CN108909860B - Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof - Google Patents
Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof Download PDFInfo
- Publication number
- CN108909860B CN108909860B CN201810527159.7A CN201810527159A CN108909860B CN 108909860 B CN108909860 B CN 108909860B CN 201810527159 A CN201810527159 A CN 201810527159A CN 108909860 B CN108909860 B CN 108909860B
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- crawler
- water
- mud
- plate
- jet device
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention relates to a crawler walking structure suitable for the ground environment under extremely thin soft water, which comprises a walking mechanism; the travelling mechanism is of a crawler mud pry composite structure, mud pry plate structures are fixedly arranged on two sides of the crawler, and the bottom of each mud pry plate structure is higher than the bottom of the crawler and is provided with an arched plate head; the arched plate head is provided with a plate water jet device, the plate water jet device jets water forwards, the arched plate head presses the water downwards in the running process of the travelling mechanism, and the pressed water and the jet water form a water film at the bottom of the mud skid plate structure together, so that the mud resistance is reduced; the erosion of the crawler water jet device can not cause sludge scale between adjacent crawler, so that long crawler can be arranged in the crawler structure and can be inserted into the sediment at the bottom layer in a large depth, thereby generating larger driving force, reducing the collapse, preventing slipping and improving the transportation capability.
Description
Technical Field
The invention relates to a crawler belt travelling mechanism, in particular to a crawler belt travelling structure suitable for a ground environment under extremely thin soft water and a working method thereof.
Background
The prior art has the design that the crawler belt is provided with crawler belt times so as to increase thrust, the crawler belt is frequently penetrated to mainly play a role of increasing friction force, but the crawler belt times are generally low in height and often poor in effect, the crawler belt is short in length and has no mud shifting effect, the main reason is that mud is easy to embed between the crawler belt, the crawler belt is lengthened to cause that the mud is more difficult to remove, the prior art also has the purpose of achieving gravity mud removal by arranging crawler belt angles, but the mud removal effect is always not as good as that of people;
the underwater travelling mechanism has higher requirement on the balance of the ground specific pressure and higher difficulty, and the contact surface and stability are generally increased by increasing the transverse width of the crawler belt, or the ground contact area is increased by additionally constructing, but the problem of increased friction resistance cannot be solved.
Disclosure of Invention
The purpose of the invention is that: the crawler walking structure is suitable for the ground environment under extremely thin soft water, and the crawler water jet device is arranged to clearly separate sludge between the repeated thorns, so that the height of the repeated thorns can be improved, and the mud stirring effect of the repeated thorns is improved; simultaneously set up mud skid plate structure and divide the pressure, set up board water jet device on mud skid plate structure, through the water film that mud skid plate lower part formed, reduce the frictional resistance of mud skid plate structure and ground when walking.
The invention adopts the following technical scheme:
a caterpillar track walking structure suitable for the ground environment under extremely soft water comprises a walking mechanism 3; the travelling mechanism 3 is of a crawler mud pry composite structure, mud pry plate structures 5 are fixedly arranged on two sides of the crawler, and the bottom of each mud pry plate structure 5 is higher than the bottom of the crawler and is provided with an arched plate head 13; the arch plate head 13 is provided with a plate water jet device 15, the plate water jet device 15 jets water forwards, the arch plate head 13 presses the water downwards in the travelling process of the travelling mechanism 3, and the pressed water and the jet water form a water film at the bottom of the mud skid plate structure 5 together, so that the mud resistance is reduced.
Further, lengthened track spines are arranged on the track, and a track water jet device 12 aligned to the position between the adjacent track spines is fixedly arranged on the track travelling structure and used for flushing sludge between the adjacent track spines.
Further, the device also comprises a supporting beam 1 and a power mechanism 2; the walking mechanisms 3 are arranged on two sides of the supporting beam 1; the support beams are attached to the inner side panel 11 of the crawler chassis.
Further, the mud skid structures 5 are fixedly connected with the inner side panels 11 of the crawler chassis respectively.
Further, the power mechanism 2 is composed of a motor water seal box 16 and an electric box 17.
Further, the crawler structure comprises a rubber crawler 6, a thorn 7, a thrust wheel 8, a driving gear 9, a guide wheel assembly 10, a crawler chassis side panel 11 and a crawler water jet device 12; the rubber crawler belt is connected with the thorn 7; the number of the thrust wheels is multiple, the thrust wheels are uniformly distributed, and two crawler water jet devices 12 are horizontally welded on a motor water seal box 16 behind a supporting beam.
Further, the mud skid plate structure 5 is provided with an arched plate head and an arched plate tail, the side surface of the mud skid plate structure 5 is provided with a baffle 14, and the plate water jet device 15 is integrally arranged on the arched plate head.
In the working method of the crawler traveling structure suitable for the ground environment under extremely thin soft water, when the crawler traveling structure moves forward, the plate water jet device 15 jets water forward, and as the traveling mechanism 3 moves forward, the arched plate head 13 presses the water downwards, and the pressed water and the jetted water form a water film at the bottom of the mud skid plate structure 5 together, so that the mud resistance is reduced; at the same time, the crawler water jet device 12 is aligned with the jet of water from the thorns to flush out the sludge between adjacent thorns.
The invention has the beneficial effects that:
1) In the mud skid plate structure, a water jet device is arranged to jet water flow to the bottom of the plate. According to the coanda effect, a layer of water film is formed, so that the travelling resistance can be greatly reduced.
2) The crawler belt-mud skid plate composite structure is adopted, so that the device is very suitable for the submarine environment;
3) Long crawler thorns can be arranged in the crawler structure and are inserted into the bottom sediment in a large depth to generate larger driving force, reduce the collapse, prevent slipping and improve the transportation capability, and the premise is that the crawler thorns are matched with the flushing of a crawler water jet device, so that sludge scale between adjacent crawler thorns is not caused;
4) In the track structure, the tail part is provided with a water jet device to wash away soil and other attachments adsorbed on the toothed plate, so that the reduction of the driving force and the increase of the weight of the track caused by the accumulation of the attachments are prevented.
5) The mud skid plate structure is used, so that the grounding area is increased, the specific pressure of grounding is reduced, the balance performance is improved, and the stability in walking is improved;
6) Two sides of the mud seesaw structure are provided with baffle plates, and side panels in the crawler device. Soil and attachments are prevented from being involved in the crawler belt transmission device, and the reliability of the device is improved.
Drawings
Fig. 1 is a perspective view of a crawler belt running structure adapted to a ground environment under extremely weak water according to the present invention.
Fig. 2 is a top view of the crawler belt running structure of the present invention adapted to a very weak water ground environment.
Fig. 3 is a perspective view of the crawler belt running structure of the present invention adapted to a ground environment under extremely weak water at another view angle.
In the figure, the hydraulic truck comprises a supporting beam 1, a power mechanism 2, a travelling mechanism 3, a crawler device 4, a mud skid plate structure 5, a rubber crawler 6, a crawler 7, a track spike 8, a supporting wheel 9, a driving gear 10, a guide wheel assembly 11, a crawler chassis side plate 12, a crawler water jet device 13, an arched plate head 14, a baffle plate 15, a plate water jet device 16, a motor water seal box 17 and an electric box.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
In this embodiment, referring to fig. 1-3, a track adapted for use in a very soft water subsurface environment is used to travel on the seafloor and other soft geological conditions. The crawler belt is a sled crawler belt, and comprises the following parts: the crawler belt comprises a rubber crawler belt 6, crawler thorns 7, thrust wheels 8, a driving gear 9, a guide wheel assembly 10, a crawler chassis side panel 11, a crawler water jet device 12 and the like.
The rubber crawler 6 is composed of a track plate, a crawler pin and the like. The track pins connect the track shoes to form a track link. Holes are formed at two ends of the track plate and meshed with the driving wheel, guide teeth are formed in the middle of the track plate and used for correcting the track, the track is prevented from falling off when the device turns or runs sideways, and the running stability of the device is improved.
The crawler 7 is fixed below the rubber crawler, the length of the crawler is greatly prolonged compared with that of a common crawler, and the structural strength and other performances of the crawler are enhanced. Therefore, the crawler travelling device is more suitable for soft geological conditions of the seabed, the depth of the crawler travelling device entering the sediment is increased, and larger driving force and higher driving efficiency can be provided.
The water jet device 12 is welded on two sides of the tail of the motor water seal box 16, and the two water jet devices generate high-speed water jet which just flows through the root of the crawler, so that the water jet device has a good scouring effect on the bottom mud adsorbed on the surface of the crawler.
The supporting wheel 8 is positioned above the rubber track and meshed with the inner surface of the rubber track, and is used for bearing the weight of the tank and correcting the track. The device consists of a hub, a wheel disc, an adhesive tape, a ball bearing, a wheel shaft cover, a fixing nut and the like. The device makes the weight of sharing on every bogie wheel less through setting up more bogie wheels, and pressure distribution is more even on the track, improves the throughput and the maneuvering characteristics of device.
The driving gear 9 is positioned at the upper part of the front end of the crawler belt and consists of a hub, a gear ring, a toothed washer, a bevel gear cup, a fixed nut and a stop bolt. The device moves by transmitting power transmitted by the side speed reducer to the crawler belt through the meshing of the gear and the crawler belt.
The guide wheel assembly 10 is positioned at the outer side of the tail part of the crawler belt, is used for inducing and supporting the crawler belt, and is used for adjusting the tightness degree of the crawler belt together with the crawler belt adjuster. The device consists of a hub, a wheel disc, ball bearings, a wheel shaft cover, a fixed nut, double rows of ball bearings, a supporting cup and the like.
The side panels 11 of the crawler chassis are positioned on two sides of the crawler, and the supporting beams are connected to the bottom mud rocker structures 5. The side panel can prevent that the foreign object from getting into inside the track structure, prevents that the track sideslip, improves the stability of marcing.
Compared with similar flat bottom mud skid plates and mud-free skid plates, the mud skid plate structure 5 with the arched plate head plates 13 and the arched tail plates has larger contact area with the soft mud when the device has the same sinking degree in the soft mud environment, thereby increasing the lifting force of the soft mud environment on the mud skid plates and bearing larger load. Baffles 14 are arranged on the two sides and the front part of the mud skid structure 5 to prevent mud from splashing in.
The arched plate head 13 is provided with a plate water jet device 15 which jets high pressure water flow along the bottom of the arched plate head 13. In the advancing process of the whole device, due to the coanda effect, water flows into the bottom of the mud skid plate structure 5 along the bottom of the arched plate head 13, a layer of water film is formed at the bottom of the mud skid plate, the mud skid plate and the mud ground are isolated, so that the friction resistance between the mud and the mud skid plate is reduced, and the water jet flow can be dynamically adjusted along with the advancing speed of the chassis.
When the crawler travel structure moves forward, the plate water jet device 15 jets water forward, the arched plate head 13 presses the water downwards along with the travel of the travel mechanism 3, and the pressed water and the jetted water form a water film at the bottom of the mud skid plate structure 5 together, so that the mud resistance is reduced; at the same time, the crawler water jet device 12 is aligned with the jet of water from the thorns to flush out the sludge between adjacent thorns.
The foregoing is a preferred embodiment of the present invention, and various changes and modifications may be made therein by those skilled in the art without departing from the general inventive concept, and such changes and modifications should be considered as falling within the scope of the claimed invention.
Claims (5)
1. The utility model provides a be adapted to track walking structure of extremely soft water subaerial environment which characterized in that:
comprises a travelling mechanism (3); the travelling mechanism (3) is of a crawler mud skid composite structure, mud skid plate structures (5) are fixedly arranged on the two outer sides of the crawler, and the bottoms of the mud skid plate structures (5) are higher than the bottoms of the crawler and are provided with arched plate heads (13);
the arched plate head (13) is provided with a plate water jet device (15), the plate water jet device (15) jets water forwards, the arched plate head (13) presses the water downwards in the advancing process of the travelling mechanism (3), and the pressed water and the jetted water form a water film at the bottom of the mud skid plate structure (5) together, so that the mud resistance is reduced;
the crawler belt is provided with lengthened crawler thorns, and the crawler belt running structure is fixedly provided with a crawler belt water jet device (12) aligned to the position between the adjacent crawler thorns and used for flushing out sludge between the adjacent crawler thorns;
the device also comprises a supporting cross beam (1) and a power mechanism (2); the walking mechanisms (3) are arranged on two sides of the supporting cross beam (1); the supporting cross beam is connected to the side panel (11) of the crawler chassis;
the mud skid plate structure (5) is provided with an arched plate head and an arched plate tail, the side surface of the mud skid plate structure (5) is provided with a baffle (14), and the plate water jet device (15) is integrally arranged on the arched plate head.
2. The crawler belt structure adapted to an extremely dilute soft water subsurface environment as claimed in claim 1, wherein: the mud skid plate structure (5) is fixedly connected with the side panels (11) of the crawler chassis respectively.
3. The crawler belt structure adapted to an extremely dilute soft water subsurface environment as claimed in claim 1, wherein: the power mechanism (2) is composed of a motor water seal box (16) and an electric box (17).
4. The crawler belt structure adapted to an extremely dilute soft water subsurface environment as claimed in claim 1, wherein: the crawler structure comprises a rubber crawler (6), a thorn (7), a thrust wheel (8), a driving gear (9), a guide wheel assembly (10), a crawler chassis side panel (11) and a crawler water jet device (12); the rubber crawler belt is connected with the thorn (7); the number of the thrust wheels is multiple, the thrust wheels are uniformly distributed, and two crawler water jet devices (12) are horizontally welded on a motor water seal box (16) behind the supporting beam.
5. A method of operating a crawler belt structure adapted to an extremely dilute soft water subsurface environment as in claim 1, wherein:
when the crawler travel structure moves forward, the plate water jet device (15) jets water forward, and as the travel mechanism (3) moves forward, the arched plate head (13) presses the water downwards, and the pressed water and the jetted water form a water film at the bottom of the mud skid plate structure (5) together, so that the mud resistance is reduced;
and meanwhile, the caterpillar water jet device (12) is aligned with the repeated thorns to jet water flow, so that sludge between the adjacent repeated thorns is washed away.
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 CN108909860A (en) | 2018-11-30 |
| CN108909860B true CN108909860B (en) | 2023-08-22 |
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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 |
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| CN (1) | CN108909860B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019148943A1 (en) | 2018-02-02 | 2019-08-08 | 上海交通大学 | Suspendable crawler-type underwater operations robot for extremely soft ground |
| 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 |
| CN109975064B (en) * | 2019-04-04 | 2021-01-29 | 南京涵铭置智能科技有限公司 | Submarine ore exploration vehicle and ore collection method thereof |
| CN111017058B (en) * | 2019-12-10 | 2021-04-27 | 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 |
| CN112977658B (en) * | 2021-03-12 | 2021-12-28 | 中国海洋大学 | Sectional type seabed mining vehicle track |
| 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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| CN108909860A (en) | 2018-11-30 |
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