CN110316339B - Underwater magnetic attraction suspension crawler moving system - Google Patents
Underwater magnetic attraction suspension crawler moving system Download PDFInfo
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- CN110316339B CN110316339B CN201910631664.0A CN201910631664A CN110316339B CN 110316339 B CN110316339 B CN 110316339B CN 201910631664 A CN201910631664 A CN 201910631664A CN 110316339 B CN110316339 B CN 110316339B
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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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Abstract
The invention discloses an underwater magnetic attraction variable suspension crawler moving system which comprises a frame, wherein variable suspension devices are arranged on two sides of the frame, and two sets of magnetic attraction devices are arranged on a bottom plate of the frame in parallel; the variable suspension device comprises a track, a driving wheel is arranged on the inner side of the track, a driven wheel is arranged on the inner side of the track, which is in contact with the ground, the driven wheel is in threaded connection with one end of a connecting rod, the other end of the connecting rod is rotatably connected with a frame side plate, the middle part of the connecting rod is connected with the lower end of an inner spring rod through a connecting rod bracket, the upper end of the inner spring rod extends into the inner part of an outer spring rod, a spring is sleeved on the outer wall of the outer spring rod, the upper end of; the magnetic adsorption device comprises a permanent magnet plate parallel to the frame bottom plate. The invention can simultaneously meet the requirements of good stress, stable movement, buffering and shock absorption, variable fixed suspension and adjustable magnetic force adsorption, avoid the operation interruption caused by crossing obstacles and improve the operation quality and efficiency.
Description
Technical Field
The invention belongs to the technical field of underwater mechanical walking, and relates to an underwater magnetic attraction variable suspension crawler moving system.
Background
The underwater mobile robot has wide application in the work of underwater development, underwater resource exploration, underwater equipment detection and maintenance and the like in recent years. In an underwater mobile robot, the crawler-type robot has the advantages of large supporting area, small grounding pressure, good terrain adaptability and the like. However, the existing underwater detection robot moving system cannot simultaneously meet the requirements of environmental conditions on good stress, stable movement, buffering and shock absorption and uninterrupted operation, and cannot conveniently realize suspension fixation. Therefore, the underwater magnetic attraction variable suspension crawler moving system is invented to meet the requirements.
Disclosure of Invention
In order to solve the problems, the invention provides an underwater magnetic attraction variable suspension crawler moving system which can meet the requirements of good stress, stable movement, shock absorption buffering, variable fixed suspension and adjustable magnetic force adsorption, avoids operation interruption caused by crossing obstacles, improves the operation quality and efficiency and solves the problems in the prior art.
The invention adopts the technical scheme that an underwater magnetic absorption variable suspension crawler moving system comprises a frame, wherein variable suspension devices are arranged on two sides of the frame, and two sets of magnetic absorption devices are arranged on a bottom plate of the frame in parallel;
the variable suspension device comprises a crawler belt, wherein a driving wheel is arranged on the inner side of the crawler belt and is connected with a driving device, a driven wheel is arranged on the inner side of the crawler belt, the driven wheel is in threaded connection with one end of a connecting rod, the other end of the connecting rod is rotatably connected with a frame side plate, the middle part of the connecting rod is connected with the lower end of an inner spring rod through a connecting rod support, the upper end of the inner spring rod extends into an outer spring rod, a spring is sleeved on the outer wall of the outer spring rod, the upper end of the spring is in contact with a nut of the outer spring rod, the diameter of the nut of the outer spring rod is larger than that of an outer spring ring, the nut of the outer spring rod;
the magnetic adsorption device comprises a permanent magnet plate parallel to a frame bottom plate, the permanent magnet plate is connected with the center threads of corresponding gears through a plurality of transmission screws, the transmission screws are perpendicular to the permanent magnet plate, each gear is meshed with a gear shaft, axial limiting devices are arranged on the upper end face and the lower end face of each gear, and the gear shafts are connected with a driving device through bevel gear sets.
Furthermore, one end of the connecting rod, which is rotatably connected with the frame side plate, is provided with a cylindrical groove, the bottom of the cylindrical groove is provided with a polygonal hole, the cylindrical groove is connected with one end of the connecting rod shaft through a connecting rod bearing, the connecting rod spiral shaft sleeve extends into the other end of the connecting rod shaft, the connecting rod spiral shaft sleeve is in clearance fit with the connecting rod shaft, lubricating grease is coated in the clearance, one end of the connecting rod shaft, which penetrates through the frame side plate, of the connecting rod adjusting inner rod is provided with a connecting rod adjusting inner rod, one end, which is far away from the connecting rod, of the connecting rod adjusting inner rod is provided with a thread, the connecting rod adjusting inner.
Furthermore, the inner spring rod is coaxial with the outer spring rod, the lower end of the inner spring rod is in threaded connection with the inner spring rod plug, the inner spring rod plug is connected with the connecting rod support through a fifth pin shaft, the connecting rod support is connected to the middle of the connecting rod, the diameter of the inner spring rod plug is larger than that of the outer spring ring, and the lower end of the spring is connected with the inner spring rod plug.
Further, the gear part of the gear shaft and the gear are axially limited through a first clamping plate and a second clamping plate, and the first clamping plate and the second clamping plate are fixed through shaft position screws; the second clamping plate is connected with the gear through a sliding bearing, a middle layer plate is horizontally arranged between the second clamping plate and the gear, the middle layer plate is parallel to the permanent magnet plate, the second clamping plate is connected with the middle layer plate, and the middle layer plate is connected with the lower bottom plate.
Further, the permanent magnet plate is connected with a magnetic suction guide rod, the magnetic suction guide rod is parallel to the transmission screw rod, a magnetic suction damping spring plug is arranged at the end part of the magnetic suction guide rod, which penetrates through the middle layer plate, a magnetic suction damping spring is sleeved on the magnetic suction guide rod between the magnetic suction damping spring plug and the middle layer plate, and the magnetic suction damping spring plug is positioned through a nut.
Furthermore, the inner side of the track is also provided with a guide wheel, the center of the guide wheel is connected with a guide wheel shaft through a guide wheel ceramic bearing, the guide wheel shaft is fixedly connected with a slide way, the slide way is in threaded connection with one end of the slide rod, the other end of the slide rod is in clearance fit with a support frame, the slide way and the slide rod are both vertical to the guide wheel shaft, the slide way is provided with a slide groove, the slide block is in sliding connection with the slide groove, the support frame and the slide block are both fixedly connected with a frame side plate, and a tension spring.
Furthermore, the slideway is connected with the guide wheel shaft through a fixing screw, and a gasket is arranged between the fixing screw and the guide wheel shaft; the outer end of the guide wheel ceramic bearing is provided with a guide wheel ceramic bearing sealing ring, and a guide wheel shaft elastic retainer ring is arranged between the guide wheel ceramic bearing and the guide wheel shaft.
Furthermore, the inside and outside both sides of track all are equipped with the tooth, and the internal tooth is higher than the external tooth, and the internal tooth distributes and has three rows, and the action wheel, all cooperate with the internal tooth of track from the tooth of driving wheel, leading wheel outer wall.
Further, the center of action wheel is inlayed and is had initiative wheel end shaft disc, and initiative wheel end shaft disc is connected through shaft and motor end shaft disc, and motor end shaft disc is connected through many first round pins and action wheel, initiative wheel end shaft disc interference fit, and motor end shaft disc is connected or bolted connection through many second round pins and initiative wheel end shaft disc interference fit, and motor end shaft disc is connected with the frame curb plate through electric motor end ceramic bearing, and the output shaft of motor passes through planetary reducer and is connected with the hole cooperation of motor end shaft disc, and the output shaft level of motor arranges.
Furthermore, a driven wheel shaft is installed in the center of the driven wheel, driven wheel ceramic bearings are arranged on two sides of the driven wheel, an inner ring of each driven wheel ceramic bearing is in contact with the driven wheel shaft, an outer ring of each driven wheel ceramic bearing is in interference fit connection with the driven wheel, a driven wheel shaft elastic check ring is arranged on the outer end face of the driven wheel ceramic bearing inner ring on the outer side of the driven wheel, the driven wheel shaft elastic check ring is coaxial with the driven wheel shaft, and the driven wheel ceramic bearings are waterproof bearings.
The invention has the advantages that:
1. the underwater magnetic attraction variable suspension crawler moving system can cross underwater obstacles for operation and has the advantages of good stress, stable movement, buffering and shock absorption and uninterrupted operation; the nut on the outer pole of spring can adjust the precompression volume of spring, through the rotation angle of pole adjustment connecting rod in the spring, and then can adjust the rising extreme position from the driving wheel, can change obstacle crossing ability according to the operational environment of difference promptly, reduces the influence of obstacle to the organism to guaranteed can not lead to the operation to be interrupted because of crossing over the obstacle, improved operation quality and efficiency.
2. The magnetic adsorption device comprises two sets of magnetic adjustment mechanisms, torque is converted into adjustable lifting force, steel and other magnetic materials are adsorbed, the adsorption force can be adjusted according to needs, and meanwhile, the stability of magnetic adsorption adjustment can be guaranteed; this has the advantage that corresponding adjustments can be made to ensure stable operation when the climbing suction surface becomes obstructed and inclined.
3. The invention can carry corresponding equipment on the frame according to different working requirements, has relatively good interchangeability, can select waterproof type for the used bearing and other structural parts, is applied to the underwater environment, carries out underwater wall surface crawling operation, carries out the regular cleaning, detection and maintenance of the underwater operation structure, is used for ensuring the long-term effective use of the underwater operation structure, and has higher application value in the aspects of underwater development, underwater resource exploration and underwater equipment detection, maintenance and protection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a sectional view a-a in fig. 1.
Fig. 3 is a sectional view B-B of fig. 1.
Figure 4 is a schematic diagram of the track tensioning mechanism of an embodiment of the present invention.
Fig. 5 is a right side view of fig. 4.
Fig. 6 is an exploded view of a suspension mechanism in an embodiment of the invention.
FIG. 7 is a top view of a magnetic attraction device in an embodiment of the invention.
FIG. 8 is a sectional view of a magnetic force adsorption apparatus according to an embodiment of the present invention.
In the figure, 1, a crawler belt, 2, a driving wheel, 3, a driving wheel end coupling disc, 4, a first pin shaft, 5, a second pin shaft, 6, a flat key, 7, a motor end coupling disc, 8, a motor end ceramic bearing, 9, a planetary reducer, 10, a motor, 11, a frame side plate, 12, a third pin shaft, 13, a spring support, 14, a fourth pin shaft, 15, a spring outer rod, 16, a spring outer rod nut, 17, a spring, 18, a spring inner rod, 19, a spring inner rod plug, 20, a connecting rod, 21, a connecting rod bearing, 22, a connecting rod shaft, 23, a connecting rod spiral shaft sleeve, 24, a connecting rod adjusting inner rod, 25, a fastening screw, 26, a fifth pin shaft, 27, a connecting rod support, 29, a driven wheel, 30, a driven wheel shaft elastic ring, 31, a driven wheel shaft, 32, a driven wheel ceramic bearing, 33, a sliding rod, 34, a support frame, 35, a support frame screw, 36, a slide way, 38. the magnetic bearing comprises a slide block screw, 39, a guide wheel, 40, a guide wheel ceramic bearing, 41, a guide wheel ceramic bearing sealing ring, 42, a guide wheel shaft elastic retaining ring, 43, a guide wheel shaft, 44, a gasket, 45, a fixing screw, 46, a power motor, 47, a bevel gear set, 48, a magnetic plate screw, 49, a permanent magnetic plate, 50, a lower bottom plate, 51, a magnetic suction guide rod, 52, a middle plate, 53, a gear, 54, a magnetic suction damping spring, 55, a magnetic suction damping spring plug, 56, a nut, 57, a transmission screw rod, 58, an axial screw, 59, a gear shaft, 60, a first clamping plate, 61, a second clamping plate and 62 sliding bearings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An underwater magnetic attraction variable suspension crawler moving system is shown in figures 1-3 and comprises a frame, wherein variable suspension devices are arranged on two sides of the frame, two sets of magnetic adsorption devices are arranged on a bottom plate of the frame in parallel, the frame comprises an upper bottom plate, a lower bottom plate 50 and a frame side plate 11, the upper bottom plate is matched with an upper groove of the frame side plate 11 and is in threaded connection with the upper groove, and a threaded hole is formed in the side surface of the lower bottom plate 50 and is in threaded connection with the frame side plate 11 through a fastening screw 25; the specific structure of the frame can be adjusted according to the corresponding application environment.
The variable suspension device comprises a crawler 1, a driving wheel 2 is arranged on the inner side of the crawler 1, the driving wheel 2 is connected with a driving device, a driven wheel 29 is arranged on the inner side of the crawler 1 in contact with the ground, the driven wheel 29 is in threaded connection with one end of a connecting rod 20, the other end of the connecting rod 20 is rotatably connected with a frame side plate 11, the middle of the connecting rod 20 is connected with an inner spring rod plug 19 through a connecting rod support 27, the connecting rod support 27 is connected with the inner spring rod plug 19 through a fifth pin shaft 26, the inner spring rod plug 19 is in threaded connection with the lower end of an inner spring rod 18, the upper end of the inner spring rod 18 extends into the inner portion of an outer spring rod 15, the inner spring rod 18 is coaxial with the outer spring rod 15, the outer spring rod nut 16 is in threaded connection with the outer spring rod 15, a spring 17 is sleeved on the outer wall of the outer spring rod, The diameters of the inner spring rod plugs 19 are larger than the diameters of the outer rings of the springs 17, so that the springs 17 are prevented from being separated; the upper end of the outer spring rod 15 is connected with the spring support 13 through a fourth pin shaft 14, and the spring support 13 is connected with the frame through a third pin shaft 12.
The position of the outer spring rod nut 16 on the outer spring rod 15 is adjusted, so that the length and the initial force of the spring 17 can be adjusted, namely the rigidity and the precompression of the spring 17 can be adjusted, the rotating angle of the connecting rod 20 is adjusted through the outer spring rod 15 and the inner spring rod 18, the ascending limit position of the driven wheel 29 can be adjusted, the obstacle crossing capability can be changed according to different operating environments, and the operation interruption caused by obstacle crossing during underwater operation of the robot is avoided; carrying corresponding equipment according to different working requirements, and carrying out various underwater operations including underwater cleaning, detection and the like.
The mounting position of the connecting rod bracket 27 on the connecting rod 20 can be changed according to the requirement of hanging obstacle crossing, the distance between the connecting rod bracket 27 and the rotating center of the connecting rod 20 determines the obstacle crossing capability of the hanging mechanism, when the rigidity of the spring 17 is the same, the hanging rigidity is smaller when the distance is large, and the rigidity is larger when the distance is small; the connecting rod bracket 27 is arranged in the middle of the connecting rod 20, so that the requirement of obstacle crossing height can be met, and meanwhile, the expansion amount of the spring is easy to obtain.
As shown in fig. 6, a cylindrical groove is arranged at one end of the connecting rod 20 rotatably connected with the frame side plate 11, a polygonal hole is arranged at the bottom of the cylindrical groove, the cylindrical groove is connected with one end of a connecting rod shaft 22 through a connecting rod bearing 21, a connecting rod spiral shaft sleeve 23 extends into the other end of the connecting rod shaft 22, the connecting rod spiral shaft sleeve 23 is in clearance fit with the connecting rod shaft 22, lubricating grease is coated in the clearance, and the connecting rod spiral shaft sleeve 23 can freely rotate axially but cannot move axially; an inner connecting rod adjusting rod 24 is arranged at one end, penetrating through the frame side plate 11, of the connecting rod shaft 22, threads are arranged at one end, far away from the connecting rod 20, of the inner connecting rod adjusting rod 24, the inner connecting rod adjusting rod 24 is connected with the inner wall of a connecting rod spiral shaft sleeve 23 through the threads, and the shape of the other end of the inner connecting rod adjusting rod 24 is matched with a polygonal hole of the connecting rod 20.
The extension of the connecting rod adjusting inner rod 24 can be adjusted by rotating the connecting rod spiral shaft sleeve 23, and the extension can be manually adjusted; when the inner connecting rod adjusting rod 24 is matched with the connecting rod 20 and the connecting rod shaft 22 at the same time, the upper end of the inner connecting rod adjusting rod 24 is matched with the polygonal hole, the connecting rod 20 cannot rotate freely around the connecting rod shaft 22, and at the moment, suspension is eliminated, so that operation on a smooth barrier-free wall surface is facilitated; and the fixed angle of the connecting rod 20 can be eliminated; when the upper end of the inner rod 24 is not inserted into the polygonal inner hole, the connecting rod 20 freely rotates around the connecting rod shaft 22, and the suspension is recovered. Because different wall surfaces have different requirements on the motion system, sometimes the obstacle crossing by suspension is not needed, at the moment, the suspension system can be eliminated before operation, the structural redundancy is avoided, and the fixed suspension mode is simple and convenient.
A driving wheel end coupling disc 3 is embedded in the center of the driving wheel 2, the driving wheel end coupling disc 3 is connected with a motor end coupling disc 7 through a wheel shaft, the motor end coupling disc 7 is in interference fit connection with the driving wheel 2 and the driving wheel end coupling disc 3 through three first pin shafts 4, the first pin shafts 4 penetrate through the driving wheel end coupling disc 3, the driving wheel 2 and the motor end coupling disc 7 and are in interference fit, radial loads of the driving wheel can be distributed on the pin shafts when the driving wheel moves, and loads of the wheel shaft are reduced; the motor end coupling disc 7 is connected with the driving wheel end coupling disc 3 in an interference fit mode or in a bolt mode through three second pin shafts 5, the second pin shafts 5 penetrate through the driving wheel end coupling disc 3 and the motor end coupling disc 7, and the bolt connection can be selected according to application requirements; the motor end coupling disc 7 is connected with the frame side plate 11 through a motor end ceramic bearing 8, the outer ring of the motor end coupling disc 7 is matched with the inner ring of the motor end ceramic bearing 8, the motor end ceramic bearing 8 is in interference fit with the frame side plate 11, the output shaft of the motor 10 is matched and connected with the inner hole of the motor end coupling disc 7 through a planetary reducer 9, the planetary reducer 9 is matched and connected with the inner hole of the motor end coupling disc 7 through a flat key 6, and the output shaft of the motor 10 is horizontally arranged to drive the driving wheel 2 to rotate; the planetary gear 9 can be selected according to different driving speed requirements.
A driven wheel shaft 31 is installed in the center of the driven wheel 29, driven wheel ceramic bearings 32 are arranged on two sides of the driven wheel 29 to achieve the effect of uniform load distribution, the inner ring of each driven wheel ceramic bearing 32 is in contact with the driven wheel shaft 31, the outer ring of each driven wheel ceramic bearing 32 is in interference connection with the driven wheel 29, a driven wheel shaft elastic retainer ring 30 is arranged on the outer end face of the inner ring of each driven wheel ceramic bearing 32 on the outer side of the driven wheel 29, the driven wheel shaft elastic retainer ring 30 is coaxial with the driven wheel shaft 31, and the driven wheel ceramic bearings 32.
The magnetic adsorption device, as shown in fig. 7-8, comprises a permanent magnet plate 49 parallel to the chassis base plate, the permanent magnet plate 49 is connected with the center thread of the corresponding gear 53 through two transmission screws 57, specifically, the permanent magnet plate 49 is connected with the transmission screws 57 through magnetic plate screws 48, the center of the gear 53 is provided with a hole with a screw pair, and the hole is matched with the transmission screws 57; the transmission screw 57 is vertical to the permanent magnet plate 49, each gear 53 is meshed with a gear shaft 59, the gear shafts 59 are connected with a driving device through bevel gear sets 47, large bevel gears in the bevel gear sets 47 are connected with the gear shafts 59 through keys, and small bevel gears in the bevel gear sets 47 are connected with the power motors 46; the gear part of the gear shaft 59 and the gear 53 are axially fixed through a first clamping plate 60 and a second clamping plate 61, the first clamping plate 60 and the second clamping plate 61 are fixed through a shaft position screw 58, the second clamping plate 61 is connected with the gear 53 through a sliding bearing 62, a middle layer plate 52 is horizontally arranged between the second clamping plate 61 and the gear 53, the middle layer plate 52 is parallel to the permanent magnet plate 49, and the second clamping plate 61 is connected with the middle layer plate 52; the permanent magnet plate 49 is connected with a magnetic absorption guide rod 51, the magnetic absorption guide rod 51 is parallel to a transmission screw 57, a magnetic absorption damping spring plug 55 is arranged at the end part of the magnetic absorption guide rod 51 penetrating through the middle plate 52, a magnetic absorption damping spring 54 is sleeved on the magnetic absorption guide rod 51 between the magnetic absorption damping spring plug 55 and the middle plate 52, the magnetic absorption damping spring plug 55 is positioned through a nut 56, and the middle plate 52 is connected with the lower bottom plate 50.
The magnetic adsorption mode is that when the power motor 46 drives the bevel gear set 47 to rotate, so as to drive the gear shaft 59 to rotate, the gear shaft 59 drives the gear 53 to rotate, the center of the gear 53 is a threaded transmission pair, and because the axial position of the gear 53 is fixed by the first clamping plate 60 and the second clamping plate 61, the transmission screw 57 moves axially, and the transmission screw 57 further drives the permanent magnet plate 49 to ascend or descend, so as to achieve the function of adjusting the magnetic adsorption. Four magnetic attraction guide rods 51 are distributed on the permanent magnet plate 49, and the magnetic attraction guide rods 51 are provided with magnetic attraction damping springs 54, so that the stability of magnetic force change can be ensured, the stability of the pose of the vehicle body is further ensured, and the magnetic attraction device and the suspension system are cooperatively cooperated.
As shown in fig. 4-5, a guide wheel 39 is further disposed on the inner side of the crawler 1, the center of the guide wheel 39 is connected with a guide wheel shaft 43 through a guide wheel ceramic bearing 40, the guide wheel shaft 43 is fixedly connected with a slide way 36, the slide way 36 is in threaded connection with one end of a slide rod 33, the other end of the slide rod 33 is in clearance fit with a support frame 34, the slide way 36 and the slide rod 33 are both perpendicular to the guide wheel shaft 43, the slide rod 33 can slide in the support frame 34, a slide way is disposed in the middle of the slide way 36, a slide block 37 is in sliding connection with the slide way, the support frame 34 and the slide block 37 are both fixedly connected with the frame side plate 11, the support frame 34 is fixedly connected with the frame side plate 11 through a support frame screw 35, the slide block 37 is fixedly connected with the frame side plate 11 through a slide block screw 38; a tension spring is sleeved on the sliding rod 33 between the supporting frame 34 and the slideway 36 and is pre-tightened by overcoming the tension of the crawler 1; the slideway 36 is connected with the guide wheel shaft 43 through a fixing screw 45, and a gasket 44 is arranged between the fixing screw 45 and the guide wheel shaft 43; the guide wheel ceramic bearing 40 plays a supporting role, a guide wheel ceramic bearing sealing ring 41 is arranged at the outer end of the guide wheel ceramic bearing 40 to play a sealing role, and a guide wheel shaft elastic retainer ring 42 is arranged between the guide wheel ceramic bearing 40 and a guide wheel shaft 43 to axially position; the guide wheel shaft 43 positions the guide wheel 39 axially by means of a set screw 45 and a washer 44.
The inner side and the outer side of the crawler 1 are provided with teeth, the inner teeth are higher than the outer teeth, the inner teeth are distributed in three rows, the teeth on the outer walls of the driving wheel 2, the driven wheel 29 and the guide wheel 39 are matched with the inner teeth of the crawler 1, the outer wall of the driving wheel 2 is provided with teeth and matched with the inner teeth of the crawler 1, the driving wheel 2 and the guide wheel 39 are mainly used for ensuring that the crawler 1 cannot be separated during advancing, and the driven wheel 29 and the guide wheel 39 are both matched with the inner teeth of the crawler 1, so that the crawler 1 cannot move in a horizontal plane and perpendicular to the advancing direction, and cannot slide off in the moving; the outer teeth mainly ensure that they provide sufficient friction during movement.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An underwater magnetic attraction variable suspension crawler moving system is characterized by comprising a frame, wherein variable suspension devices are arranged on two sides of the frame, and two sets of magnetic adsorption devices are arranged on a bottom plate of the frame in parallel;
the variable suspension device comprises a crawler belt (1), wherein a driving wheel (2) is arranged on the inner side of the crawler belt (1), the driving wheel (2) is connected with a driving device, a driven wheel (29) is arranged on the inner side of the crawler belt (1) which is in contact with the ground, the driven wheel (29) is in threaded connection with one end of a connecting rod (20), the other end of the connecting rod (20) is rotatably connected with a frame side plate (11), the middle part of the connecting rod (20) is connected with the lower end of an inner spring rod (18) through a connecting rod support (27), the upper end of the inner spring rod (18) extends into the inner spring rod (15), a spring (17) is sleeved on the outer wall of the outer spring rod (15), the upper end of the spring (17) is in contact with an outer spring rod nut (16), the diameter of the outer spring rod nut (16) is larger than that of the outer spring (17), the outer spring rod nut (16), the upper end of the spring outer rod (15) is connected with the frame through a spring bracket (13);
the magnetic adsorption device comprises permanent magnet plates (49) parallel to a frame bottom plate, the permanent magnet plates (49) are in threaded connection with the centers of corresponding gears (53) through a plurality of transmission screws (57), the transmission screws (57) are perpendicular to the permanent magnet plates (49), each gear (53) is meshed with a gear shaft (59), axial limiting devices are arranged on the upper end face and the lower end face of each gear (53), and the gear shafts (59) are connected with a driving device through bevel gear sets (47).
2. The underwater magnetic attraction variable suspension crawler moving system of claim 1, one end of the connecting rod (20) rotatably connected with the frame side plate (11) is provided with a cylindrical groove, the bottom of the cylindrical groove is provided with a polygonal hole, the cylindrical groove is connected with one end of a connecting rod shaft (22) through a connecting rod bearing (21), a connecting rod spiral shaft sleeve (23) extends into the other end of the connecting rod shaft (22), the connecting rod spiral shaft sleeve (23) is in clearance fit with the connecting rod shaft (22), lubricating grease is smeared in the gap, an inner connecting rod adjusting rod (24) is arranged at one end, penetrating through the frame side plate (11), of the connecting rod shaft (22), threads are arranged at one end, far away from the connecting rod (20), of the inner connecting rod adjusting rod (24), the inner connecting rod adjusting rod (24) is connected with the inner wall of a connecting rod spiral shaft sleeve (23) through the threads, and the shape of the other end of the inner connecting rod adjusting rod (24) is matched with a polygonal hole of the connecting rod (20).
3. The underwater magnetic attraction variable suspension crawler moving system as claimed in claim 1, wherein the inner spring rod (18) is coaxial with the outer spring rod (15), the lower end of the inner spring rod (18) is in threaded connection with the inner spring rod plug (19), the inner spring rod plug (19) is connected with the connecting rod support (27) through a fifth pin shaft (26), the connecting rod support (27) is connected to the middle position of the connecting rod (20), the diameter of the inner spring rod plug (19) is larger than that of the outer ring of the spring (17), and the lower end of the spring (17) is connected with the inner spring rod plug (19).
4. The underwater magnetic attraction variable suspension crawler moving system as recited in claim 1, wherein the gear portion of the gear shaft (59) and the gear (53) are axially limited by a first clamping plate (60) and a second clamping plate (61), and the first clamping plate (60) and the second clamping plate (61) are fixed by a shaft screw (58); the second clamping plate (61) is connected with the gear (53) through a sliding bearing (62), a middle layer plate (52) is horizontally arranged between the second clamping plate (61) and the gear (53), the middle layer plate (52) is parallel to the permanent magnet plate (49), the second clamping plate (61) is connected with the middle layer plate (52), and the middle layer plate (52) is connected with the lower base plate (50).
5. The underwater magnetic attraction variable suspension crawler moving system according to claim 4, wherein the permanent magnet plate (49) is connected with a magnetic attraction guide rod (51), the magnetic attraction guide rod (51) is parallel to the transmission screw rod (57), a magnetic attraction damping spring plug (55) is arranged at the end of the magnetic attraction guide rod (51) penetrating through the middle plate (52), a magnetic attraction damping spring (54) is sleeved on the magnetic attraction guide rod (51) between the magnetic attraction damping spring plug (55) and the middle plate (52), and the magnetic attraction damping spring plug (55) is positioned through a nut (56).
6. The underwater magnetic attraction variable suspension crawler moving system according to claim 1, wherein a guide wheel (39) is further arranged on the inner side of the crawler (1), the center of the guide wheel (39) is connected with a guide wheel shaft (43) through a guide wheel ceramic bearing (40), the guide wheel shaft (43) is fixedly connected with a slide way (36), the slide way (36) is in threaded connection with one end of the slide rod (33), the other end of the slide rod (33) is in clearance fit with the support frame (34), the slide way (36) and the slide rod (33) are both perpendicular to the guide wheel shaft (43), a slide way is arranged on the slide way (36), a slide block (37) is in sliding connection with the slide way, the support frame (34) and the slide block (37) are both fixedly connected with the frame side plate (11), and a tension spring is sleeved on the slide rod (33) between the support frame (34) and.
7. The underwater magnetic attraction variable suspension crawler moving system according to claim 6, wherein the slide way (36) is connected with the guide wheel shaft (43) through a fixing screw (45), and a gasket (44) is arranged between the fixing screw (45) and the guide wheel shaft (43); the outer end of the guide wheel ceramic bearing (40) is provided with a guide wheel ceramic bearing sealing ring (41), and a guide wheel shaft elastic retainer ring (42) is arranged between the guide wheel ceramic bearing (40) and the guide wheel shaft (43).
8. The underwater magnetic attraction variable suspension crawler moving system as claimed in claim 6, wherein teeth are arranged on the inner side and the outer side of the crawler (1), the inner teeth are higher than the outer teeth, three rows of teeth are distributed on the inner teeth, and the teeth on the outer walls of the driving wheel (2), the driven wheel (29) and the guide wheel (39) are matched with the inner teeth of the crawler (1).
9. The underwater magnetic attraction variable suspension crawler moving system according to claim 1, wherein a driving wheel end coupling disc (3) is embedded in the center of the driving wheel (2), the driving wheel end coupling disc (3) is connected with a motor end coupling disc (7) through a wheel shaft, the motor end coupling disc (7) is in interference fit connection with the driving wheel (2) and the driving wheel end coupling disc (3) through a plurality of first pin shafts (4), the motor end coupling disc (7) is in interference fit connection with the driving wheel end coupling disc (3) through a plurality of second pin shafts (5), or the motor end coupling disc (7) is in bolt connection with the driving wheel end coupling disc (3), the motor end coupling disc (7) is connected with a frame side plate (11) through a motor end ceramic bearing (8), an output shaft of the motor (10) is in fit connection with a motor end coupling disc (7) through a planetary reducer (9), the output shaft of the motor (10) is arranged horizontally.
10. The underwater magnetic attraction variable suspension crawler moving system as claimed in claim 8, wherein a driven wheel shaft (31) is mounted in the center of the driven wheel (29), driven wheel ceramic bearings (32) are arranged on both sides of the driven wheel (29), the inner ring of each driven wheel ceramic bearing (32) is in contact with the driven wheel shaft (31), the outer ring of each driven wheel ceramic bearing (32) is in interference fit connection with the driven wheel (29), a driven wheel shaft elastic check ring (30) is arranged on the outer end face of the inner ring of each driven wheel ceramic bearing (32) on the outer side of the driven wheel (29), the driven wheel shaft elastic check ring (30) is coaxial with the driven wheel shaft (31), and the driven wheel ceramic bearings (32) are waterproof bearings.
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| 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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| CN206243415U (en) * | 2016-11-25 | 2017-06-13 | 浙江海洋大学 | A kind of underwater remote-control robot |
| CN107585274B (en) * | 2017-07-20 | 2018-12-25 | 哈尔滨工程大学 | High sea situation ship is sued and laboured robot |
| CN107806344A (en) * | 2017-09-14 | 2018-03-16 | 上海交通大学 | A kind of self-propelled seabed ore collection device and collection method |
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Effective date of registration: 20230627 Address after: Room 503, No. 52, Qidu Road, Qidu Town, Linzi District, Zibo, Shandong Province 255400 Patentee after: Shandong Qikang Zhihe Venture Capital Management Co.,Ltd. Address before: 150001 No. 145, Nantong Avenue, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN ENGINEERING University |