CN110316339A - Underwater magnetic becomes suspension crawler belt mobile system - Google Patents
Underwater magnetic becomes suspension crawler belt mobile system Download PDFInfo
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- CN110316339A CN110316339A CN201910631664.0A CN201910631664A CN110316339A CN 110316339 A CN110316339 A CN 110316339A CN 201910631664 A CN201910631664 A CN 201910631664A CN 110316339 A CN110316339 A CN 110316339A
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- crawler belt
- connecting rod
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- 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
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of underwater magnetic to become suspension crawler belt mobile system, including vehicle frame, vehicle frame two sides are equipped with variable suspension arrangement, and frame panel is equipped with two sets of magnetic force adsorption apparatus in parallel；Variable suspension arrangement includes crawler belt, driving wheel is equipped on the inside of crawler belt, driven wheel is equipped with the crawler belt inside of ground face contact, driven wheel is connect with connecting rod threaded one end, and the other end and vehicle frame side plate of connecting rod are rotatablely connected, and is connect by connecting rod rack with spring interior bar lower end in the middle part of connecting rod, spring interior bar upper end is protruded into inside spring outer bar, the outer wall of spring outer bar is cased with spring, and the upper end of spring is in contact with the outer stem nut of spring, and the lower end of spring is connect with spring interior bar；Magnetic force adsorption apparatus includes the permanent magnetic plate for being parallel to frame panel.The present invention can meet the needs of stress is good, movement is steady, buffers shock-absorbing and variable fixed suspension, regulatable magnetic force absorption simultaneously, avoid causing operation to be interrupted because of leaping over obstacles, raising operation quality and efficiency.
Description
Technical field
The invention belongs to submarine mechanical walking technology fields, are related to a kind of underwater magnetic change suspension crawler belt mobile system, lead to
Spring pre compressed magnitude is overregulated to adjust wheel obstacle detouring range, is mainly used in underwater obstacle detouring mobile for magnetic material
Business.
Background technique
The work such as underwater mobile robot is developed under water and Underwater resources are explored and underwater kit detection is safeguarded are in recent years
To have a wide range of applications.Under water in mobile robot, caterpillar type robot is big with bearing area, ground connection pressure is small, ground
Many advantages, such as shape adaptability is good.However existing underwater detecting robot mobile system cannot meet environmental condition to it simultaneously
The stress of proposition is good, movement is steady, the requirement of buffering shock-absorbing and operation free of discontinuities, can not easily realize consolidating for suspension
It is fixed.Become suspension crawler belt mobile system for a kind of underwater magnetic of the invention, to meet above-mentioned requirements.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of underwater magnetic change suspension crawler belt mobile system, can meet simultaneously
Stress is good, movement is steady, the demand of buffering shock-absorbing and variable fixed suspension, regulatable magnetic force absorption, avoids due to leaping over obstacles
Cause operation to be interrupted, improves operation quality and efficiency, solve the problems, such as of the existing technology.
The technical scheme adopted by the invention is that a kind of underwater magnetic becomes suspension crawler belt mobile system, including vehicle frame, vehicle frame
Two sides are equipped with variable suspension arrangement, and frame panel is equipped with two sets of magnetic force adsorption apparatus in parallel；
The variable suspension arrangement, including crawler belt, crawler belt inside are equipped with driving wheel, and driving wheel is connect with driving device, with ground
Driven wheel is equipped on the inside of the crawler belt of contact, driven wheel is connect with connecting rod threaded one end, and the other end and vehicle frame side plate of connecting rod rotate
Connection, connecting rod middle part are connect by connecting rod rack with spring interior bar lower end, and spring interior bar upper end is protruded into inside spring outer bar, spring
The outer wall of outer bar is cased with spring, and the upper end of spring is in contact with the outer stem nut of spring, and the outer stem nut diameter of spring is greater than outside spring
Loop diameter, the outer stem nut of spring are threadedly coupled with spring outer bar, and the lower end of spring is connect with spring interior bar, and spring outer bar upper end is logical
Spring support is crossed to connect with vehicle frame；
The magnetic force adsorption apparatus, the permanent magnetic plate including being parallel to frame panel, permanent magnetic plate by multiple drive screws with it is corresponding
The center of gear is threadedly coupled, and drive screw is mutually perpendicular to permanent magnetic plate, and each gear is meshed with gear shaft, gear it is upper
Lower end surface is equipped with axially stop block, and gear shaft is connect by bevel gear set with driving device.
Further, one end of the connecting rod and the rotation connection of vehicle frame side plate is equipped with cylinder shape groove, cylinder shape groove
Slot bottom is equipped with polygonal hole, and cylinder shape groove is connect by the connecting-rod bearing with pitman shaft one end, and connecting rod spiral sleeve protrudes into connecting rod
Inside the other end of axis, connecting rod spiral sleeve and pitman shaft clearance fit, and lubricating grease is coated in gap, pitman shaft passes through vehicle
One end of frame side plate is equipped with lever regulated interior bar, and lever regulated interior bar is equipped with screw thread, lever regulated interior bar far from one end of connecting rod
It is connect by screw thread with connecting rod spiral sleeve inner wall, the shape of the lever regulated interior bar other end and the polygonal hole of connecting rod match
It closes.
Further, the spring interior bar and spring outer bar are coaxial, and spring interior bar lower end and spring interior bar plug screw thread connect
It connects, spring interior bar plug is connect by the 5th pin shaft with connecting rod rack, and connecting rod rack is connected to the middle position of connecting rod, in spring
The diameter of bar plug is greater than spring race diameter, and lower spring end is connect with spring interior bar plug.
Further, the gear parts of the gear shaft and gear pass through first clamping plate, the axial limit of second clamping plate progress
Position, first clamping plate and second clamping plate are fixed by axial screw；Second clamping plate is connect by sliding bearing with gear, and second
Being horizontally disposed between clamping plate and gear has middle plate, and middle plate is parallel with permanent magnetic plate, and second clamping plate is connect with middle plate, middle plate
It is connect with lower plate.
Further, the permanent magnetic plate is connect with magnetic guide rod, and magnetic guide rod is parallel with drive screw, magnetic guiding
The end that bar passes through middle plate is equipped with magnetic damping spring plug, the magnetic guiding between magnetic damping spring plug and middle plate
Magnetic damping spring is arranged on bar, magnetic damping spring plug is positioned by nut.
Further, directive wheel is additionally provided on the inside of the crawler belt, the center of directive wheel passes through directive wheel ceramic bearing and leads
To wheel axis connection, guide wheel shaft is fixedly connected with slideway, and slideway is connect with slide bar threaded one end, between the slide bar other end and bearing support
Gap cooperation, slideway, slide bar are vertical with guide wheel shaft, and slideway is equipped with sliding slot, and sliding block is slidably connected with sliding slot, bearing support, cunning
Block is fixedly connected with vehicle frame side plate, is arranged with tensioning spring on the slide bar between bearing support and slideway.
Further, the slideway is connect by fixing screws with guide wheel shaft, is set between fixing screws and guide wheel shaft
There is gasket；The outer end of directive wheel ceramic bearing is equipped with directive wheel ceramic bearing sealing ring, directive wheel ceramic bearing and guide wheel shaft
Between be equipped with guide wheel shaft circlip.
Further, it is all provided with teeth inside and outside the crawler belt, internal tooth is higher than external tooth, and three rows are distributed in internal tooth, actively
Wheel, driven wheel, directive wheel outer wall tooth matched with the internal tooth of crawler belt.
Further, the center of the driving wheel is inlaid with driving wheel end coupling disc, and driving wheel end coupling disc passes through wheel shaft
It is connect with motor side coupling disc, motor side coupling disc is matched by more first pin shafts and driving wheel, the coupling disc interference of driving wheel end
Connection is closed, motor side coupling disc is interference fitted connection with driving wheel end coupling disc by more second pin shafts or is bolted, electricity
Generator terminal coupling disc is connect by motor side ceramic bearing with vehicle frame side plate, and the output shaft of motor passes through planetary reduction gear and motor side
The inner hole of coupling disc connects, and the output shaft of motor is horizontally disposed.
Further, the center of the driven wheel is equipped with follower shaft, and the two sides of driven wheel are equipped with driven wheel ceramics
Bearing, driven wheel ceramic bearing inner ring are contacted with follower shaft, and driven wheel ceramic bearing outer ring and driven wheel interference fit connect,
Driven wheel ceramic bearing inner ring outer end face on the outside of driven wheel is equipped with follower shaft circlip, follower shaft circlip with from
Driving wheel axis is coaxial, and driven wheel ceramic bearing uses water-sealed bearing.
The invention has the advantages that having the advantage that
1, underwater magnetic of the invention becomes suspension crawler belt mobile system, can cross underwater obstruction and carry out operation, fortune good with stress
The advantages of dynamic steady, buffering shock-absorbing and operation free of discontinuities；The pre compressed magnitude of the adjustable spring of nut in spring outer bar, passes through
Spring interior bar adjusts the rotation angle of connecting rod, and then the rising extreme position of adjustable driven wheel, can be according to different
Operating environment changes obstacle climbing ability, influence of the Barriers for body is reduced, so that ensure that will not lead because of leaping over obstacles
Operation interruption is caused, operation quality and efficiency are improved.
2, magnetic force adsorption apparatus of the invention includes Liang Tao magnetic force adjustment mechanism, converts adjustable up-down power for torque,
The absorption for the magnetic material such as steel is carried out, and adsorption capacity can be adjusted as needed, simultaneously, it is ensured that magnetic force
Adsorb the stability adjusted；Come it is advantageous that being able to carry out corresponding adjustment when obstacle and inclination occurs in absorption surface of creeping
Guarantee stable operation.
3, the present invention can carry corresponding equipment according to different job requirements on the rack, and interchangeability is relatively preferable,
Water proof type all may be selected in bearing used and other structures component, is applied to underwater environment, carries out underwater wall surface and creeps operation, carries out
Underwater operation structure is regularly cleared up, detects and is safeguarded, for guaranteeing the permanently effective use of underwater operation structure, is opened under water
Hair, Underwater resources exploration and underwater kit detection maintenance protection aspect application value with higher.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is Section A-A figure in Fig. 1.
Fig. 3 is section B-B figure in Fig. 1.
Fig. 4 is the structural schematic diagram of track tension device in the embodiment of the present invention.
Fig. 5 is the right view of Fig. 4.
Fig. 6 is the explosive view of suspension mechanism in the embodiment of the present invention.
Fig. 7 is the top view of magnetic force adsorption apparatus in the embodiment of the present invention.
Fig. 8 is magnetic force adsorption apparatus cross-sectional view in the embodiment of the present invention.
In figure, 1. crawler belts, 2. driving wheels, 3. driving wheel end coupling discs, 4. first pin shafts, 5. second pin shafts, 6. flat keys, 7.
Motor side coupling disc, 8. motor side ceramic bearings, 9. planetary reduction gears, 10. motors, 11. vehicle frame side plates, 12. third pin shafts,
13. spring support, 14. the 4th pin shafts, 15. spring outer bars, the outer stem nut of 16. springs, 17. springs, 18. spring interior bars, 19. bullets
Spring interior bar plug, 20. connecting rods, 21. connecting-rods bearing, 22. pitman shafts, 23. connecting rod spiral sleeves, 24. lever regulated interior bars, 25.
Fastening screw, 26. the 5th pin shafts, 27. connecting rod racks, 29. driven wheels, 30. follower shaft circlips, 31. follower shafts,
32. driven wheel ceramic bearing, 33. slide bars, 34. bearing supports, 35. bearing support screws, 36. slideways, 37. sliding blocks, 38. sliding block spiral shells
Nail, 39. directive wheels, 40. directive wheel ceramic bearings, 41. directive wheel ceramic bearing sealing rings, 42. guide wheel shaft circlips,
43. guide wheel shaft, 44. gaskets, 45. fixing screws, 46. power motors, 47. bevel gear sets, 48. magnetic sheet screws, 49. permanent magnetism
Plate, 50. lower plates, 51. magnetic guide rods, 52. middle plates, 53. gears, 54. magnetic damping springs, 55. magnetic damping springs
Plug, 56. nuts, 57. drive screws, 58. axial screws, 59. gear shafts, 60. first clamping plates, 61. second clamping plates, 62. is sliding
Dynamic bearing.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
A kind of underwater magnetic change suspension crawler belt mobile system, as shown in Figure 1-3, include vehicle frame, vehicle frame two sides are equipped with can
Become suspension arrangement, the bottom plate of vehicle frame is equipped with two sets of magnetic force adsorption apparatus in parallel, and vehicle frame includes upper plate, lower plate 50 and frame sides
Plate 11, upper plate agree with and are threadedly coupled with the upper slot of vehicle frame side plate 11, and 50 side of lower plate is provided with threaded hole, by fastening spiral shell
Nail 25 is threadedly coupled with vehicle frame side plate 11；Vehicle frame specific structure can be adjusted according to respective application environment.
It can be changed suspension arrangement, including crawler belt 1, be equipped with driving wheel 2 on the inside of crawler belt 1, driving wheel 2 is connect with driving device, with
Driven wheel 29 is equipped on the inside of the crawler belt 1 of ground face contact, driven wheel 29 connect with 20 threaded one end of connecting rod, the other end of connecting rod 20 and
Vehicle frame side plate 11 is rotatablely connected, and is connect by connecting rod rack 27 with spring interior bar plug 19 in the middle part of connecting rod 20, and connecting rod rack 27 is logical
It crosses the 5th pin shaft 26 to connect with spring interior bar plug 19, spring interior bar plug 19 is connect with 18 lower thread of spring interior bar, spring
18 upper end of interior bar is protruded into inside spring outer bar 15, and spring interior bar 18 and spring outer bar 15 are coaxial, the outer stem nut 16 of spring and spring
Outer bar 15 is threadedly coupled, and the outer wall of spring outer bar 15 is cased with spring 17, and the upper end of spring 17 is in contact with the outer stem nut 16 of spring,
17 lower end of spring is connect with spring interior bar plug 19, the outer stem nut 16 of spring, spring interior bar plug 19 diameter be all larger than spring
17 race diameters prevent spring 17 to be detached from away；The upper end of spring outer bar 15 is connect by the 4th pin shaft 14 with spring support 13,
Spring support 13 is connect by third pin shaft 12 with vehicle frame.
Outer position of the stem nut 16 in spring outer bar 15 of adjustment spring, so as to the length of adjustment spring 17 and initial
Power can be considered to 17 rigidity of spring and pre compressed magnitude adjusting, and adjust connecting rod 20 by spring outer bar 15, spring interior bar 18
Angle, and then the rising extreme position of adjustable driven wheel 29 are rotated, obstacle detouring energy can be changed according to different operating environments
Power, so that ensure that will not cause operation to be interrupted when robot underwater operation because of leaping over obstacles；It is wanted according to different work
It asks and carries corresponding equipment, carry out a variety of underwater operations, including underwater cleaning, detection etc..
Installation site of the connecting rod rack 27 on connecting rod 20 can need to change according to suspension obstacle detouring, connecting rod rack 27 and connecting rod
The distance of 20 rotation centers determines the size of suspension mechanism obstacle climbing ability, when 17 rigidity of spring is identical, apart from it is big when, suspension is rigid
Degree is smaller, and apart from hour, rigidity is larger；Connecting rod rack 27 is set to 20 middle position of connecting rod, can satisfy the demand of obstacle clearing capability,
Telescopic spring amount is easy to acquire simultaneously.
As shown in fig. 6, one end that connecting rod 20 and vehicle frame side plate 11 are rotatablely connected is equipped with cylinder shape groove, cylinder shape groove
Slot bottom is equipped with polygonal hole, and cylinder shape groove is connect by the connecting-rod bearing 21 with 22 one end of pitman shaft, and connecting rod spiral sleeve 23 is stretched
Inside the other end for entering pitman shaft 22, connecting rod spiral sleeve 23 and 22 clearance fit of pitman shaft, and lubricating grease is coated in gap,
Connecting rod spiral sleeve 23 freely can be rotated axially, but not be moved axially；One end that pitman shaft 22 passes through vehicle frame side plate 11 is equipped with
Lever regulated interior bar 24, lever regulated interior bar 24 are equipped with screw thread far from one end of connecting rod 20, and lever regulated interior bar 24 passes through screw thread
It is connect with 23 inner wall of connecting rod spiral sleeve, the shape of lever regulated 24 other end of interior bar is matched with the polygonal hole of connecting rod 20.
The elongation of the adjustable lever regulated interior bar 24 of swivel link spiral sleeve 23, it is manually adjustable；When connecting rod tune
When section interior bar 24 cooperates simultaneously with connecting rod 20 and pitman shaft 22, lever regulated 24 upper end of interior bar and polygonal hole cooperate, connecting rod
20 cannot rotate freely around pitman shaft 22, and suspension is eliminated at this time, be convenient for the operation on smooth accessible wall surface；And it can the company of realization
20 fixed angle of bar eliminates suspension；When lever regulated 24 upper end of interior bar is not inserted into polygon inner hole, connecting rod 20 is around pitman shaft
22 rotate freely, and suspension restores.The different wall surfaces of requirement due to to(for) kinematic system is different, does not need suspension sometimes and carries out
At this moment obstacle detouring can eliminate suspension before operation, avoid structural redundancy, the fixed hang letter of the present invention
Just.
The center of driving wheel 2 is inlaid with driving wheel end coupling disc 3, and driving wheel end coupling disc 3 is connected by wheel shaft and motor side
Reel 7 connects, and motor side coupling disc 7 is connected by three first pin shafts 4 with driving wheel 2, the interference fit of driving wheel end coupling disc 3
It connects, the first pin shaft 4 is through driving wheel end coupling disc 3, driving wheel 2 and motor side coupling disc 7 and is interference fit, guarantees actively
Its radial load can be distributed on pin shaft wheel during exercise, reduce the load of wheel shaft；Motor side coupling disc 7 passes through three second
Pin shaft 5 and driving wheel end coupling disc 3 are interference fitted connection or are bolted, and the second pin shaft 5 is through 3 He of driving wheel end coupling disc
Motor side coupling disc 7 can need selection to be bolted according to application；Motor side coupling disc 7 passes through motor side ceramic bearing 8 and vehicle
Frame side plate 11 connects, and the inner ring of the outer ring of motor side coupling disc 7 and motor side ceramic bearing 8 cooperates, motor side ceramic bearing 8 with
Vehicle frame side plate 11 is interference fitted, and the output shaft of motor 10 is connected by the inner hole of planetary reduction gear 9 and motor side coupling disc 7
It connecing, planetary reduction gear 9 is connect by flat key 6 with the inner hole of motor side coupling disc 7, and the output shaft of motor 10 is horizontally disposed,
Driving wheel 2 is driven to rotate；Planetary reduction gear 9 can be chosen according to different driving rate request.
The center of driven wheel 29 is equipped with follower shaft 31, and the two sides of driven wheel 29 are equipped with driven wheel ceramic bearing 32,
Play the role of uniform load, 32 inner ring of driven wheel ceramic bearing is contacted with follower shaft 31,32 outer ring of driven wheel ceramic bearing
It is connect with 29 interference of driven wheel, the 32 inner ring outer end face of driven wheel ceramic bearing in 29 outside of driven wheel is kept off equipped with follower shaft elasticity
Circle 30, follower shaft circlip 30 and follower shaft 31 are coaxial, and driven wheel ceramic bearing 32, which uses, can be applied to underwater ring
The bearing in border.
Magnetic force adsorption apparatus, as Figure 7-8, the permanent magnetic plate 49 including being parallel to frame panel, permanent magnetic plate 49 pass through two
A drive screw 57 is threadedly coupled with the center of corresponding gear 53, and specially permanent magnetic plate 49 passes through magnetic sheet screw 48 and drive screw
57 connections, 53 center of gear is provided with the hole with screw pair, and cooperates with drive screw 57；Drive screw 57 and permanent magnetic plate 49 are mutual
Vertically, each gear 53 is meshed with gear shaft 59, and gear shaft 59 is connect by bevel gear set 47 with driving device, bevel gear
Bevel gear wheel and gear shaft 59 are by being keyed in group 47, and bevel pinion is connect with power motor 46 in bevel gear set 47；Gear
The gear parts and gear 53 of axis 59 carry out axial restraint, first clamping plate 60 and the by first clamping plate 60, second clamping plate 61
Second splint 61 is fixed by axial screw 58, and second clamping plate 61 is connect by sliding bearing 62 with gear 53, second clamping plate
Being horizontally disposed between 61 and gear 53 has middle plate 52, and middle plate 52 is parallel with permanent magnetic plate 49, second clamping plate 61 and middle plate 52
Connection；Permanent magnetic plate 49 is connect with magnetic guide rod 51, and magnetic guide rod 51 is parallel with drive screw 57, and magnetic guide rod 51 passes through
The end of middle plate 52 is equipped with magnetic damping spring plug 55, and the magnetic between magnetic damping spring plug 55 and middle plate 52 is led
Be arranged with magnetic damping spring 54 on bar 51, magnetic damping spring plug 55 is positioned by nut 56, middle plate 52 with
Lower plate 50 connects.
The working method of magnetic-adsorption is, when power motor 46 drives bevel gear set 47 to rotate, thus with movable gear shaft 59
Rotation, gear shaft 59 are rotated with moving gear 53, and 53 center of gear is screw-driven pair, since 53 axial position of gear is by first
Clamping plate 60 and second clamping plate 61 are fixed, therefore drive screw 57 moves axially, drive screw 57 and then drive permanent magnetism
Plate 49 rises or falls, and reaches the function of adjusting magnetic-adsorption.Four magnetic guide rods 51, magnetic guiding are distributed on permanent magnetic plate 49
Bar 51 installs magnetic damping spring 54, so as to guarantee the stability of magnetic force change, and then ensure that the stabilization of car body pose
Property, magnetic force adsorption apparatus and suspension carry out cooperative cooperating.
As illustrated in figures 4-5, directive wheel 39 is additionally provided on the inside of crawler belt 1, the center of directive wheel 39 passes through directive wheel ceramic bearing
40 connect with guide wheel shaft 43, and guide wheel shaft 43 is fixedly connected with slideway 36, and slideway 36 is connect with 33 threaded one end of slide bar, slide bar
33 other ends and 34 clearance fit of bearing support, slideway 36, slide bar 33 are vertical with guide wheel shaft 43, and slide bar 33 can be in bearing support 34
Interior sliding, the centre of slideway 36 are equipped with sliding slot, and sliding block 37 is slidably connected with sliding slot, bearing support 34, sliding block 37 with vehicle frame side plate
11 are fixedly connected, and bearing support 34 is fixedly connected by bearing support screw 35 with vehicle frame side plate 11, and sliding block 37 passes through sliding block screw 38
It is fixedly connected with vehicle frame side plate 11, slideway 36 is slid back and forth relative to sliding block 37, changes driving wheel 2 and directive wheel 39
Distance of shaft centers, and then realize the tensioning to crawler belt 1；It is arranged with tensioning spring on slide bar 33 between bearing support 34 and slideway 36, gram
1 pulling force of crawler belt is taken to be pre-tightened；Slideway 36 is connect by fixing screws 45 with guide wheel shaft 43, fixing screws 45 and guide wheel shaft
Gasket 44 is equipped between 43；Directive wheel ceramic bearing 40 is played a supporting role, and the outer end of directive wheel ceramic bearing 40 is equipped with guiding
Ceramic bearing sealing ring 41 is taken turns, is sealed, guide wheel shaft bullet is equipped between directive wheel ceramic bearing 40 and guide wheel shaft 43
Property retaining ring 42, axially position；Guide wheel shaft 43 carries out axially position to directive wheel 39 by fixing screws 45 and gasket 44.
Be all provided with teeth inside and outside crawler belt 1, internal tooth is higher than external tooth, and internal tooth is distributed as three rows, driving wheel 2, driven wheel 29,
The tooth of 39 outer wall of directive wheel is matched with the internal tooth of crawler belt 1, and the outer wall of driving wheel 2 is equipped with tooth and matches with the internal tooth of crawler belt 1
It closes, is mainly used for ensureing crawler belt 1 when advancing without departing from driven wheel 29 and directive wheel 39 cooperate with the internal tooth of crawler belt 1, protect
Card crawler belt 1 does not occur at the play in horizontal plane and perpendicular to direction of travel when moving, so that it will not slide during the motion
It falls；External tooth then principal security its movement when enough frictional force can be provided.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of underwater magnetic becomes suspension crawler belt mobile system, which is characterized in that including vehicle frame, vehicle frame two sides are equipped with variable outstanding
Hang device, frame panel are equipped with two sets of magnetic force adsorption apparatus in parallel；
The variable suspension arrangement, including crawler belt (1), crawler belt (1) inside are equipped with driving wheel (2), driving wheel (2) and driving device
Driven wheel (29) are equipped on the inside of connection, with the crawler belt (1) of ground face contact, driven wheel (29) is connect with connecting rod (20) threaded one end,
The other end of connecting rod (20) and vehicle frame side plate (11) are rotatablely connected, and pass through connecting rod rack (27) and spring interior bar in the middle part of connecting rod (20)
(18) lower end connects, and spring outer bar (15) inside is protruded into spring interior bar (18) upper end, and the outer wall of spring outer bar (15) is cased with spring
(17), the upper end of spring (17) is in contact with the outer stem nut (16) of spring, and outer stem nut (16) diameter of spring is greater than spring (17)
Race diameter, the outer stem nut (16) of spring are threadedly coupled with spring outer bar (15), the lower end and spring interior bar (18) of spring (17)
Connection, spring outer bar (15) upper end are connect by spring support (13) with vehicle frame；
The magnetic force adsorption apparatus, the permanent magnetic plate (49) including being parallel to frame panel, permanent magnetic plate (49) pass through multiple transmission spiral shells
Bar (57) is threadedly coupled with the center of corresponding gear (53), and drive screw (57) is mutually perpendicular to permanent magnetic plate (49), each gear
(53) it is meshed with gear shaft (59), the upper and lower end face of gear (53) is equipped with axially stop block, and gear shaft (59) passes through
Bevel gear set (47) is connect with driving device.
2. a kind of underwater magnetic according to claim 1 becomes suspension crawler belt mobile system, which is characterized in that the connecting rod
(20) cylinder shape groove is equipped with one end of vehicle frame side plate (11) rotation connection, the slot bottom of cylinder shape groove is equipped with polygonal hole,
Cylinder shape groove is connect by the connecting-rod bearing (21) with pitman shaft (22) one end, and connecting rod spiral sleeve (23) protrudes into pitman shaft (22)
The other end inside, connecting rod spiral sleeve (23) and pitman shaft (22) clearance fit, and lubricating grease is coated in gap, pitman shaft
(22) one end across vehicle frame side plate (11) is equipped with lever regulated interior bar (24), and lever regulated interior bar (24) is far from connecting rod (20)
One end is equipped with screw thread, and lever regulated interior bar (24) is connect by screw thread with connecting rod spiral sleeve (23) inner wall, lever regulated interior bar
(24) shape of the other end is matched with the polygonal hole of connecting rod (20).
3. a kind of underwater magnetic according to claim 1 becomes suspension crawler belt mobile system, which is characterized in that in the spring
Coaxially, spring interior bar (18) lower end is threadedly coupled with spring interior bar plug (19), spring interior bar for bar (18) and spring outer bar (15)
Plug (19) is connect by the 5th pin shaft (26) with connecting rod rack (27), and connecting rod rack (27) is connected to the interposition of connecting rod (20)
It sets, the diameter of spring interior bar plug (19) is greater than spring (17) race diameter, spring (17) lower end and spring interior bar plug (19)
Connection.
4. a kind of underwater magnetic according to claim 1 becomes suspension crawler belt mobile system, which is characterized in that the gear shaft
(59) gear parts and gear (53) carry out axial limiting, first clamping plate by first clamping plate (60), second clamping plate (61)
(60) it is fixed with second clamping plate (61) by axial screw (58)；Second clamping plate (61) passes through sliding bearing (62) and gear
(53) it connects, being horizontally disposed between second clamping plate (61) and gear (53) has middle plate (52), middle plate (52) and permanent magnetic plate
(49) in parallel, second clamping plate (61) is connect with middle plate (52), and middle plate (52) is connect with lower plate (50).
5. a kind of underwater magnetic according to claim 4 becomes suspension crawler belt mobile system, which is characterized in that the permanent magnetic plate
(49) it is connect with magnetic guide rod (51), magnetic guide rod (51) is parallel with drive screw (57), and magnetic guide rod (51) passes through
The end of middle plate (52) is equipped with magnetic damping spring plug (55), between magnetic damping spring plug (55) and middle plate (52)
Magnetic guide rod (51) on be arranged with magnetic damping spring (54), magnetic damping spring plug (55) pass through nut (56) carry out
Positioning.
6. a kind of underwater magnetic according to claim 1 becomes suspension crawler belt mobile system, which is characterized in that the crawler belt
(1) inside is additionally provided with directive wheel (39), and the center of directive wheel (39) passes through directive wheel ceramic bearing (40) and guide wheel shaft (43)
Connection, guide wheel shaft (43) are fixedly connected with slideway (36), and slideway (36) is connect with slide bar (33) threaded one end, and slide bar (33) is another
One end and bearing support (34) clearance fit, slideway (36), slide bar (33) are vertical with guide wheel shaft (43), and slideway (36) is equipped with
Sliding slot, sliding block (37) are slidably connected with sliding slot, and bearing support (34), sliding block (37) are fixedly connected with vehicle frame side plate (11), bearing
Tensioning spring is arranged on slide bar (33) between frame (34) and slideway (36).
7. a kind of underwater magnetic according to claim 6 becomes suspension crawler belt mobile system, which is characterized in that the slideway
(36) it is connect by fixing screws (45) with guide wheel shaft (43), gasket is equipped between fixing screws (45) and guide wheel shaft (43)
(44)；The outer end of directive wheel ceramic bearing (40) is equipped with directive wheel ceramic bearing sealing ring (41), directive wheel ceramic bearing (40)
Guide wheel shaft circlip (42) are equipped between guide wheel shaft (43).
8. a kind of underwater magnetic according to claim 6 becomes suspension crawler belt mobile system, which is characterized in that the crawler belt
(1) it is all provided with teeth inside and outside, internal tooth is higher than external tooth, and three rows, driving wheel (2), driven wheel (29), directive wheel is distributed in internal tooth
(39) tooth of outer wall is matched with the internal tooth of crawler belt (1).
9. a kind of underwater magnetic according to claim 1 becomes suspension crawler belt mobile system, which is characterized in that the driving wheel
(2) center is inlaid with driving wheel end coupling disc (3), and driving wheel end coupling disc (3) is connected by wheel shaft and motor side coupling disc (7)
It connects, motor side coupling disc (7) is connected by more first pin shafts (4) and driving wheel (2), driving wheel end coupling disc (3) interference fit
It connects, motor side coupling disc (7) is connected by more second pin shafts (5) and the connection of driving wheel end coupling disc (3) interference fit or bolt
It connects, motor side coupling disc (7) is connect by motor side ceramic bearing (8) with vehicle frame side plate (11), and the output shaft of motor (10) is logical
It crosses planetary reduction gear (9) to connect with the inner hole of motor side coupling disc (7), the output shaft of motor (10) is horizontally disposed.
10. a kind of underwater magnetic according to claim 8 becomes suspension crawler belt mobile system, which is characterized in that described driven
The center of wheel (29) is equipped with follower shaft (31), and the two sides of driven wheel (29) are equipped with driven wheel ceramic bearing (32), driven
Wheel ceramic bearing (32) inner ring is contacted with follower shaft (31), and driven wheel ceramic bearing (32) outer ring is matched with driven wheel (29) interference
Connection is closed, driven wheel ceramic bearing (32) the inner ring outer end face on the outside of driven wheel (29) is equipped with follower shaft circlip (30),
Coaxially, driven wheel ceramic bearing (32) uses water-sealed bearing for follower shaft circlip (30) and follower shaft (31).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113055440A (en) * | 2021-02-08 | 2021-06-29 | 汕头大学 | Underwater monitoring control method and system based on sensor network |
| CN117533425A (en) * | 2024-01-10 | 2024-02-09 | 天津瀚海蓝帆海洋科技有限公司 | Crawler-type running mechanism for underwater robot |
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| CN110316339B (en) | 2020-07-31 |
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