CN114215521B - Hydrophobic jet-type air bag type adsorption force removing device - Google Patents
Hydrophobic jet-type air bag type adsorption force removing device Download PDFInfo
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- CN114215521B CN114215521B CN202111566608.7A CN202111566608A CN114215521B CN 114215521 B CN114215521 B CN 114215521B CN 202111566608 A CN202111566608 A CN 202111566608A CN 114215521 B CN114215521 B CN 114215521B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 30
- 230000002209 hydrophobic effect Effects 0.000 title abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 90
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 229910052751 metal Inorganic materials 0.000 claims abstract description 10
- 239000002184 metal Substances 0.000 claims abstract description 10
- 239000005871 repellent Substances 0.000 claims description 9
- 230000002940 repellent Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000012528 membrane Substances 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 238000005868 electrolysis reaction Methods 0.000 abstract description 8
- 238000005065 mining Methods 0.000 description 6
- 239000002689 soil Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 3
- 239000013535 sea water Substances 0.000 description 3
- 239000013049 sediment Substances 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 150000002500 ions Chemical class 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- UCKMPCXJQFINFW-UHFFFAOYSA-N Sulphide Chemical compound [S-2] UCKMPCXJQFINFW-UHFFFAOYSA-N 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011133 lead Substances 0.000 description 1
- 229910052748 manganese Inorganic materials 0.000 description 1
- 239000011572 manganese Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25B—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES FOR THE PRODUCTION OF COMPOUNDS OR NON-METALS; APPARATUS THEREFOR
- C25B9/00—Cells or assemblies of cells; Constructional parts of cells; Assemblies of constructional parts, e.g. electrode-diaphragm assemblies; Process-related cell features
- C25B9/17—Cells comprising dimensionally-stable non-movable electrodes; Assemblies of constructional parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Electrochemistry (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Water Treatment By Electricity Or Magnetism (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a hydrophobic jet air bag type adsorption force removing device, which comprises a high-pressure water storage bin, wherein the bottom of the high-pressure water storage bin is fixedly connected with a metal shell, the bottom of the metal shell is provided with an adsorption force removing mechanism, four corners of the inner wall of the high-pressure water storage bin are fixedly provided with an electrolysis device, four corners of the bottom of the high-pressure water storage bin are fixedly connected with air conveying pipes, and two sides of the high-pressure water storage bin are fixedly connected with air bags.
Description
Technical Field
The invention belongs to the technical field of marine mineral resource exploitation equipment, and particularly relates to a hydrophobic jet-type air bag type adsorption force removing device.
Background
In the existing life, land resources are gradually exhausted nowadays when social economy and science and technology are rapidly developed. The ocean has wide area, particularly deep sea, low exploration degree and great development prospect. 3/4 of these are deep sea basins. Vast amounts of resources are stored in the sea. And with the increasing depletion of land resources, marine resources have become the subject of attention of all countries in the world. The deep sea contains abundant polymetallic nodule of nickel, cobalt, copper and manganese and polymetallic sulfide of lead, zinc, gold and silver, and these mineral resources are mainly present in the surface soil of the sea bottom with the water depth of 5000-6000 m. The surface soil of deep sea is mostly thin and soft clay, the water content is high, and the internal friction angle is very small. At present, the crawler-type hydraulic mining car is generally accepted at home and abroad as equipment for deep sea mining. During the running process of the ore collecting vehicle, the shearing force provided by the soil body is the main advancing power of the ore collecting vehicle.
However, because the surface soil of the deep sea seabed has uneven properties, the soil body of the thin and soft soil layer has low strength, and the sediment at the bottom layer is easy to attach to the traditional crawler belt, most of the sediment is fine and soft, and the sea water contains various charged ions, so that the sediment attached to the crawler belt is attracted. If the treatment is not proper, once the accumulation is small and great, a large adsorption force effect is brought to the whole mining equipment. If the suction force continues to increase, it may cause the entire mining equipment to sink, resulting in significant losses. Therefore, in terms of energy consumption and service life of mining vehicles, development of a water repellent jet air bag type adsorption removal device is urgently needed.
The invention content is as follows:
the present invention has been made to solve the above problems, and an object of the present invention is to provide a water-repellent jet air bag type adsorption force removing device which solves the problems mentioned in the background art.
In order to solve the above problems, the present invention provides a technical solution:
a hydrophobic jet air bag type adsorption force removing device comprises a high-pressure water storage bin, wherein the bottom of the high-pressure water storage bin is fixedly connected with a metal shell, the bottom of the metal shell is provided with an adsorption force removing mechanism, four corners of the inner wall of the high-pressure water storage bin are fixedly provided with electrolysis devices, four corners of the bottom of the high-pressure water storage bin are fixedly connected with air conveying pipes, two sides of the high-pressure water storage bin are fixedly connected with air bags, one ends, far away from the high-pressure water storage bin, of the air conveying pipes are fixedly connected with the corresponding air bags and extend into the air bags, and one ends, far away from the air bags, of the air conveying pipes are connected with the corresponding electrolysis devices;
get rid of adsorption force mechanism and include the connecting tube, six connecting tubes of bottom equidistance fixedly connected with of high pressure reservoir inner wall, the equal fixedly connected with T type drive box in bottom of connecting tube, the both ends of connecting tube bottom all rotate and are connected with high-pressure jet sprinkler, high-pressure jet sprinkler's afterbody all is provided with an axis of rotation, the both ends of T type drive box bottom all rotate and are connected with the dwang, the equal fixedly connected with drive runner of one end of T type drive box is kept away from in the outside of dwang, the equal equidistance fixedly connected with runner teeth of a cogwheel in the outside of drive runner.
Preferably, both ends of the top of the high-pressure water storage bin are fixedly connected with water inlet valves, and filter screens are arranged inside the water inlet valves.
Preferably, both ends of the top of the air bag are fixedly connected with exhaust ports, and valves and semipermeable membranes are arranged inside the exhaust ports.
Preferably, a high-pressure water pump is arranged in the high-pressure water storage bin, and one end, far away from the T-shaped driving box, of the connecting pipeline extends into the high-pressure water storage bin and is fixedly connected with the output end of the high-pressure water pump.
Preferably, a driving motor is arranged in the T-shaped driving box, and one end of the rotating rod, which is far away from the driving rotating wheel, extends into the T-shaped driving box and is in transmission with an output shaft of the driving motor through a bevel gear.
Preferably, the surfaces of the driving wheels are coated with water paint.
Preferably, the top of the high-pressure water storage bin is fixedly connected with a water storage cover.
The invention has the beneficial effects that: according to the invention, on one hand, the rotation wheel is driven instead of the traditional track, so that the opportunity that silt is attached to the equipment is reduced, on the other hand, the silt attached to the equipment can be effectively removed through high-pressure water flow sprayed out by high-pressure jet flow, and meanwhile, the size of the air bag is increased through gas generated by electrolysis, so that the overall buoyancy of the equipment is increased, the adsorption force of the seabed silt to the equipment can be effectively reduced, and the mining equipment can walk safely and stably.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the airbag of the present invention in a gas filled state;
FIG. 3 is a top view of the high pressure water storage tank of the present invention with the water storage cover removed;
FIG. 4 is a schematic diagram of the mechanism for removing the adsorption force according to the present invention;
FIG. 5 is a schematic illustration of the high pressure jet principle of the present invention;
fig. 6 is a schematic diagram of the high pressure jet flow principle of the present invention obliquely downward.
In the figure: 1. removing the adsorption force mechanism; 101. a drive wheel; 102. the wheel teeth of the rotating wheel; 103. rotating the rod; 104. a T-shaped drive box; 105. a high pressure jet spray head; 106. connecting a pipeline; 2. a metal housing; 3. a high-pressure water storage bin; 4. an air bag; 5. a gas conveying pipe; 6. an exhaust port; 7. an electrolysis device; 8. and a water inlet valve.
The specific implementation mode is as follows:
as shown in fig. 1 to 6, the following technical solutions are adopted in the present embodiment:
the embodiment is as follows:
a water repellent jet air bag type adsorption force removing device comprises a high-pressure water storage bin 3, wherein the bottom of the high-pressure water storage bin 3 is fixedly connected with a metal shell 2, an adsorption force removing mechanism 1 is arranged at the bottom of the metal shell 2, and the metal shell 2 is arranged, so that the adsorption force removing mechanism 1 at the bottom can be protected and shielded better, and silt is prevented from being sputtered to the outer side of the high-pressure water storage bin 3; the four corners of the inner wall of the high-pressure water storage bin 3 are fixedly provided with the electrolytic devices 7, the four corners of the bottom of the high-pressure water storage bin 3 are fixedly connected with the air conveying pipes 5, the two sides of the high-pressure water storage bin 3 are fixedly connected with the air bags 4, one ends, far away from the high-pressure water storage bin, of the air conveying pipes 5 are fixedly connected with the corresponding air bags 4 and extend into the air bags 4, one ends, far away from the air bags 4, of the air conveying pipes 5 are connected with the corresponding electrolytic devices 7, the electrolytic devices 7 and the air bags 4 can be connected better through the air conveying pipes 5, and meanwhile, the air conveying work can be completed better;
the adsorption force removing mechanism 1 comprises connecting pipelines 106, six connecting pipelines 106 are fixedly connected to the bottom of the inner wall of the high-pressure water storage bin 3 at equal intervals, T-shaped driving boxes 104 are fixedly connected to the bottoms of the connecting pipelines 106, high-pressure jet nozzles 105 are rotatably connected to two ends of the bottom of each connecting pipeline 106, and a rotating shaft is arranged at the tail parts of the high-pressure jet nozzles 105, so that the jet direction can be adjusted at will, and the jet angle of each high-pressure jet nozzle 105 can be adjusted; the both ends of T type drive box 104 bottom all rotate and are connected with dwang 103, the equal fixedly connected with drive runner 101 of one end of T type drive box 104 is kept away from in the outside of dwang 103, the equal equidistance fixedly connected with runner teeth of a cogwheel 102 in the outside of drive runner 101 replaces traditional track drive mode through setting up the drive runner 101 that has runner teeth of a cogwheel 102 to silt has been reduced and has been attached to the chance on equipment.
Wherein, the equal fixedly connected with in both ends at 3 tops in high pressure water storage storehouse goes into water valve 8, the inside of valve 8 that goes into water is provided with the filter screen, and through setting up valve 8 that goes into water, the better inside injection water source to high pressure water storage storehouse 3 of being convenient for, still can keep the stability of 3 inside pressures in high pressure water storage storehouse simultaneously through closing valve 8 that goes into water to set up the filter screen through the inside at valve 8 that goes into water, be convenient for better filter the water source.
Wherein, the equal fixedly connected with gas vent 6 in both ends at 4 tops of gasbag, the inside of gas vent 6 all is provided with valve and pellicle, sets up gas vent 6 through the top at gasbag 4, is convenient for better carry out the operation of exhausting to gasbag 4, simultaneously through setting up the valve in the inside of gas vent 6, is convenient for better control gas vent 6's break-make to utilize the pellicle of 6 inside of gas vent, can breathe freely but waterproof, can discharge into the sea smoothly to the gas of 4 inside of gasbag.
Wherein, the inside of high pressure water storage storehouse 3 is provided with high pressure water pump, the one end that T type drive box 104 was kept away from to connecting tube 106 all extends to the inside of high pressure water storage storehouse 3 and with high pressure water pump's output fixed connection, be convenient for better to the inside pump sending water source of connecting tube 106 through high pressure water pump.
Wherein, the inside of T type drive box 104 is provided with driving motor, the one end that driving wheel 101 was kept away from to dwang 103 all extends to the inside of T type drive box 104 and passes through bevel gear transmission with driving motor's output shaft, through driving motor and gear drive, is convenient for better carry out drive control to dwang 103 and driving wheel 101.
The surface of the driving rotating wheel 101 is coated with water paint, so that the attraction of ions in seawater to silt attached to the driving rotating wheel 101 can be effectively reduced under the condition of effectively preventing seawater corrosion.
Wherein, the top fixedly connected with water storage lid of high pressure water storage storehouse 3 is convenient for better seal the top of high pressure water storage storehouse 3.
The using state of the invention is as follows: in practical application, when the equipment normally runs on the seabed, the speed tends to be uniform and stable, and under the condition, high-pressure jet flow does not need to be started, the water inlet valve 8 keeps a closed state, and the stability of the pressure inside the high-pressure water storage bin 3 is kept; when the running time of the running equipment reaches a certain time, seabed bottom materials or silt attached between the driving runner 101 and the runner gear 102 are more and more, the running speed of the whole device is continuously reduced, at the moment, the adsorption force removing mechanism 1 is started, firstly, the water inlet valve 8 is opened, then the electrolysis device 7 and the adsorption force removing mechanism 1 are started, the water source is conveyed to the high-pressure jet nozzle 105 through the matching between the high-pressure water pump inside the high-pressure water storage bin 3 and the connecting pipeline 106, the jet operation is completed through the high-pressure jet nozzle 105, so as to clean silt or bottom materials among the gear teeth 102 of the rotating wheel, in order to ensure that all silt and bottom materials are thoroughly cleaned, as shown in fig. 5-6, high-pressure jet spray head 105 may be directed down to a maximum of 60, such that the nozzles are located diagonally above drive wheel 101, in the process of high-pressure jet flow cleaning, the valve in the exhaust port 6 is closed, the gas generated by the electrolysis device 7 can be continuously input into the two air bags 4 through the gas conveying pipe 5, so that the volume of the air bags 4 is gradually increased, so that the buoyancy borne by the whole device can be gradually increased, the whole device has the tendency of floating upwards, thereby better removing the silt attached on the device, and when the influence of the adsorption force is eliminated, the high-pressure water pump in the electrolysis device 7 and the high-pressure water storage bin 3 is closed, the high-pressure jet operation is stopped, simultaneously, the valve inside the exhaust port 6 is opened, and the water inlet valve 8 is closed, so that the gas inside the air bag 4 is enabled to be in a state of pressure difference, the air is discharged from the air bag 4 through the semipermeable membrane in the air outlet 6 until the air bag 4 is restored to its original volume, at which time the device can continue to normally run on the seabed.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be understood broadly, for example, as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides an adsorption affinity device is got rid of to hydrophobicity efflux formula gasbag type, its characterized in that, includes high pressure water storage storehouse (3), the bottom fixedly connected with metal casing (2) in high pressure water storage storehouse (3), the bottom of metal casing (2) is provided with gets rid of adsorption affinity mechanism (1), the equal fixed mounting in four corners of high pressure water storage storehouse (3) inner wall has electrolytic device (7), the equal fixed connection in four corners of high pressure water storage storehouse (3) bottom has fortune gas-supply pipe (5), the equal fixed connection in both sides in high pressure water storage storehouse (3) has gasbag (4), the one end that high pressure water storage storehouse (3) were kept away from to fortune gas-supply pipe (5) all with corresponding gasbag (4) fixed connection and extend to the inside of gasbag (4), the one end that gasbag (4) were kept away from to fortune gas-supply pipe (5) all is connected with corresponding electrolytic device (7);
get rid of adsorption force mechanism (1) including connecting tube (106), six connecting tube (106) of bottom equidistance fixedly connected with of high pressure water storage storehouse (3) inner wall, the equal fixedly connected with T type drive box (104) in bottom of connecting tube (106), the both ends of connecting tube (106) bottom are all rotated and are connected with high-pressure jet shower nozzle (105), the afterbody of high-pressure jet shower nozzle (105) all is provided with an axis of rotation, the both ends of T type drive box (104) bottom are all rotated and are connected with dwang (103), the equal fixedly connected with drive runner (101) of one end of T type drive box (104) are kept away from in the outside of dwang (103), the equal equidistance fixedly connected with runner teeth of a cogwheel (102) in the outside of drive runner (101).
2. The water repellent jet air bag type adsorption force removing device according to claim 1, wherein both ends of the top of the high-pressure water storage bin (3) are fixedly connected with water inlet valves (8), and a filter screen is arranged inside the water inlet valves (8).
3. The water repellent jet air bag type adsorption force removing device according to claim 1, wherein both ends of the top of the air bag (4) are fixedly connected with air outlets (6), and a valve and a semipermeable membrane are arranged inside each air outlet (6).
4. The water repellent jet air bag type adsorption force removing device according to claim 1, wherein a high-pressure water pump is arranged inside the high-pressure water storage bin (3), and one end of the connecting pipeline (106) far away from the T-shaped driving box (104) extends into the high-pressure water storage bin (3) and is fixedly connected with the output end of the high-pressure water pump.
5. The water repellent jet air bag type adsorption force removing device according to claim 1, wherein a driving motor is arranged inside the T-shaped driving box (104), and one end of the rotating rod (103) far away from the driving rotating wheel (101) extends into the T-shaped driving box (104) and is in bevel gear transmission with an output shaft of the driving motor.
6. The water repellent jet air bag type de-adsorption device according to claim 1, wherein the surfaces of the driving wheels (101) are coated with water paint.
7. The water repellent jet air bag type adsorption force removing device according to claim 1, wherein a water storage cover is fixedly connected to the top of the high-pressure water storage bin (3).
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CN204940392U (en) * | 2015-07-28 | 2016-01-06 | 重庆交通大学 | One can sink and emerge type water energy powered desilting device automatically |
CN109026007B (en) * | 2018-08-30 | 2023-12-01 | 中南大学 | Seabed running gear suitable for weak base |
CN110978917B (en) * | 2019-11-20 | 2022-06-14 | 中国海洋大学 | Crawler device of anti-sinking chassis for walking of seabed ore collecting vehicle and walking self-rescue method thereof |
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