CN108909860A - It is adapted to the crawler travel structure and its working method of ground environment under extremely dilute soft water - Google Patents
It is adapted to the crawler travel structure and its working method of ground environment under extremely dilute soft water Download PDFInfo
- Publication number
- CN108909860A CN108909860A CN201810527159.7A CN201810527159A CN108909860A CN 108909860 A CN108909860 A CN 108909860A CN 201810527159 A CN201810527159 A CN 201810527159A CN 108909860 A CN108909860 A CN 108909860A
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- Prior art keywords
- water
- mud
- crawler
- crawler belt
- arch
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
- B62D55/0882—Track or sprocket cleaning devices mounted on the frame
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
Abstract
The present invention relates to a kind of crawler travel structures for being adapted to ground environment under extremely dilute soft water, including walking mechanism；The walking mechanism is crawler belt mud sled composite structure, and crawler belt two sides are fixed with mud skid plate structure, and mud skid plate structural base is higher than crawler belt bottom and has arch wrench；The arch wrench is equipped with plate water jet device, and the plate water jet device sprays forward water, and in walking mechanism traveling process, arch wrench presses downward to water, and the water being pressed into and injection water form " moisture film " in mud sledge plate structural base jointly, reduces mud resistance；Crawler belt water jet device washes away, and not will cause the sludge incrustation between adjacent grouser, and then long grouser can be set in caterpillar belt structure, in big depth insertion layer deposition object, generates bigger driving force, reduction collapses, prevents from skidding, raising transport capacity.
Description
Technical field
The present invention relates to a kind of creepers undercarriage, and in particular to a kind of crawler belt for being adapted to ground environment under extremely dilute soft water
Walking structure and its working method.
Background technique
The prior art has the setting on crawler belt to carry out design that is secondary and then increasing thrust, and thorn primarily serves increase frictional force repeatly
Effect, but carry out time height it is generally lower, effect is often bad because the length of grouser is shorter, without dial mud effect, study carefully
Its reason is easy insertion sludge mainly between grouser, grouser lengthening will lead to sludge and more be difficult to remove, and the prior art also has
Achieve the purpose that gravity desliming by setting grouser angle, still, the effect of desliming is not so good as people's will always；
Underwater requirement of the walking mechanism for the balance of grounding pressure is also relatively high, and difficulty is bigger, generally passes through increase
The transverse width of crawler belt increases contact area to increase contact surface, stability, or by additional building, but is the failure to solve friction
The problem of resistance increases.
Summary of the invention
The purpose of the present invention is：A kind of crawler travel structure for being adapted to ground environment under extremely dilute soft water is provided, by setting
It sets crawler belt water jet device and understands that the sludge between thorn repeatly promotes group mud effect pierced repeatly so as to improve the height pierced repeatly；
The hardened structure of mud sledge is arranged simultaneously to be divided, the arranging plate water jet device in mud skid plate structure is formed by mud skid plate lower part
Moisture film, come the frictional resistance of mud skid plate structure and ground when reducing walking.
The present invention takes following technical scheme：
A kind of crawler travel structure being adapted to ground environment under extremely dilute soft water, including walking mechanism 3；The walking mechanism
3 be crawler belt mud sled composite structure, and crawler belt two sides are fixed with mud skid plate structure 5, and 5 bottom of mud skid plate structure is higher than crawler belt bottom
And there is arch wrench 13；The arch wrench 13 is equipped with plate water jet device 15, and the plate water jet device 15 sprays forward
Water, in 3 traveling process of walking mechanism, arch wrench 13 presses downward to water, and the water being pressed into and injection water are jointly in mud sledge plate
" moisture film " is formed on 5 bottom of structure, reduces mud resistance.
Further, the crawler belt is equipped with the grouser lengthened, and fixed setting alignment is adjacent in the crawler travel structure
The crawler belt water jet device 12 at position between grouser, for washing away the sludge between adjacent thorn repeatly.
It further, further include support beam 1, power mechanism 2；The walking mechanism 3 is arranged in 1 two sides of support beam；Branch
Support crossbeam is connected in crawler body inner panel 11.
Further, mud skid plate structure 5 is fixedly connected with crawler body inner panel 11 respectively.
Further, the power mechanism 2 is made of motor watertight joint sealing 16 and electric box 17.
Further, caterpillar belt structure includes rubber belt track 6, repeatly thorn 7, thrust wheel 8, driving gear 9, guiding wheel assembly
10, crawler body side panel 11, crawler belt water jet device 12；Rubber belt track is connect with thorn 7 repeatly；Thrust wheel has multiple and equal
Even distribution, on support beam rear motor watertight joint sealing 16, level two crawler belt water jet devices 12 of welding.
Further, the hardened structure 5 of mud sledge has arch wrench, arch sheet tail, and hardened 5 side of structure of mud sledge has baffle
14,15 integrated installation of plate water jet device is on arch wrench.
A kind of above-mentioned working method for being adapted to the crawler travel structure of ground environment under extremely dilute soft water, crawler travel knot
When structure is carried forward, plate water jet device 15 sprays forward water, and as walking mechanism 3 is advanced, water is pressed downward by arch wrench 13
Enter, the water being pressed into and injection water form " moisture film " in hardened 5 bottom of structure of mud sledge jointly, reduce mud resistance；Meanwhile crawler belt water
Injection water is pierced in fluidic device 12, alignment repeatly, washes away the sludge between adjacent thorn repeatly.
The beneficial effects of the present invention are：
1) in the hardened structure of mud sledge, water jet device is set, to board bottom injection water.According to wall attachment effect, one layer of " water is formed
Film " can greatly reduce running resistance.
2) crawler belt-mud sledge plate composite construction, fabulous adaptation subsea environment are used；
3) long grouser can be set in caterpillar belt structure, big depth is inserted into layer deposition object, is generated bigger driving force, is subtracted
It is small to collapse, prevent from skidding, transport capacity is improved, with the proviso that washing away for cooperation crawler belt water jet device, not will cause adjacent shoe
Sludge incrustation between thorn；
4) in caterpillar belt structure, water jet device is installed in tail portion, rinses out the soil being adsorbed on tooth plate and other attachments,
It prevents from the driving force for accumulating the crawler belt generated because of attachment from reducing to increase with weight.
5) the hardened structure of mud sledge is used, contact area is increased, reduces grounding pressure, promotes balance quality, is improved in walking
Stability；
6) baffle, the side panel in crawler attachment is arranged in mud wraping plate structure two sides.Soil and attachment is prevented to be involved in crawler belt
In transmission device, device reliability is improved.
Detailed description of the invention
Fig. 1 is the perspective view that the present invention is adapted to the crawler travel structure of ground environment under extremely dilute soft water.
Fig. 2 is the top view that the present invention is adapted to the crawler travel structure of ground environment under extremely dilute soft water.
Fig. 3 is the perspective view that the present invention is adapted under another visual angle of crawler travel structure of ground environment under extremely dilute soft water.
In figure, 1. support beams, 2. power mechanisms, 3. walking mechanisms, 4. crawler attachments, 5. mud skid plate structures, 6. rubber
Crawler belt, 7. grousers, 8. thrust wheels, 9. driving gears, 10. guiding wheel assemblies, 11. crawler body side panels, 12. crawler belt water jets
Device, 13. arch wrench, 14. baffles, 15. plate water jet devices, 16. motor watertight joint sealings, 17. electric appliance boxes.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific examples.
In the present embodiment, referring to Fig. 1-3, the track application of ground environment under extremely dilute soft water is adapted in seabed and other are dilute
It advances in the state of soft geological.Crawler belt is Sledge type crawler belt, including following sections：Rubber belt track 6, grouser 7, thrust wheel 8 drive
Moving gear 9, guiding wheel assembly 10, crawler body side panel 11, the structures such as crawler belt water jet device 12.
The rubber belt track 6 is made of creeper tread and track pin etc..Each creeper tread is connected composition crawler belt by track pin
Chain link.There is hole at the both ends of creeper tread, engage with driving wheel, and there is induction tooth at middle part, be used to regulatory crawler belt, and anti-locking apparatus turn to or
It rolls crawler belt when driving to fall off, improves the stability of device traveling.
The grouser 7 is fixed below rubber belt track, its length of more common grouser has larger lengthening, the property such as structural strength
Can it be reinforced.To make crawler travel device more adapt to the soft geological conditions in seabed, increase its depth for entering bed mud
Degree, can provide bigger driving force and higher drive efficiency.
The water jet device 12 is welded in 16 two sides of tail of motor watertight joint sealing, and totally two, the high speed water-jet generated
Stream flows through grouser root just, has preferable scouring effect to the bed mud for being adsorbed on grouser surface, due to rushing for water jet device
Brush, and then long grouser can be set in caterpillar belt structure, in big depth insertion layer deposition object, generates bigger driving force, reduces
It collapses, prevent from skidding, improve transport capacity.
The thrust wheel 8 is located above rubber belt track, and engages with rubber belt track inner surface, for bearing the weight of tank
With regulatory crawler belt.It is made of wheel hub, wheel disc, adhesive tape, ball bearing, wheel cover, fixture nut etc..The device by setting compared with
More thrust wheels keeps the gravity shared on each bogie wheel smaller, and pressure distribution is more uniform on crawler belt, improves passing through for device
Ability and mobility.
The driving gear 9 is located at crawler belt upper front end, it is by wheel hub, gear ring, toothed washer, cone tooth cup, hold-doun nut
It is formed with dogbolt.It is engaged by gear and crawler belt, and the power that side speed reducer is transmitted is transmitted to crawler belt and moves device.
The guiding wheel assembly 10 is located at crawler belt lateral tail, for inducing and supporting crawler belt, and with track tension adjustor one
Play the tightness of adjustment crawler belt.It is by wheel hub, wheel disc, ball bearing, wheel cover, hold-doun nut, double-row bearing, support
The composition such as cup.
The crawler body side panel 11 is located at crawler belt two sides, above has support beam to be connected to bottom mud wraping plate structure 5.Side
Panel can prevent exterior object from entering inside caterpillar belt structure, prevent crawler belt from breakking away, and improve traveling stability.
The hardened structure 5 of mud sledge with arch sheet head plate 13, arch tailgate, with similar flat mud sledge plate and the dress without mud sledge plate
It sets and compares, it is bigger with the contact area of ooze when so that the present apparatus having identical sagging degree in ooze environment, to increase
Ooze environment it is upward to mud sledge plate lift power, bigger loading can be born.Baffle is arranged in hardened 5 two sides of structure of mud sledge and front
14, prevent sposh to be splashed into.
Arch wrench 13 is equipped with plate water jet device 15, can be along 13 base injcction high pressure water flow of arch wrench.Entire dress
It sets during traveling, due to wall attachment effect, water flow flows into hardened 5 bottom of structure of mud sledge along 13 bottom of arch wrench, in mud sledge
Board bottom portion forms one layer " moisture film ", and mud sledge plate and mud ground has been isolated, to reduce the friction resistance between mud and mud sledge plate
Power, and water jet flow can be adjusted with chassis forward speed dynamic.
When specific works, when crawler travel structure is carried forward, plate water jet device 15 sprays forward water, with vehicle with walking machine
Structure 3 is advanced, and arch wrench 13 presses downward to water, and the water being pressed into and injection water form " water in hardened 5 bottom of structure of mud sledge jointly
Film " reduces mud resistance；Meanwhile injection water is pierced in crawler belt water jet device 12, alignment repeatly, washes away the dirt between adjacent thorn repeatly
Mud.
It is the preferred embodiment of the present invention above, those of ordinary skill in the art can also carry out various changes on this basis
It changes or improves, under the premise of not departing from the present invention total design, these transformation or improve all should belong to that the present invention claims guarantors
Within the scope of shield.
Claims (8)
1. a kind of crawler travel structure for being adapted to ground environment under extremely dilute soft water, it is characterised in that：
Including walking mechanism (3)；The walking mechanism (3) is crawler belt mud sled composite structure, and crawler belt two sides are fixed with mud sled
Hardened structure (5), mud skid plate structure (5) bottom are higher than crawler belt bottom and have arch wrench (13)；
The arch wrench (13) is equipped with plate water jet device (15), and the plate water jet device (15) sprays forward water, walks
In mechanism (3) traveling process, arch wrench (13) presses downward to water, and the water being pressed into and injection water are jointly in the hardened structure of mud sledge
(5) " moisture film " is formed on bottom, reduces mud resistance.
2. being adapted to the crawler travel structure of ground environment under extremely dilute soft water as described in claim 1, it is characterised in that：It is described
Crawler belt is equipped with the grouser lengthened, and fixed setting is directed at the crawler belt water-jet at position between adjacent grouser in the crawler travel structure
It flows device (12), for washing away the sludge between adjacent thorn repeatly.
3. being adapted to the crawler travel structure of ground environment under extremely dilute soft water as described in claim 1, it is characterised in that：Also wrap
Include support beam (1), power mechanism (2)；The walking mechanism (3) is arranged in support beam (1) two sides；Support beam is connected to shoe
On band chassis inner panel (11).
4. being adapted to the crawler travel structure of ground environment under extremely dilute soft water as claimed in claim 3, it is characterised in that：Mud sled
Hardened structure (5) is fixedly connected with crawler body inner panel (11) respectively.
5. being adapted to the crawler travel structure of ground environment under extremely dilute soft water as claimed in claim 3, it is characterised in that：It is described
Power mechanism (2) is made of motor watertight joint sealing (16) and electric box (17).
6. being adapted to the crawler travel structure of ground environment under extremely dilute soft water as claimed in claim 2, it is characterised in that：Crawler belt
Structure includes rubber belt track (6), pierces (7), thrust wheel (8), driving gear (9), guiding wheel assembly (10), crawler body side repeatly
Plate (11), crawler belt water jet device (12)；Rubber belt track is connect with thorn (7) repeatly；Thrust wheel has multiple, and is uniformly distributed, props up
It supports on crossbeam rear motor watertight joint sealing (16), level two crawler belt water jet devices (12) of welding.
7. being adapted to the crawler travel structure of ground environment under extremely dilute soft water as claimed in claim 2, it is characterised in that：Mud sledge
Hardened structure (5) has arch wrench, arch sheet tail, and the hardened structure of mud sledge (5) side has baffle (14), plate water jet device (15)
Integrated installation is on arch wrench.
8. a kind of working method described in claim 1 for being adapted to the crawler travel structure of ground environment under extremely dilute soft water,
It is characterized in that：
When crawler travel structure is carried forward, plate water jet device (15) sprays forward water, as walking mechanism (3) advance, arch
Shape wrench (13) presses downward to water, and the water being pressed into and injection water form " moisture film " in the hardened structure of mud sledge (5) bottom jointly, subtracts
Small mud resistance；
Meanwhile injection water is pierced in crawler belt water jet device (12), alignment repeatly, washes away the sludge between adjacent thorn repeatly.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527159.7A CN108909860B (en) | 2018-05-29 | 2018-05-29 | Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof |
| PCT/CN2018/116809 WO2019148943A1 (en) | 2018-02-02 | 2018-11-21 | Suspendable crawler-type underwater operations robot for extremely soft ground |
| US16/597,456 US11498378B2 (en) | 2018-02-02 | 2019-10-09 | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527159.7A CN108909860B (en) | 2018-05-29 | 2018-05-29 | Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108909860A true CN108909860A (en) | 2018-11-30 |
| CN108909860B CN108909860B (en) | 2023-08-22 |
Family
ID=64419567
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810527159.7A Active CN108909860B (en) | 2018-02-02 | 2018-05-29 | Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN108909860B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291743A (en) * | 2018-10-08 | 2019-02-01 | 上海交通大学 | Be adapted to extremely dilute soft geological can suspension crawler type special type underwater operation robot |
| CN109975064A (en) * | 2019-04-04 | 2019-07-05 | 南京涵铭置智能科技有限公司 | A kind of seabed ore scout carrier and its acquisition ore method |
| CN111017058A (en) * | 2019-12-10 | 2020-04-17 | 中国海洋大学 | Self-rescue device for sinking and escaping from stranded state in travelling process of seabed mining truck and self-rescue method thereof |
| CN112977658A (en) * | 2021-03-12 | 2021-06-18 | 中国海洋大学 | Sectional type seabed mining vehicle track |
| US11498378B2 (en) | 2018-02-02 | 2022-11-15 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| CN116163734A (en) * | 2023-03-01 | 2023-05-26 | 中国海洋大学 | Deep sea mine car crawler belt viscosity removing system utilizing carbon dioxide jet flow |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11498378B2 (en) | 2018-02-02 | 2022-11-15 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| CN109291743A (en) * | 2018-10-08 | 2019-02-01 | 上海交通大学 | Be adapted to extremely dilute soft geological can suspension crawler type special type underwater operation robot |
| CN109291743B (en) * | 2018-10-08 | 2020-10-30 | 上海交通大学 | Suspensible crawler-type special underwater operation robot suitable for extremely thin and soft geology |
| CN109975064A (en) * | 2019-04-04 | 2019-07-05 | 南京涵铭置智能科技有限公司 | A kind of seabed ore scout carrier and its acquisition ore method |
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| CN112977658A (en) * | 2021-03-12 | 2021-06-18 | 中国海洋大学 | Sectional type seabed mining vehicle track |
| CN112977658B (en) * | 2021-03-12 | 2021-12-28 | 中国海洋大学 | Sectional type seabed mining vehicle track |
| CN116163734A (en) * | 2023-03-01 | 2023-05-26 | 中国海洋大学 | Deep sea mine car crawler belt viscosity removing system utilizing carbon dioxide jet flow |
| CN116163734B (en) * | 2023-03-01 | 2024-01-30 | 中国海洋大学 | Deep sea mine car crawler belt viscosity removing system utilizing carbon dioxide jet flow |
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