Seabed mining vehicle underpan, seabed mining vehicle and controlling method for seabed mining vehicle

Abstract

The invention relates to a seabed mining vehicle underpan, a seabed mining vehicle and a controlling method for the seabed mining vehicle. The mining vehicle underpan comprises four electric-driving type caterpillar band walking mechanisms, four hanging mechanisms, an underpan frame and an underpan control system, the four electric-driving type caterpillar band walking mechanisms are mounted on the four hanging mechanisms correspondingly, and each electric-driving type caterpillar band walking mechanism is mounted on a bearing rod of the corresponding hanging mechanism through a caterpillar band frame; the bearing rods are connected with a steering lever through nuts and screw rods, and the inner ends of the steering levers are connected with hanging seats of the underpan frame through sliding bearings; and the underpan control system which is mounted on the underpan frame comprises an electronic bin, an acoustic beacon and an inertial navigation assembly. When the seabed mining vehicle is in the running process, calculating is conducted by the underpan control system according to data collected by a sensor to adjust all the caterpillar band walking mechanisms in real time, and the height of each caterpillar band walking mechanism can be adjusted independently, so that the mining vehicle keeps balance in the walking process, the terrain adaptive capacity and the over-obstacle capacity of the mining vehicle are improved, and the mining vehicle can better adapt to a complex seabed environment.

Description

technical field [0001] The invention relates to the technical field of seabed mining, in particular to a chassis of a seabed mining vehicle, a seabed mining vehicle and a control method thereof. Background technique [0002] With the depletion of terrestrial mineral resources, marine resources are getting more and more attention from all countries. Our country has put forward the grand blueprint of "maintaining marine rights and interests and building a powerful marine country" to build and develop my country's marine industry. There are a large number of biological resources and mineral resources in the ocean. The main mineral resources on the seabed are mainly polymetallic sulphides, polymetallic nodules and cobalt-rich crusts. Countries all over the world, especially western developed countries, are exploring and testing these resources. Since the "Eighth Five-Year Plan", my country has started to develop seabed mining vehicles, completed the lake test of the mine colle...

AI Technical Summary

Problems solved by technology

[0003] At present, the chassis of submarine mining vehicles mostly adopts hydraulically driven differential steering with double crawlers. This kind of crawler chassis has poor terrain adaptability, which is not conducive to the mining operations of mining vehicles.

At the same time, due to the hydraulic drive, there is a serious hysteresis phenomenon in the control of the walking speed of the crawler belt, which is not conducive to the control of the walking track of the mining vehicle

On the other hand, hydraulic drive will inevitably have hydraulic oil leakage, which will pollute the marine environment and destroy the marine ecological balance.

[0004] To sum up, the hydraulically driven mining vehicle with double tracks has poor adaptability to terrain and obstacle surmounting ability, and the defects of slow hydraulic drive response and easy oil leakage pollution have become technical problems urgently needed to be solved by those skilled in the art.

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