CN102390454A - Submarine all-terrain traveling vehicle - Google Patents
Submarine all-terrain traveling vehicle Download PDFInfo
- Publication number
- CN102390454A CN102390454A CN2011102985697A CN201110298569A CN102390454A CN 102390454 A CN102390454 A CN 102390454A CN 2011102985697 A CN2011102985697 A CN 2011102985697A CN 201110298569 A CN201110298569 A CN 201110298569A CN 102390454 A CN102390454 A CN 102390454A
- Authority
- CN
- China
- Prior art keywords
- car
- walking
- component
- wheel
- impeller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a submarine all-terrain traveling vehicle, which comprises a body component, a driving component and more than three wheel components, wherein the driving component and the wheel components are arranged on the body component; each wheel component comprises a transmission member which is connected with the driving component and wheels which are connected with the transmission member; and the transmission member is also connected with an impeller. The submarine all-terrain traveling vehicle has the advantages of strong adaptability, high traveling efficiency, reliable work, low failure rate and the like.
Description
Technical field
The present invention is mainly concerned with vehicular field, relates in particular to the full landform walking in a kind of seabed car.
Background technology
ATV is a kind of can going under rough topographys such as sandy beach, riverbed, forest-road, streams, desert, is mainly used in the personnel of carrying, the vehicle of conveying objects.Seabed, deep-sea ATV then requires good seal, and communication is reliable.
Common ATV mainly has vehicle frame, Power train, steering hardware, front and back wheel mechanism etc.Wherein Power train adopts the internal combustion engine moving force engine more, and combustion engine powered ATV drives the transmission fluted disc of being located at trailing wheel mainly by engine producing power through chain, takes this to make trailing wheel to rotate, and makes ATV advance.This transmission device produces velocity contrast through diff can reach the smooth-going purpose that turns to, but ATV must be accomplished handling maneuver with bigger Turning radius.In addition since use be combustion engine as propulsion source, need enough air as support, this is difficult to accomplish under environments such as subsea.For the equipment in the seabed walking, subject matter is one, overcomes the demand of combustion engine to oxygen, can take the method for Electric Traction to replace traditional combustion engine.Two, want to adapt to the rare softground in seabed, the 6000m abyssal floor is the saturated soil of dead-soft, and is different with the ATV of ground run, and common seabed full landform walking car has darker pressure and falls into the degree of depth (about 15cm).Fall under the situation in so dark pressure, bulldozing resistance becomes one of main resistance of motion of ATV.
Existing seabed walking car is track structure mostly, and its crawler belt partly provides the driving and the support function of car load.Because the seabed substrate is very soft, for enough bearing forces are provided, must adopt the crawler belt of broad, under the situation of equal volume and weight, compressed the space, compartment, reduce delelivered payload capability.In order to increase the adhesive ability of seabed walking car on the rare softground in 6000m deep-sea, the crawler belt of robot vehicle need design higher rake tooth, and these numerous rake tooths have brought bigger advance resistance also for going of vehicle.
Summary of the invention
The technical matters that the present invention will solve is: to the technical matters that prior art exists, the present invention provides that a kind of adaptive capacity is strong, travel efficiency is high, reliable operation, the full landform walking in seabed car that fault rate is low.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
The full landform walking in a kind of seabed car; Comprise body component and be installed on driven unit, the vehicle wheel component more than three on the body component; Said vehicle wheel component comprises Transmission that links to each other with driven unit and the wheel that links to each other with Transmission, also is connected with impeller on the said Transmission.
As further improvement of the present invention:
Said impeller and wheel are connected in series on the Transmission, and the external diameter of said impeller is less than the external diameter of said wheel.
Said body component is the ship type.
Said vehicle wheel component links to each other with body component through a lifting mechanism.
Said lifting mechanism comprises swing arm, oscillating axle, swing arm rocking bar and wobble drive part; One end of said swing arm links to each other with vehicle wheel component; The other end of said swing arm links to each other with the wobble drive part with the swing arm rocking bar through oscillating axle, and said oscillating axle is installed on the sidewall of body component.
Said wobble drive part is a telescopic oil cylinder.
Said driven unit comprises wheel drive part consistent with vehicle wheel component quantity and the corresponding vehicle wheel component of difference independent drive.
Said wheel drive part is a HM Hydraulic Motor.
The blade of said impeller is provided with a plurality of salient points.
Compared with prior art, the invention has the advantages that:
1, the full landform walking in seabed of the present invention car can be by the impeller of driven unit driving through being provided with; When walking car when walking than the environment of hardground; Whole body component can rely on wheel to support and drive walking; And when the environment walking of rare softground, body component relies on its bottom supporting on rare softground, and by impeller the propulsive effort that drives walking is provided; Like this, just can guarantee it and in two kinds of environment, can both realize high efficiency walking that having solved existing walking car can not walk or the not high shortcoming of travel efficiency in rare softground, improve the Applicable scope of walking car greatly than hardground and rare softground.
2, the impeller among the present invention is connected with wheel and is installed on the Transmission; And impeller outer diameter is less than the wheel external diameter, and it is simple in structure, and the automatic depression of the part of wheel makes impeller contact with rare softground when in rare softground, walking; Can under rare softground environment, walk, not need extra operation.
3, the body component among the present invention is the ship type, and its bottom surface is similar with the bottom surface of ship, can support its sliding of slight drag on rare softground, has improved the travel efficiency and the alerting ability of walking car.
4, the vehicle wheel component among the present invention also can be installed on the body component through lifting mechanism; Convenient active is controlled the height of vehicle wheel component; And each vehicle wheel component is made lifting action by independent lifting mechanism control, makes the walking car be adapted to different bottom environments.
5, each vehicle wheel component correspondence is provided with a wheel drive part among the present invention; Rotating speed and rotation direction through control wheel and impeller; Can realize that the car load of any radius turn-takes; Especially walking the time can be turn-taked less than the turn radius of 1m in rare softground, has improved the alerting ability of walking car greatly, and the individual drive of vehicle wheel component can climb out of when making the part of body component sink into sandy beach, puddle easily.
6, can be provided with salient point on the blade of impeller among the present invention, salient point can destroy the moisture film in the sposh, plays the effect of desliming.
Description of drawings
Fig. 1 is a plan structure scheme drawing of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is the sectional structure scheme drawing of vehicle wheel component among the present invention.
Fig. 4 is the main TV structure scheme drawing of vehicle wheel component among the present invention and lifting mechanism.
Fig. 5 is the semi-sictional view structural representation of lifting mechanism among the present invention.
Marginal data:
1, body component; 2, vehicle wheel component; 21, semiaxis; 22, wheel; 23, impeller; 231, blade; 2311, salient point; 24, HM Hydraulic Motor; 3, lifting mechanism; 31, swing arm; 32, oscillating axle; 33, swing arm rocking bar; 34, wobble drive part; 35, bearing assembly; 351, bearing seat; 352, antifriction-bearing box; 353, pass through lid.
The specific embodiment
Below will combine accompanying drawing and specific embodiment that the present invention is done further explain.
Fig. 1 to Fig. 3 shows a kind of embodiment of the full landform walking in seabed of the present invention car; Comprise body component 1 and be installed on the driven unit on the body component 1, four vehicle wheel components 2; Vehicle wheel component 2 comprises Transmission that links to each other with driven unit and the wheel 22 that links to each other with Transmission, also is connected with impeller 23 on the Transmission, and the present invention can be by the impeller 23 of driven unit driving through being provided with; When walking car when walking than the environment of hardground; Whole body component 1 can rely on wheel 22 to support and drive walking, and when the environment walking of rare softground, body component 1 relies on its bottom supporting on rare softground; And the propulsive effort that drives walking is provided by impeller 23; In two kinds of environment than hardground and rare softground, can both realize high efficiency walking, having solved existing walking car can not walk in rare softground or the not high shortcoming of travel efficiency, and it both can be used as the travelling platform of deep-sea mining seabed collecting machine structure; Can be used as deep quest and acquisition platform again, improved the applicability of walking car greatly.Obviously, the full landform in seabed of the present invention in other embodiments walking car can also only be provided with 3 or the vehicle wheel component 2 that is provided with more than 5 and drive walking.
In the present embodiment; Transmission adopts semiaxis 21, and impeller 23 is connected with wheel 22 and is installed on the semiaxis 21, and the external diameter of impeller 23 is less than the external diameter of wheel 22; When in rare softground, walking; Thereby the part of wheel 22 depression automatically makes impeller 23 contact with rare softground, utilizes this moment impeller 23 to drive and can under rare softground environment, walk, and does not need extra operation can be implemented in than the conversion of hardground environment to rare softground environment; In other embodiments; Impeller 23 also links to each other with Transmission through independent transmission device, and the external diameter of impeller 23 also can only need to be provided with the pivot center of impeller 23 to such an extent that can realize automatic conversion than the pivot center height of wheel 22 greater than the external diameter of wheel 22.
In the present embodiment; Body component 1 is the ship type; Body component 1 has a bottom surface similar with ship, slides to support its slight drag on rare softground, has further improved efficient and alerting ability that the walking car is walked in rare softground; In other embodiments, the bottom surface of body component 1 also can be designed with reference to the planing surface of sled.
In the present embodiment, each vehicle wheel component 2 is equipped with a lifting mechanism 3, and each vehicle wheel component 2 is through cooresponding lifting mechanism 3 liftable being installed on the body component 1; Convenient initiatively the height of vehicle wheel component 2 is controlled, and each vehicle wheel component 2 makes lifting action by independent lifting mechanism control, make the walking car be adapted to different bottom environments; Like Fig. 4 and shown in Figure 5, lifting mechanism 3 comprises swing arm 31, oscillating axle 32, swing arm rocking bar 33 and wobble drive part 34, and an end of swing arm 31 links to each other with vehicle wheel component 2; The other end of swing arm 31 links to each other with wobble drive part 34 with swing arm rocking bar 33 through oscillating axle 32; Oscillating axle 32 is installed on through bearing assembly 35 on the sidewall of body component 1, and the wobble drive part 34 of four lifting mechanisms 3 all adopts telescopic oil cylinder, and each telescopic oil cylinder is controlled by an open type hydraulic system; This open type hydraulic system can adopt prior art; Bearing assembly 35 comprises bearing seat 351, antifriction-bearing box 352 and covers 353 thoroughly, and bearing seat 351 is installed on the sidewall of body component 1, and oscillating axle 32 is installed in the bearing seat 351 through antifriction-bearing box 352; Cover 353 thoroughly and be located at bearing seat 351 be used to pack into an end of antifriction-bearing box 352; In addition, also between swing arm rocking bar 33 and wobble drive part 34, bumper is set, can reduces body vibrations; Also can increase the earth-grasping force of wheel, guarantee that four wheels can both kiss the earth in the walking process.
In the present embodiment; Each vehicle wheel component 2 is equipped with a wheel drive part, and the drive end of wheel drive part links to each other with semiaxis 21 and jack shaft 21 rotates, and the wheel drive part adopts the HM Hydraulic Motor 24 by closed fhdraulic system control; Closed fhdraulic system can adopt existing technology; It can control four semiaxis 21 of walking car separately, and rotary speed difference and rotation direction through four wheels of HYDRAULIC CONTROL SYSTEM walking car can realize that the car load of any radius is turn-taked; Can turn-take less than the turn radius of 1m when walking in especially in rare softground; Improved the alerting ability of walking car greatly, and walking car employing four-wheel individual drive,, the part of body component 1 can climb out of easily when sinking into sandy beach, puddle.
In the present embodiment, the blade 231 of impeller 23 is provided with a plurality of salient points 2311, and salient point 2311 is the irregular surface that is arranged in blade, can destroy the moisture film in the sposh, plays the effect of desliming.
In the present embodiment; Seabed full landform walking car also is provided with one can be to the externally drained hydraulic balance device in body component 1 bottom surface; Wherein the constructional feature of hydraulic balance device is controlled the water of vehicle body hold and is arranged outside car for through switch valve is set, and is used for the hydraulic pressure between rare softground of balance and the vehicle body; Produce vacuum between body component 1 and the rare softground when preventing in rare softground to start, the starting resistance of the car that reduces to walk.
The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should propose, for those skilled in the art, in the improvement and the retouching that do not break away under the principle of the invention prerequisite, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (9)
1. the full landform walking in seabed car; Comprise body component (1) and be installed on driven unit, the vehicle wheel component more than three (2) on the body component (1); The wheel (22) that said vehicle wheel component (2) comprises the Transmission that links to each other with driven unit and links to each other with Transmission is characterized in that: also be connected with impeller (23) on the said Transmission.
2. the full landform walking in seabed according to claim 1 car, it is characterized in that: said impeller (23) is connected in series on the Transmission with wheel (22), and the external diameter of said impeller (23) is less than the external diameter of said wheel (22).
3. the full landform walking in seabed according to claim 1 car, it is characterized in that: said body component (1) is the ship type.
4. according to the full landform walking of claim 1 or 2 or 3 described seabeds car, it is characterized in that: said vehicle wheel component (2) links to each other with body component (1) through a lifting mechanism (3).
5. the full landform walking in seabed according to claim 4 car; It is characterized in that: said lifting mechanism (3) comprises swing arm (31), oscillating axle (32), swing arm rocking bar (33) and wobble drive part (34); One end of said swing arm (31) links to each other with vehicle wheel component (2); The other end of said swing arm (31) links to each other with wobble drive part (34) with swing arm rocking bar (33) through oscillating axle (32), and said oscillating axle (32) is installed on the sidewall of body component (1).
6. the full landform walking in seabed according to claim 5 car, it is characterized in that: said wobble drive part (34) is a telescopic oil cylinder.
7. according to the full landform walking of claim 1 or 2 or 3 described seabeds car, it is characterized in that: said driven unit comprises wheel drive part consistent with vehicle wheel component (2) quantity and the difference corresponding vehicle wheel component of independent drive (2).
8. the full landform walking in seabed according to claim 7 car, it is characterized in that: said wheel drive part is HM Hydraulic Motor (24).
9. according to the full landform walking of claim 1 or 2 or 3 described seabeds car, it is characterized in that: the blade (231) of said impeller (23) is provided with a plurality of salient points (2311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102985697A CN102390454A (en) | 2011-09-29 | 2011-09-29 | Submarine all-terrain traveling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102985697A CN102390454A (en) | 2011-09-29 | 2011-09-29 | Submarine all-terrain traveling vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102390454A true CN102390454A (en) | 2012-03-28 |
Family
ID=45857881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102985697A Pending CN102390454A (en) | 2011-09-29 | 2011-09-29 | Submarine all-terrain traveling vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102390454A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287521A (en) * | 2013-06-14 | 2013-09-11 | 浙江理工大学 | Double-spiral-groove-channel cam drive type wheel paddle leg integrated vehicle wheel structure |
| CN104787272A (en) * | 2015-04-29 | 2015-07-22 | 长沙矿冶研究院有限责任公司 | Anti-adsorption travelling chassis suitable for soft seabed substrate |
| CN106864708A (en) * | 2017-01-23 | 2017-06-20 | 西北工业大学 | Underwater operation robot and its control method that a kind of bionical knife edge leg of migration mixing is combined with omni-directional wheel |
| CN107323634A (en) * | 2017-06-30 | 2017-11-07 | 太原科技大学 | A kind of drowned breathing and the escape emergency device of saving oneself of automobile |
| CN109026007A (en) * | 2018-08-30 | 2018-12-18 | 中南大学 | A kind of seabed walking mechanism suitable for dilute softground |
| CN113978673A (en) * | 2021-12-02 | 2022-01-28 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
| CN115140278A (en) * | 2022-06-22 | 2022-10-04 | 上海海事大学 | Underwater robot telescopic crawler device based on hydraulic system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3628493A (en) * | 1969-06-12 | 1971-12-21 | Edward E Headrick | Impeller wheel for amphibious vehicle |
| CN101028786A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Two-purpose robot mechanism with water and land functions |
| CN200992242Y (en) * | 2006-12-31 | 2007-12-19 | 中国北车集团唐山机车车辆厂 | Multipurpose investigation vehicle |
| US20080108257A1 (en) * | 2006-08-24 | 2008-05-08 | Gibbs Technologies Ltd | Amphibian |
| CN201151334Y (en) * | 2007-12-29 | 2008-11-19 | 李长伟 | Multifunctional amphibious workboat |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN201357725Y (en) * | 2009-01-09 | 2009-12-09 | 沈阳化工学院 | Disaster rescue searching vehicle |
-
2011
- 2011-09-29 CN CN2011102985697A patent/CN102390454A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3628493A (en) * | 1969-06-12 | 1971-12-21 | Edward E Headrick | Impeller wheel for amphibious vehicle |
| CN101028786A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Two-purpose robot mechanism with water and land functions |
| US20080108257A1 (en) * | 2006-08-24 | 2008-05-08 | Gibbs Technologies Ltd | Amphibian |
| CN200992242Y (en) * | 2006-12-31 | 2007-12-19 | 中国北车集团唐山机车车辆厂 | Multipurpose investigation vehicle |
| CN201151334Y (en) * | 2007-12-29 | 2008-11-19 | 李长伟 | Multifunctional amphibious workboat |
| CN201357725Y (en) * | 2009-01-09 | 2009-12-09 | 沈阳化工学院 | Disaster rescue searching vehicle |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287521A (en) * | 2013-06-14 | 2013-09-11 | 浙江理工大学 | Double-spiral-groove-channel cam drive type wheel paddle leg integrated vehicle wheel structure |
| CN103287521B (en) * | 2013-06-14 | 2015-11-04 | 浙江理工大学 | Double helix conduit actuated by cams Shi Lunjiangtui integrated wheel mechanism |
| CN104787272A (en) * | 2015-04-29 | 2015-07-22 | 长沙矿冶研究院有限责任公司 | Anti-adsorption travelling chassis suitable for soft seabed substrate |
| CN106864708A (en) * | 2017-01-23 | 2017-06-20 | 西北工业大学 | Underwater operation robot and its control method that a kind of bionical knife edge leg of migration mixing is combined with omni-directional wheel |
| CN107323634A (en) * | 2017-06-30 | 2017-11-07 | 太原科技大学 | A kind of drowned breathing and the escape emergency device of saving oneself of automobile |
| CN109026007A (en) * | 2018-08-30 | 2018-12-18 | 中南大学 | A kind of seabed walking mechanism suitable for dilute softground |
| CN109026007B (en) * | 2018-08-30 | 2023-12-01 | 中南大学 | Seabed running gear suitable for weak base |
| CN113978673A (en) * | 2021-12-02 | 2022-01-28 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
| CN115140278A (en) * | 2022-06-22 | 2022-10-04 | 上海海事大学 | Underwater robot telescopic crawler device based on hydraulic system |
| CN115140278B (en) * | 2022-06-22 | 2024-03-08 | 上海海事大学 | Underwater robot telescopic crawler device based on water hydraulic system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102390454A (en) | Submarine all-terrain traveling vehicle | |
| CN102425420B (en) | Seabed ore gathering vehicle | |
| US7726426B2 (en) | Hub drive and method of using same | |
| CN103935410B (en) | All-dimensional steering obstacle crossing vehicle based on hub motor | |
| CN101472784B (en) | Snow traction unit for vehicles | |
| CN201597658U (en) | Threaded driving running device | |
| CN101774409B (en) | Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism | |
| CN203902187U (en) | Amphibious walking robot | |
| CN106005094B (en) | A kind of multi-functional full landform special purpose vehicle | |
| CN111439076A (en) | Amphibious vehicle | |
| CN109533052B (en) | Throwing type wheel-track composite robot | |
| CN107140153A (en) | Adaptive strain born of the same parents' crawler belt traveling mechanism | |
| CN201808416U (en) | Floating box track swamp buggy | |
| CN202449091U (en) | Platform for underground detection and rescue robot | |
| CN210942018U (en) | Driving mechanism and crawler-type chassis | |
| CN201342945Y (en) | Multi-wheel driving running gear | |
| CN212353502U (en) | Amphibious vehicle | |
| CN102632782A (en) | High-trafficability vehicle | |
| CN201833841U (en) | Amphibious rescue engineering vehicle | |
| CN203766931U (en) | Excavator running gear | |
| CN105735394A (en) | Self-propelled amphibious river cleaning dredging machine | |
| CN101823483B (en) | External type air-cushion vehicle | |
| JP2007176469A (en) | Special vehicle for disaster rescue | |
| US20050014425A1 (en) | Drive system for amphibious equipment | |
| CN101973195B (en) | Amphibious rescue engineering truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120328 |