RU221278U1 - 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 from the upper layer of 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 technical result is to increase the stability of the walking device. A walking device for studying the bottom surface of subglacial reservoirs, including a load-bearing truss, supports with turntables and support tables, a working element, and a telescopic manipulator. 12 ill.

Description

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.

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 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 disadvantages of a walking drilling rig are the design of the mechanism for moving the working body, which includes a large number of components and parts, such as blocks placed on the transverse beams, two winches equipped with flexible traction elements (cables) covering the blocks of the transverse beams, and the design of the supporting truss, which does not allow setting the lifting angle of the supporting truss taking into account the height of the bottom surface unevenness, which leads to a decrease in the reliability and stability 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 of the prototype are the designs of the turntables and the load-bearing truss, which do not provide the ability to set the angle of rotation of the load-bearing truss in the vertical plane relative to the initial, horizontal position, depending on the height of the unevenness of the bottom surface, which leads to a decrease in the stability of the device.

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

The technical result is achieved in that the turntables in the upper part are made with lugs, which are connected by horizontal hinges to levers, which are hingedly connected by rotating axes to the supporting truss with the possibility of reciprocating movement of the rotating axes along C-shaped guides, in the lower part they are made with brackets , in which worm-helical motor-gearboxes and worms are fixed, which are connected to worm-helical motor-gearboxes with the possibility of engagement with worm wheels, which are rigidly connected to the support tables, with the possibility of rotating the turntables in the horizontal plane relative to the vertical axes, which are hinged connect turntables with support tables, which are rigidly connected to support rods in the form of pipes, C-shaped guides, on which measuring scales are applied, are rigidly fixed outside the pipes of the supporting truss in the area between the supports symmetrically relative to the horizontal axis of symmetry of the supporting truss, limiters in the center which marks are applied, installed in C-shaped guides and secured with set screws, with the ability to set the angle of rotation of the load-bearing truss in the vertical plane relative to the horizontal axes pivotally connecting the turntables with the load-bearing truss, through the ratio

,

where ϕ is the angle of rotation of the supporting truss in the vertical plane, degrees;

h _n – height of the bottom surface unevenness to be overcome, m;

δ – minimum gap between the support shoes of the raised support and the crest of the uneven bottom surface to be overcome, m;

l – length of the supporting truss section between the supports, m.

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 without a telescopic manipulator;

fig. 4 – section of the load-bearing truss;

fig. 5 – general view of the system: rotating platform – lever – load-bearing truss – limiter;

fig. 6 – top view of the system: rotating platform – lever – load-bearing truss – limiter;

fig. 7 – position of the device at the beginning of the cycle;

fig. 8 – top view of the device at the beginning of the cycle;

fig. 9 – position of the device in the vertical plane, the working body on the consoles located on the left;

fig. 10 – position of the device in the horizontal plane, the working body on the consoles located on the left;

fig. 11 – position of the device in the vertical plane, the working body on the consoles located on the right;

fig. 12 – position of the device in the horizontal plane, the working body on the consoles located on the right, where:

1 – load-bearing truss;

2 – support;

3 – working body;

4 – pipe;

5 – console;

6 – transverse beam;

7 – longitudinal guide;

8 – horizontal axis of symmetry;

9 – C-shaped guide;

10 – measuring scale;

11 – limiter;

12 – risk;

13 – setscrew;

14 – horizontal axis;

15 – rotating platform;

16 – traction trolley;

17 – drive;

18 – telescopic manipulator;

19 – roller;

20 – support table;

21 – support rod;

22 – support shoe;

23 – vertical axis;

24 – eye;

25 – bracket;

26 – worm-helical gear motor;

27 – worm;

28 – worm wheel;

29 – horizontal hinge;

30 – lever;

31 – rotating axis.

A walking device for studying the bottom surface of subglacial reservoirs includes a load-bearing truss 1, which is mounted on two supports 2, and a working element 3 (Fig. 1-6). The supporting truss 1 is made of two parallel pipes 4 fixed relative to each other with symmetrical consoles 5, which are interconnected by transverse beams 6. Longitudinal guides 7 are made in the form of a channel and installed inside the pipes 4 of the supporting truss 1 symmetrically relative to the horizontal axis of symmetry 8 of the supporting truss 1 C-shaped guides 9, on which measuring scales 10 are applied, are rigidly fixed outside the pipes 4 of the load-bearing truss 1 in the area between the supports 2 symmetrically relative to the horizontal axis of symmetry 8 of the load-bearing truss 1. c Limiters 11, in the center of which marks 12 are applied, are installed in C-shaped guides 9 and secured with set screws 13, with the ability to set the angle of rotation of the supporting truss 1 in the vertical plane relative to the horizontal axes 14, pivotally connecting the rotating platform 15 with the supporting truss 1, through the relation

,

where ϕ is the angle of rotation of the supporting truss in the vertical plane, degrees;

h _n – height of the bottom surface unevenness to be overcome, m;

δ – minimum gap between the support shoes of the raised support and the crest of the uneven bottom surface to be overcome, m;

l – length of the supporting truss section between the supports, m.

The working body 3 is made in the form of a traction trolley 16, in the upper part of which its own drive 17 in a sealed design is rigidly fixed, in the lower part a telescopic manipulator 18 is rigidly fixed. On the sides of the traction trolley 16, rollers 19 are fixed, which are installed in the longitudinal guides 7 of the supporting truss 1 with the possibility of reciprocating movement of the working body 3 along the supporting truss 1, including consoles 5.

Supports 2 consist of support tables 20, which are rigidly connected to support rods 21 in the form of pipes, rigidly connected to support shoes 22, and turntables 15, which are hingedly connected to the supporting truss 1 by horizontal axes 14, and to support tables 20 by vertical axes 23 The turntables 15 in the upper part are made with lugs 24, in the lower part they are made with brackets 25, in which worm-helical geared motors 26 and worms 27 are fixed, which are connected to worm-helical geared motors 26 with the ability to engage with worm wheels 28, which are rigidly connected to the support tables 20, with the ability to rotate the turntables 15 in a horizontal plane relative to the vertical axes 23. The lugs 24 are connected by horizontal hinges 29 to levers 30, which are hingedly connected by rotating axes 31 to the supporting truss 1 with the possibility of reciprocating movement rotating axes 31 along C-shaped guides 9.

The operation of a walking device for studying the bottom surface of subglacial reservoirs is carried out as follows. In order for the walking device to overcome the unevenness of the bottom surface of a known height during movement, the angle by which it is necessary to rotate the supporting truss 1 in the vertical plane relative to its initial position is set, through the ratio

,

where ϕ is the angle of rotation of the supporting truss in the vertical plane, degrees;

h _n – height of the bottom surface unevenness to be overcome, m;

δ – minimum gap between the support shoes of the raised support and the crest of the uneven bottom surface to be overcome, m;

l – length of the supporting truss section between the supports, m.

Next, determine the number of divisions of the measuring scales 10, corresponding to the given angle of rotation of the supporting truss 1 in the vertical plane, according to the formula

,

where N is the number of divisions of the measuring scales corresponding to the given angle of rotation of the supporting truss in the vertical plane, divisions; the value of N is rounded up to whole division values;

k – proportionality coefficient, div/deg.

The limiters 11 are installed using set screws 13 inside the C-shaped guides 9 by aligning the marks 12 with the number of divisions of the measuring scales 10 corresponding to the given angle of rotation of the supporting truss 1 in the vertical plane (Fig. 1, 4-6, 9).

Then the device is installed on the bottom of a subglacial reservoir, while the device rests on support shoes 22 with support rods 21 and support tables 20, and 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 18 for sampling bottom sediments (Fig. 7, 8). After taking the first sample, the drive 17 of the traction cart 16 is turned on and the working element 3 is moved using rollers 19 along the longitudinal guides 7 in the direction of the horizontal axis of symmetry 8 of the supporting truss 1 to the ends of the consoles 5 located on the left (Fig. 1-3). In this case, the telescopic manipulator 18 for sampling bottom sediments is in a folded state inside the traction cart 16, ensuring its free passage over the turntable 15 (Fig. 1, 9). At the moment the working body 3 reaches the ends of the consoles 5 located on the left, when the traction cart 16 rests against the transverse beam 6 (Fig. 1, 2, 9), support 2 located on the right, due to a change in the position of the center of mass of the system, the supporting truss 1 - supports 2 – the working body 3 comes off the bottom and the supporting truss 1 rotates in a vertical plane relative to the horizontal axes 14 of support 2, located on the left. In this case, the rotating axes 31 move inside the C-shaped guides 9 along the pipes 4 in the direction of the stops 11, and the levers 30 rotate around the horizontal hinges 29. The rotation of the supporting truss 1 in the vertical plane stops when the rotating axes 31 rest against the stops 11. In this position the device is kept from tipping over by levers 30 (Fig. 1, 4-6, 9).

In this position, the worm gear motor 26 is turned on and, due to the interaction of the worm 27 with the worm wheel 28, the turntable 15 with eyes 24 and brackets 25 is rotated in a horizontal plane relative to the vertical axis 23 of the support 2 located on the left (Fig. 1-3 , 10). The angle of rotation of the supporting truss 1 in the horizontal plane is determined by the size of the irregularities of the bottom surface. Next, the drive 17 of the traction cart 16 is turned on and the working body 3 is moved 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 a vertical plane and the raised support 2, located on the right, is lowered and installed at the bottom of the subglacial reservoir in a new position (Fig. 1, 10).

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. 11, 12).

Increasing the operating stability of the walking device is achieved by optimizing the designs of the turntables and the load-bearing truss, which makes it possible to set the angle of rotation of the load-bearing truss in the vertical plane relative to the initial position depending on the height of the uneven bottom surface to be overcome, which ensures increased maneuverability of the walking device.

An example of determining the number of divisions of measuring scales corresponding to a given angle of rotation of the supporting truss in the vertical plane relative to the initial position, taking into account the height of the unevenness of the bottom surface to be overcome.

The calculation was made for the following values of the parameters of a walking device for studying the bottom surface of subglacial reservoirs: h _n = 0.08 m; δ = 0.015 m; l = 0.4 m; k = 1 div/deg.

To achieve a technical result, we set the angle by which the supporting truss needs to be rotated in a vertical plane in order to overcome the unevenness of the bottom surface, through the ratio

.

After substituting the initial data we have:

ϕ = 13.74 degrees.

Next, we determine the number of divisions of the measuring scales corresponding to the given angle of rotation of the supporting truss in the vertical plane, according to the formula

.

After substituting the initial data we have

N = 14 cases.

Thus, in order for the walking device to overcome the unevenness of the bottom surface with a height of 80 mm during movement, it is necessary to rotate the supporting truss in the vertical plane relative to its initial position at an angle of 13.74 degrees, which is set by combining the marks marked in the center of the limiters with the number of measuring divisions scales equal to 14.

Claims (6)

A walking device for studying the bottom surface of subglacial reservoirs, including a load-bearing truss, supports with turntables and support tables, a working element, a telescopic manipulator, characterized in that the turntables in the upper part are made with eyes that are connected by horizontal hinges to levers that are pivotally connected rotating axes with a supporting truss with the possibility of reciprocating movement of the rotating axes along C-shaped guides, in the lower part they are made with brackets in which helical-worm gear motors and worms are fixed, which are connected to helical-worm gear motors with the possibility of engagement with worm wheels, which are rigidly connected to the support tables, with the ability to rotate the turntables in a horizontal plane relative to the vertical axes, which pivotally connect the turntables to the support tables, which are rigidly connected to the support rods in the form of pipes, C-shaped guides, on which measuring scales, rigidly fixed outside the pipes of the load-bearing truss in the area between the supports symmetrically relative to the horizontal axis of symmetry of the load-bearing truss, limiters, in the center of which there are marks, installed in C-shaped guides and secured with set screws, with the ability to set the angle of rotation of the load-bearing truss in the vertical plane relative to the horizontal axes pivotally connecting the turntables to the supporting truss, through the relation , where ϕ is the angle of rotation of the supporting truss in the vertical plane, degrees; h _n – height of the bottom surface unevenness to be overcome, m; δ is the minimum gap between the support shoes of the raised support and the crest of the bottom surface unevenness to be overcome, m; l is the length of the supporting truss section between the supports, m.