RU220605U1 - WALKING DEVICE FOR STUDYING THE BOTTOM SURFACE OF SUBGLACIAL RESERVOIRS - Google Patents

Abstract

The utility model relates to mining, in particular to devices for taking samples of bottom sediments of subglacial reservoirs, capable of moving walking along the bottom surface, with the possibility of delivering them to the required depth through a well pre-drilled in the ice. The device can also be used for sampling sediments subglacial lakes of Antarctica, in particular Lake Vostok. Increasing the efficiency and stability of the walking device is achieved through the use of a rack-and-pinion drive for moving the working body, which provides reliable adhesion, high accuracy and the required speed of movement of the working body along the supporting truss, rollers equipped with flanges on the inside, ensuring reliable transverse fixation of the working body on load-bearing truss, and establishing the optimal ratio of the geometric and inertial parameters of the device. The technical result is to increase the efficiency and stability of the walking device. 9 ill.

Description

The utility model relates to mining, in particular to devices for sampling bottom sediments of subglacial reservoirs, capable of moving by walking along the bottom surface, with the ability to deliver them to the required depth through a well pre-drilled in the ice. The device can also be used for sampling bottom sediments of subglacial lakes in Antarctica, in particular Lake Vostok.

A device for moving under water is known (Walking machines for the development of seabed resources. L., 1987, pp. 12-13) on wheels to perform research work on the bottom. It is made in the form of a welded frame with a central compartment for research equipment and rests on eight wheels made in the form of cylinders, the height of which is greater than the diameter. The cylindrical surface is covered along the generatrix with spikes. Each wheel has a built-in hydraulic motor that creates pressure of the working fluid through hoses. The wheel axles are hinged at the ends and suspended on vertical cylinders.

The disadvantage is that the cylindrical surface of the wheels is covered along the generatrix with spikes, which, when moving, leads to the destruction of the surface layer of soil and turbidity of the water.

A mining walking device for underwater mining is known (author's certificate SU No. 1027343, published on 07/07/1983), consisting of a truss mounted on two supports, a working body with a traction cart and a turning mechanism.

The disadvantage of the mining walking device is that the supports on the outside have the shape of arcs, and the turning mechanism is made in the form of stops with inclined guides installed at the ends of the truss, which significantly complicates the design and creates additional resistance forces when walking and turning in the presence of unevenness on the bottom surface reservoirs.

A walking device for underwater mining is known (patent RU No. 2601880, published on November 10, 2016), including a truss equipped with a counterweight with a drum, supports, a working element and rotary platforms.

The disadvantage of the walking device is that the working element and the counterweight are made separately, which significantly complicates the synchronization of the operation of their drives.

A walking drilling rig is known (patent RU No. 166446, published 07/04/2016), including a load-bearing truss made of two parallel pipes with longitudinal guides and equipped with earrings hingedly connected to the support platforms, while the ends of the pipes are curved upward, forming symmetrical consoles, left and right and are rigidly connected to each other by transverse beams with blocks placed on them, supports, a working body made in the form of a cart with rollers interacting with the longitudinal guides of the farm, with a drilling rig rigidly fixed to it and two winches equipped with flexible traction elements ( cables) covering blocks of transverse beams, one end of which is fixed to the winch drum, and the other to the working body trolley, and the control system.

The disadvantage of a walking drilling rig is the design of the mechanism for moving the working body, which includes a large number of components and parts, such as blocks placed on transverse beams, two winches equipped with flexible traction elements covering blocks of transverse beams, which leads to a decrease in the reliability and efficiency of the installation. .

A walking device for studying the bottom surface of subglacial reservoirs is known (patent RU No. 214112, published on October 12, 2022), adopted as a prototype, including a load-bearing truss mounted on two supports and a working element. The supporting truss is made of two parallel pipes fixed relative to each other with symmetrical consoles installed on the left and right coaxially to the section of the supporting truss between the supports. The longitudinal guides are made in the form of a channel and are installed inside the pipes of the supporting truss symmetrically relative to the horizontal axis of symmetry of the supporting truss. The ends of the pipes are rigidly connected to each other by transverse beams. The working body is made in the form of a traction trolley, in the upper part of which its own drive is rigidly fixed, which is made in a sealed design, in the lower part of which a telescopic manipulator is rigidly fixed. Rollers are fixed on the sides of the traction cart, which are installed in the longitudinal guides of the load-bearing truss with the possibility of reciprocating movement of the working body along the load-bearing truss, including consoles. Each of the supports consists of a support table connected to telescopic rods, rigidly connected to the support shoes, and a rotating platform.

The disadvantages are the design of the drive for moving the working body, which does not provide reliable adhesion of the rollers of the traction cart with the longitudinal guides of the load-bearing truss due to their possible slipping relative to the guides of the truss, as well as reliable transverse fixation of the working element on the load-bearing truss and the geometric and inertial parameters of the walking device, the optimal ratio which are not installed, which leads to a decrease in the efficiency and stability of the device.

The technical result is to increase the efficiency and stability of the walking device.

The technical result is achieved by the fact that the supporting truss is made of two parallel structural profiles fixed relative to each other with consoles, which are interconnected by connecting plates at the ends of the structural profiles, and in the lower grooves of the structural profiles, gear racks are rigidly fixed, the working body is made in the form of a sealed housing , inside of which a worm-helical gear motor is rigidly fixed in the lower part, connected through shafts to drive gears, which are located outside the sealed housing symmetrically relative to each other with the possibility of engagement with gear racks, also outside the sealed housing in the upper part on the side surfaces symmetrically relative to each other, rollers are installed on the upper edges of the structural profiles, made with the possibility of reciprocating movement of the working element along the supporting truss, including consoles, while the ratio of the geometric parameters of the walking device is equal to the ratio of the inertial parameters of the device:

,

where l _k is the length of the console, m;

l _gk – length of the sealed housing, m;

l is the length of the supporting truss section between the supports, m;

m _f – mass of the supporting truss, kg;

m _op – support mass, kg;

m _or – mass of the working body, kg.

Walking device for studying the bottom surface of subglacial reservoirs:

fig. 1 – general view of the walking device;

fig. 2 – top view of the walking device;

fig. 3 – side view of the walking device;

fig. 4 – position of the device at the beginning of the cycle;

fig. 5 – top view of the device at the beginning of the cycle;

fig. 6 – position of the device in the vertical plane, the working element is on the console located on the left;

fig. 7 – position of the device in the horizontal plane, the working element is on the console located on the left;

fig. 8 – position of the device in the vertical plane, the working element is on the console located on the right;

fig. 9 – position of the device in the horizontal plane, the working element is on the console located on the right, where:

1 – load-bearing truss;

2 – support;

3 – working body;

4 – structural profile;

5 – console;

6 – connecting plate;

7 – toothed rack;

8 – sealed housing;

9 – worm-helical gear motor;

10 – shaft;

11 – drive gear;

12 – telescopic manipulator;

13 – roller;

14 – flange;

15 – top edge;

16 – support table;

17 – telescopic rod;

18 – support shoe;

19 – rotating platform;

20 – horizontal axis;

21 – vertical axis.

A walking device for studying the bottom surface of subglacial reservoirs includes a load-bearing truss 1 mounted on two supports 2, and a working body 3 (Fig. 1-3). The load-bearing truss 1 is made of two parallel structural profiles 4, fixed relative to each other, with consoles 5, interconnected by connecting plates 6. In the lower grooves of the structural profiles 4, gear racks 7 are rigidly fixed.

The working body 3 is made in the form of a sealed housing 8, inside of which, in the lower part, a worm-helical geared motor 9 is rigidly fixed, connected through shafts 10 to drive gears 11, located outside the sealed housing 8 symmetrically relative to each other, with the possibility of engagement with gear racks 7, and a telescopic manipulator 12. Outside the sealed housing 8, in the upper part, rollers 13 are installed symmetrically relative to each other on the side surfaces. Rollers 13 are equipped with flanges 14 on the inside, which are installed on the upper faces 15 with the possibility of reciprocating movement of the working body 3 along the supporting truss 1, including the console 5.

Each of the supports 2 consists of a support table 16, connected to telescopic rods 17, rigidly connected to the support shoes 18, and a rotating platform 19. The rotating platform 19, using horizontal axes 20, is hingedly connected to the supporting truss 1 with the possibility of rotation in the vertical plane and is connected with a support table 16 and a vertical axis 21 with the ability to rotate in a horizontal plane. The ratio of the geometric parameters of the walking device is equal to the ratio of the inertial parameters of the device:

,

where l _k is the length of the console, m;

l _gk – length of the sealed housing, m;

l is the length of the supporting truss section between the supports, m;

m _f – mass of the supporting truss, kg;

m _op – support mass, kg;

m _or – mass of the working body, kg.

The operation of a walking device for studying the bottom surface of subglacial reservoirs is carried out as follows. The device is installed at the bottom of a subglacial reservoir, while the working body 3 occupies a position on the supporting truss 1 between supports 2, and a sample of bottom sediments is taken using a telescopic manipulator 12 for sampling bottom sediments (Fig. 4, 5). After taking the first sample, the worm gear motor 9 is turned on, which transmits torque through the shafts 10 to the drive gears 11. The working body 3, due to the interaction of the drive gears 11 with the gear racks 7, is rigidly fixed in the lower grooves of the structural profiles 4, and rollers 13, made on the inside with flanges 14, with the upper edges 15 of the structural profiles 4 moving to the ends of the consoles 5 located on the left (Fig. 1, 3). In this case, the telescopic manipulator 12 for sampling bottom sediments is folded inside the sealed housing 8, ensuring its free passage over the rotary platform 19 (Fig. 1, 6). At the moment the working body 3 reaches the ends of the consoles 5, located on the left, when the sealed housing 8 rests against the connecting plate 6, rigidly connecting the ends of the structural profiles 4 (Fig. 1, 2, 6), support 2, located on the right, due to the change the position of the center of mass of the system: load-bearing truss 1 - supports 2 - working body 3 is lifted off the bottom and the load-bearing truss 1 rotates in the vertical plane relative to the horizontal axes 20 of the hinge connection of the load-bearing truss 1 with support 2 located on the left (Fig. 1, 6). In this position, turn on the rotation drive (not shown in the figure) of the rotating platform 19 of the support 2, located on the left, and rotate the supporting truss 1 in the horizontal plane relative to the vertical axis 21 connected to the support table 16 (Fig. 1-3, 7). Next, they include a worm-helical gear motor 9, which transmits torque through the shafts 10 to the drive gears 11, and due to the interaction of the drive gears 11 with the gear racks 7, rigidly fixed in the lower grooves of the structural profiles 4, and rollers 13, made on the inside with flanges 14, with upper edges 15, structural profiles 4 move the working body 3 towards the consoles 5 located on the right (Fig. 1). As soon as the working body 3 is displaced from the ends of the consoles 5, located on the left, the equilibrium condition of the system is violated, the supporting truss 1 rotates in the vertical plane and the raised support 2, located on the right, is lowered and installed using telescopic rods 17 with support shoes 18 at the bottom of the subglacial reservoir in a new position (Fig. 1, 7). A second sample of bottom sediments is taken, while the working body 3 is located between the supports 2. Upon completion of the collection of the second sample, the walking cycle is repeated by moving the working body 3 to the ends of the consoles 5 located on the right (Fig. 8, 9).

An example of determining the ratio of the geometric parameters of a walking device to the ratio of the inertial parameters of the device.

Calculations were made for the following values of the parameters of a walking device for studying the bottom surface of subglacial reservoirs: l _k = 0.3 m; l _gk = 0.15 m; l = 0.4 m; m _f = 0.66 kg; m _op = 0.15 kg; m _or = 0.853 kg.

To achieve a technical result, the following conditions must be met:

.

After substituting the initial data we have:

0.563 = 0.563.

Thus, the condition, which is one of the signs of the claimed walking device for studying the bottom surface of subglacial reservoirs, is met. Therefore, the walking process of the device will be stable, which will improve the operating efficiency of the walking device.

Increasing the efficiency and stability of the walking device is achieved through the use of a rack-and-pinion drive for moving the working body, which provides reliable adhesion, high accuracy and the required speed of movement of the working body along the supporting truss, rollers equipped with flanges on the inside, ensuring reliable transverse fixation of the working body on load-bearing truss and establishing the optimal ratio of geometric and inertial parameters of the device.

Claims (8)

A walking device for studying the bottom surface of subglacial reservoirs, including a supporting truss, a working body with a telescopic manipulator and supports, each of which consists of a support table connected to telescopic rods rigidly connected to the support shoes, and a rotating platform, which is hinged using horizontal axes connected to the supporting truss with the possibility of rotation in a vertical plane and connected to the support table by a vertical axis with the possibility of rotation in a horizontal plane, characterized in that the supporting truss is made of two parallel structural profiles fixed relative to each other with consoles that are interconnected by connecting plates on ends of the structural profiles, and in the lower grooves of the structural profiles the gear racks are rigidly fixed, the working body is made in the form of a sealed housing, inside of which a worm-helical gear motor is rigidly fixed in the lower part, connected through shafts to drive gears, which are located outside the sealed housing symmetrically relative to each other with the possibility of engagement with gear racks, also outside the sealed housing in the upper part on the side surfaces symmetrically relative to each other, on the upper faces of the structural profiles, rollers are installed, made with the possibility of reciprocating movement of the working body along the load-bearing truss, including consoles, with In this case, the ratio of the geometric parameters of the walking device is equal to the ratio of the inertial parameters of the device , where l _k is the length of the console, m; l _gk – length of the sealed housing, m; l – length of the supporting truss section between the supports, m; m _f – mass of the supporting truss, kg; m _op – support mass, kg; m _or – mass of the working body, kg.