CN108909860B - Crawler walking structure and working method adapted to extremely rare soft underwater ground environment - Google Patents

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

Crawler walking structure and working method adapted to extremely rare soft underwater ground environment

technical field

The invention relates to a crawler walking mechanism, in particular to a crawler walking structure and a working method which are suitable for the extremely rare soft underwater ground environment.

Background technique

In the prior art, there is a design of setting thorns on the crawler to increase the thrust. The thorns mainly play the role of increasing friction, but the height of the thorns is generally low, and the effect is often not good, because the length of the thorns is relatively short. There is no effect of removing mud. The main reason is that sludge is easily embedded between the spurs, and the lengthening of the spurs will make it more difficult to remove the sludge. In the existing technology, the purpose of gravity deslagging is also achieved by setting the angle of the spurs, but , the desliming effect is always unsatisfactory;

The underwater walking mechanism also has relatively high requirements for the balance of the grounding specific pressure, which is relatively difficult. Generally, the contact surface and stability are increased by increasing the lateral width of the track, or the grounding area is increased by adding additional structures, but the friction cannot be solved. The problem of increased resistance.

Contents of the invention

The purpose of the present invention is: to provide a crawler walking structure adapted to the extremely rare soft underwater ground environment, by setting the crawler water jet device to clear the sludge between the thorns, so as to increase the height of the thorns and improve the sling of the thorns Mud effect; at the same time, a mud skid structure is set to divide the pressure, and a water jet device is installed on the mud skid structure to reduce the frictional resistance between the mud skid structure and the ground during walking through the water film formed on the lower part of the mud skid.

The present invention takes the following technical solutions:

A crawler walking structure adapted to the extremely thin and soft underwater ground environment, including a walking mechanism 3; the walking mechanism 3 is a crawler mud skid composite structure, and mud skid structure 5 is fixed on both sides of the track, and the mud skid structure 5 The bottom is higher than the bottom of the track and has an arched head 13; the arched head 13 is provided with a board water jet device 15, and the board water jet device 15 sprays water forward. Head 13 presses water downwards, and the water that is pressed in and jetting water form " water film " at the bottom of mud sled structure 5 jointly, reduce silt resistance.

Further, the crawler belt is provided with extended spines, and the track water jet device 12 is fixedly arranged on the crawler belt walking structure to align with the positions between adjacent spines, and is used to wash away the dirt between adjacent spines. mud.

Further, it also includes a supporting beam 1 and a power mechanism 2; the running mechanism 3 is arranged on both sides of the supporting beam 1; the supporting beam is connected to the inner side panel 11 of the crawler chassis.

Furthermore, the mud skid structure 5 is respectively fixedly connected with the inner side panels 11 of the crawler chassis.

Furthermore, the power mechanism 2 is composed of a motor water-tight box 16 and an electrical box 17 .

Further, the crawler structure includes rubber crawler 6, thorns 7, supporting wheels 8, driving gear 9, guide wheel assembly 10, side panels 11 of the crawler chassis, and water jet device 12 of the crawler; the rubber track is connected to the thorns 7; There are a plurality of supporting rollers, and they are evenly distributed. On the motor water-tight box 16 behind the support beam, two crawler water jet devices 12 are welded horizontally.

Furthermore, the mud skid structure 5 has an arched head and an arched tail, the side of the mud skid structure 5 has baffles 14, and the water jet device 15 is integrally installed on the arched head.

A working method of the above-mentioned caterpillar walking structure adapted to the extremely rare soft underwater ground environment. When the crawler walking structure moves forward, the plate water jet device 15 sprays water forward, and as the traveling mechanism 3 advances, the arched plate head 13 Press the water downwards, and the pressed water and the sprayed water together form a "water film" at the bottom of the mud sled structure 5 to reduce the resistance of the mud; at the same time, the crawler water jet device 12 is aimed at the repeatedly pierced water jet, rushing Remove the sludge between adjacent thorns.

The beneficial effects of the present invention are:

1) In the sled structure, a water jet device is installed to spray water to the bottom of the slab. According to the wall attachment effect, a layer of "water film" is formed, which can greatly reduce the running resistance.

2) The track-sled composite structure is adopted, which is well adapted to the seabed environment;

3) Long spurs can be set in the crawler structure, which can be inserted into the bottom sediment at a large depth to generate greater driving force, reduce depression, prevent slipping, and improve transportation capacity. It will cause sludge fouling between adjacent groves;

4) In the crawler structure, a water jet device is installed at the tail to wash away the soil and other attachments adsorbed on the tooth plate, so as to prevent the driving force and weight increase of the crawler due to the accumulation of attachments.

5) The use of mud skid plate structure increases the grounding area, reduces the grounding specific pressure, improves the balance performance, and improves the stability during walking;

6) Baffles are set on both sides of the mud rocker structure, and side panels in the crawler device. Prevent mud and attachments from being involved in the crawler drive, improving the reliability of the device.

Description of drawings

Fig. 1 is a perspective view of the crawler walking structure of the present invention adapted to the extremely rare soft underwater ground environment.

Fig. 2 is a top view of the crawler belt walking structure adapted to the very rare soft underwater ground environment of the present invention.

Fig. 3 is a perspective view from another angle of view of the crawler walking structure of the present invention adapted to the extremely thin and soft underwater ground environment.

In the figure, 1. Supporting beam, 2. Power mechanism, 3. Traveling mechanism, 4. Crawler device, 5. Mud skid structure, 6. Rubber track, 7. Spur, 8. Track roller, 9. Driving gear , 10. Guide wheel assembly, 11. Track chassis side panel, 12. Track water jet device, 13. Arched plate head, 14. Baffle plate, 15. Plate water jet device, 16. Motor water seal box, 17. Electrical box.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

In this embodiment, referring to Figs. 1-3 , the caterpillar adapted to the extremely thin and soft underwater ground environment is used to travel on the seabed and other rare and soft geological conditions. The track is a sled track, including the following parts: rubber track 6, spurs 7, supporting wheels 8, driving gear 9, guide wheel assembly 10, track chassis side panels 11, track water jet device 12 and other structures.

The rubber track 6 is composed of track shoes, track pins and the like. The track pins connect the track shoes to form a track link. There are holes at both ends of the track shoes, which mesh with the driving wheel, and there are inducing teeth in the middle, which are used to regulate the track and prevent the track from falling off when the device turns or rolls, which improves the stability of the device.

The thorns 7 are fixed on the bottom of the rubber crawler, and their length is longer than that of common thorns, and the structural strength and other properties are strengthened. Therefore, the crawler traveling device is more suitable for the soft geological conditions of the seabed, the depth of its entry into the bottom mud is increased, and greater driving force and higher driving efficiency can be provided.

The water jet device 12 is welded on both sides of the tail of the motor water seal box 16, a total of two, the high-speed water jet produced by it just flows through the root of the thorn, and has a good scouring effect on the sediment adsorbed on the surface of the thorn, Due to the scouring of the water jet device, long spurs can be set in the crawler structure, which can be inserted into the bottom sediment at a large depth to generate greater driving force, reduce depression, prevent slipping, and improve transportation capacity.

The rollers 8 are positioned above the rubber track and meshed with the inner surface of the rubber track to bear the weight of the tank and regulate the track. It consists of hubs, discs, tapes, ball bearings, axle caps, fixing nuts, etc. By arranging more rollers in the device, the gravity shared by each road wheel is smaller, the pressure distribution on the track is more uniform, and the passing capacity and maneuverability of the device are improved.

Described driving gear 9 is positioned at crawler belt front end top, and it is made up of wheel hub, ring gear, band tooth washer, bevel tooth cup, fixed nut and stop bolt. It meshes with the track through the gear, and transmits the power from the side reducer to the track to make the device move.

The guide wheel assembly 10 is located on the outer side of the tail of the track, and is used to induce and support the track, and adjust the tightness of the track together with the track adjuster. It consists of wheel hub, wheel disc, ball bearing, axle cover, fixed nut, double row ball bearing, support cup and so on.

The crawler chassis side panels 11 are located on both sides of the crawler belt, and there are supporting beams connected to the bottom mud seesaw structure 5 . The side panels can prevent external objects from entering the inside of the track structure, prevent the track from slipping, and improve driving stability.

The mud skid structure 5 with arched nose plate 13 and arched tail plate, compared with similar flat bottom mud skids and devices without mud skids, makes the device have the same degree of subsidence in the soft mud environment, compared with The contact area of the ooze is larger, thereby increasing the upward lifting force of the ooze environment on the mud sled, and can bear a larger load. Baffle plates 14 are arranged on both sides and the front of the mud skid plate structure 5 to prevent the mud from splashing in.

The arched blade head 13 is provided with a board water jet device 15, which can spray high-pressure water flow along the bottom of the arched blade head 13. During the progress of the whole device, due to the Coanda effect, the water flow flows into the bottom of the mud skid structure 5 along the bottom of the arched head 13, forming a layer of "water film" at the bottom of the mud skid, which isolates the mud skid from the muddy ground , thereby reducing the frictional resistance between the silt and the mud sled, and the flow rate of the water jet can be dynamically adjusted with the forward speed of the chassis.

During specific work, when the crawler walking structure moves forward, the plate water jet device 15 sprays water forward, and as the traveling mechanism 3 advances, the arched plate head 13 presses the water downward, and the pressed water and the sprayed water work together. A "water film" is formed at the bottom of the mud skid plate structure 5 to reduce mud resistance; meanwhile, the crawler water jet device 12 is aimed at the spurs to spray water to wash away the sludge between the adjacent spurs.

The above are the preferred embodiments of the present invention. Those skilled in the art can also make various transformations or improvements on this basis. Under the premise of not departing from the general concept of the present invention, these transformations or improvements should all belong to the claims of the present invention. within the range.

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.