the inertial navigation sensor 17, and if the recoil force of the mining vehicle is insufficient due to too large impact force of the drill bit 1, the auxiliary self-rescue device can be opened to increase the landing area of the mining vehicle;
the running state and running environment of the main control room instrument in the mining vehicle can be judged according to the information S, and the machine can be stopped and powered off once the emergency situation such as control room water leakage, control circuit short circuit and the like occurs.
The basic principles and main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a deep sea mining car with auxiliary motion device, includes the mining car body, and the every side of mining car body is equipped with two at least hydraulic pressure track wheels, its characterized in that: the mining vehicle comprises a mining vehicle body, a main controller, a transverse crawler wheel, a transverse hoisting device and a hydraulic lifting device, wherein the head and the tail of the mining vehicle body are respectively provided with the transverse crawler wheel, the transverse crawler wheels are driven by a motor, the transverse crawler wheels are lifted through the hydraulic lifting device, and the hydraulic lifting device and the transverse crawler wheels are controlled by the main controller;
the mining vehicle comprises a mining vehicle body, a hydraulic mining device and an underwater illuminating lamp, wherein the head of the mining vehicle body is connected with the mining drill bit through a three-dimensional mechanical arm, the three-dimensional mechanical arm is driven by a hydraulic cylinder, the head of the mining vehicle body is also provided with the hydraulic mining device and the underwater illuminating lamp, the hydraulic cylinder and the drill bit are controlled by a main controller, the main controller is arranged in a main control chamber of the mining vehicle body, and the hydraulic mining device and the underwater illuminating lamp are also connected;
the mining vehicle body is provided with a multi-sensor information fusion system, the multi-sensor information fusion system is provided with a multi-sensor system consisting of a plurality of sensors, and the multi-sensor system comprises a depth meter, an inertial navigation sensor, an active sonar and an underwater camera which are arranged on the head of the mining vehicle body, and a water leakage detection module, a temperature and humidity sensor and a current detection sensor which are arranged in a main control room;
the mining vehicle is connected with an onshore control system through a communication unit, and the communication unit comprises an optical fiber and a twisted pair.
2. A deep sea mining vehicle with auxiliary moving means according to claim 1, characterised in that: the mining vehicle is characterized in that the transverse crawler wheels at the head and the tail of the mining vehicle body are connected through a platform, two hydraulic lifting devices for driving the two transverse crawler wheels to lift are connected with the platform, each hydraulic lifting device is provided with an universal ball head, a hydraulic jacking mechanism, a supporting node and a hydraulic expansion piece, the hydraulic jacking mechanism is connected with the bottom of the mining vehicle body through the universal ball head, the bottom of the hydraulic jacking mechanism is connected with four hydraulic expansion pieces through the supporting node, the hydraulic expansion pieces lean out and are evenly arranged on the periphery of the bottom of the supporting node, semicircular grooves are formed in the platform, and the bottoms of the hydraulic expansion pieces are arranged in the semicircular grooves.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111236945A (en) * | 2020-04-13 | 2020-06-05 | 江苏科技大学 | Deep sea mining vehicle with auxiliary motion device |
| CN112943253A (en) * | 2021-02-02 | 2021-06-11 | 中国海洋大学 | Double-wing type seabed polymetallic nodule collecting device |
| CN112943254A (en) * | 2021-02-02 | 2021-06-11 | 中国海洋大学 | Walking and collecting integrated seabed mining vehicle |
| CN114893185A (en) * | 2022-04-19 | 2022-08-12 | 中国海洋大学 | Submarine mining vehicle subsidence detection and active escaping device and method |
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2020
- 2020-04-13 CN CN202020534337.1U patent/CN211974970U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111236945A (en) * | 2020-04-13 | 2020-06-05 | 江苏科技大学 | Deep sea mining vehicle with auxiliary motion device |
| CN111236945B (en) * | 2020-04-13 | 2024-05-07 | 江苏科技大学 | Deep sea mining vehicle with auxiliary movement device |
| CN112943253A (en) * | 2021-02-02 | 2021-06-11 | 中国海洋大学 | Double-wing type seabed polymetallic nodule collecting device |
| CN112943254A (en) * | 2021-02-02 | 2021-06-11 | 中国海洋大学 | Walking and collecting integrated seabed mining vehicle |
| CN112943254B (en) * | 2021-02-02 | 2022-12-27 | 中国海洋大学 | Walking and collecting integrated seabed mining vehicle |
| CN112943253B (en) * | 2021-02-02 | 2023-01-10 | 中国海洋大学 | Double-wing type seabed polymetallic nodule collecting device |
| CN114893185A (en) * | 2022-04-19 | 2022-08-12 | 中国海洋大学 | Submarine mining vehicle subsidence detection and active escaping device and method |
| CN114893185B (en) * | 2022-04-19 | 2023-02-17 | 中国海洋大学 | Submarine mining vehicle subsidence detection and active escaping device and method |
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