CN110422306B - Seawater-driven deep-sea tracked vehicle chassis - Google Patents
Seawater-driven deep-sea tracked vehicle chassis Download PDFInfo
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- CN110422306B CN110422306B CN201910879838.5A CN201910879838A CN110422306B CN 110422306 B CN110422306 B CN 110422306B CN 201910879838 A CN201910879838 A CN 201910879838A CN 110422306 B CN110422306 B CN 110422306B
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- 239000013535 sea water Substances 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 72
- 239000000725 suspension Substances 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000005065 mining Methods 0.000 abstract description 20
- 238000005516 engineering process Methods 0.000 abstract description 7
- 239000002480 mineral oil Substances 0.000 abstract description 5
- 235000010446 mineral oil Nutrition 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000003912 environmental pollution Methods 0.000 abstract description 4
- 230000001276 controlling effect Effects 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 9
- 229910052500 inorganic mineral Inorganic materials 0.000 description 5
- 239000011707 mineral Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
- B63H23/26—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing fluid
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Fluid-Pressure Circuits (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention relates to a seawater-driven deep-sea tracked vehicle chassis, which comprises a track walking assembly, wherein the track walking assembly comprises a suspension assembly, two sides of the suspension assembly are respectively provided with a track, and a driving wheel, a guiding wheel, a thrust wheel and a chain supporting wheel are arranged in the tracks; the hydraulic drive control system comprises a filter, a water tank, a constant water hydraulic pump, a hydraulic proportional reversing valve and a hydraulic motor, wherein an energy accumulator and a hydraulic one-way valve are also connected between the constant water hydraulic pump and the hydraulic proportional reversing valve, the input end of the constant water hydraulic pump is connected with a variable frequency motor, and the hydraulic motor is connected with a driving wheel. The invention has the advantages that: according to the crawler chassis, aiming at the submarine mining working condition, the water hydraulic technology is adopted, water is adopted as a working medium, environmental pollution caused by mineral oil medium leakage which is easy to generate under the submarine working condition of the traditional hydraulic system is avoided, the pollution to the underwater ecological environment is small, and the strict environmental protection regulation requirement of submarine operation can be met.
Description
Technical Field
The invention relates to a heavy-load tracked vehicle running water hydraulic system, in particular to a seawater-driven deep-sea tracked vehicle chassis.
Background
The ocean area of the earth accounts for more than 2/3 of the total area of the earth, a large amount of mineral resources are contained in the sea bottom, the development and the utilization of the mineral resources on the sea bottom are important strategic measures and effective solving approaches for making up the increasing shortage of the mineral resources on the land, and the main task of the deep sea mining is to collect the occurrence of the mineral resources on the sea bottom, so the deep sea mining is the key equipment of a deep sea mining system.
The deep sea mining vehicle needs to perform the task of collecting mineral resources on the sea floor for a long time, and the deep sea working environment has the characteristics of limited energy supply, high environment pressure, strong seawater corrosion and difficult pollution control, has high technical requirements, and has more serious environmental protection and reliability problems.
Thus, with respect to the above mentioned phenomenon, a submarine mining vehicle chassis and a submarine mining vehicle are mentioned in patent CN 207045645U. The chassis of the mining vehicle comprises four electrically driven crawler travelling mechanisms, four suspension mechanisms, four chassis frames and a chassis control system, wherein the electrically driven crawler travelling mechanisms are respectively arranged on the four suspension mechanisms, the electrically driven crawler travelling mechanisms are arranged on bearing rods of the corresponding suspension mechanisms through the crawler frames, the bearing rods are connected with steering rods through nuts and screw rods, the inner ends of the steering rods are connected with suspension seats of the chassis frames through sliding bearings, and the chassis control system arranged on the chassis frames comprises an electronic bin, an acoustic beacon and an inertial navigation assembly. When the submarine mining vehicle is in the running process, the chassis control system calculates and calculates each crawler travelling mechanism according to the data acquired by the sensor, and can independently adjust the height of each crawler travelling mechanism, so that the mining vehicle is kept balanced in the travelling process, the terrain adaptability and obstacle surmounting capability of the mining vehicle are improved, and the submarine mining vehicle is more suitable for complex submarine environments.
The submarine mining vehicle is driven by the servo motor to realize the walking of the mining vehicle, and the hydraulic mining vehicle solves the pollution problems of hydraulic oil leakage and the like caused by hydraulic driving, but has other defects: the submarine mining vehicle is driven by the servo motor, has insufficient cruising ability, cannot work underwater for a long time, has small torque, and cannot operate if the torque of the servo motor does not meet the operation requirements when the mining vehicle needs to perform operations such as drilling and mining.
Disclosure of Invention
The invention aims to provide the seawater-driven deep sea tracked vehicle chassis which can effectively reduce energy consumption, improve reliability and reduce environmental pollution.
In order to solve the technical problems, the technical scheme of the invention is as follows: the chassis of the seawater driven deep sea crawler is innovative in that: comprising
The crawler belt walking assembly comprises a suspension assembly, wherein two sides of the suspension assembly are respectively provided with a crawler belt, a driving wheel, a guide wheel, a supporting wheel and a supporting chain wheel are arranged in the crawler belt, and the driving wheel, the guide wheel, the supporting wheel and the supporting chain wheel are all arranged on the suspension assembly;
The hydraulic driving control system comprises a filter, a water tank, a constant water hydraulic pump, a water hydraulic proportional reversing valve and a water hydraulic motor which are sequentially connected in series, an energy accumulator and a water hydraulic one-way valve which are sequentially connected in series are also connected between the constant water hydraulic pump and the water hydraulic proportional reversing valve in parallel, the input end of the constant water hydraulic pump is connected with a variable frequency motor, the input end of the variable frequency motor is connected with a controller, the water hydraulic motor is connected with a driving wheel and drives the driving wheel to rotate, a rotational speed sensor is further arranged on the water hydraulic motor, and the output end of the rotational speed sensor is connected with the controller.
Further, the driving wheel and the guide wheel are respectively arranged on two sides of the crawler belt and are meshed with each other to form the crawler belt, the guide wheel is arranged on the front side of the crawler belt, a tensioning device is further arranged between the guide wheel and the suspension assembly, the driving wheel is arranged on the rear side of the crawler belt, a plurality of support wheels are distributed between the driving wheel and the guide wheel in parallel, the support wheels are attached to the upper surface of the lower layer of the crawler belt, a plurality of support chain wheels are distributed between the driving wheel and the guide wheel in parallel, and the support chain wheels are attached to the lower surface of the upper layer of the crawler belt.
Further, the crawler belt is a single-rib crawler plate.
Further, the filter is also provided with small holes communicated with outside seawater.
The invention has the advantages that: according to the crawler chassis, aiming at the submarine mining working condition, the water hydraulic technology is adopted, water is adopted as a working medium, environmental pollution caused by mineral oil medium leakage which is easy to generate under the submarine working condition of the traditional hydraulic system is avoided, the pollution to the underwater ecological environment is small, and the strict environmental protection regulation requirement of submarine operation can be met.
Compared with the crawler chassis which is driven by a motor only, the crawler chassis adopts the cooperation of a hydraulic driving and controlling system, the motor is used as a power element, a hydraulic reversing valve is a control element, a hydraulic motor is an executing element, an energy accumulator and a sensor are auxiliary elements, the whole chassis has longer endurance time, and the crawler chassis can meet the operations of drilling, exploitation and the like.
Directly adopts water as a working medium, solves the problem that the traditional mineral oil medium is corroded and worn by hydraulic elements due to the deterioration of the medium caused by the seawater leaked into a hydraulic system, and improves the reliability of the system.
The hydraulic control system is adopted, the hydraulic control system is automatically suitable for large-range change of external environment pressure, complex components such as a pressure compensator and the like are not needed, and the hydraulic control system is simple and reliable in structure.
The variable-frequency speed-regulating hydraulic energy-saving technology is adopted, and the variable-frequency motor with a simple and reliable structure and a constant pump are adopted, so that the energy utilization rate can be effectively improved compared with the traditional energy-saving load-sensitive/positive and negative flow hydraulic technology of the tracked vehicle.
The small holes arranged on the filter are connected with external water to ensure that the water pressure in the water tank is the same as the external environment water pressure, so that the pressure self-adaptive regulation of the system is realized, a pressure compensator is not required, and the structure is simplified.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of a seawater driven deep sea crawler chassis of the present invention.
Fig. 2 is a schematic view of the crawler belt assembly of the present invention.
Fig. 3 is a side view of the crawler belt running assembly of the present invention.
Fig. 4 is a top view of the crawler belt assembly of the present invention.
Fig. 5 is a schematic diagram of the connection of the hydraulic control system according to the present invention.
Fig. 6 is a control schematic diagram of the hydraulic water drive control system in the present invention.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the present invention and are not intended to limit the invention to the embodiments described.
A seawater driven deep sea crawler chassis as shown in fig. 1-6, comprising
The crawler belt walking assembly comprises a suspension assembly 4, wherein a crawler belt 8 is respectively arranged on two sides of the suspension assembly 4, a driving wheel 2, a guiding wheel 7, a supporting wheel 3 and a supporting chain wheel 5 are arranged in the crawler belt 8, and the driving wheel 2, the guiding wheel 7, the supporting wheel 3 and the supporting chain wheel 5 are all arranged on the suspension assembly 4.
The driving wheel 2 and the guiding wheel 7 are respectively arranged at two inner sides of the crawler belt 8 and are attached to the inner sides of the crawler belt 8, the guiding wheel 2 and the crawler belt 8 are meshed with each other, the guiding wheel 7 is positioned at the front side of the crawler belt 8, a tensioning device 6 is further arranged between the guiding wheel 7 and the suspension assembly 4, the guiding wheel 7 supports the weight of the crawler belt 8, the crawler belt 8 advances along the guiding wheel 7, the driving wheel 2 is positioned at the rear side of the crawler belt 8, the driving wheel 2 is arranged at the rear position, the power loss of the crawler belt running device can be reduced when a vehicle advances, meanwhile, possible impact between the driving wheel 2 and the ground is avoided when the vehicle body vibrates, a plurality of supporting wheels 3 are distributed between the driving wheel 2 and the guiding wheel 7 in parallel, the supporting wheels 3 are attached to the upper surface of the lower layer of the crawler belt 8, the supporting wheels 3 are fixed at the lower end of the suspension assembly 4 through screws, the supporting wheels 5 are distributed between the driving wheel 2 and the guiding wheel 7 in parallel, and the lower surface of the upper layer of the supporting chassis is attached to the upper layer of the crawler belt 8.
The crawler belt 8 is a single-rib crawler belt plate, and the thrust of the single-rib crawler belt plate is larger.
The hydraulic driving and controlling system is installed on the suspension assembly 4, the hydraulic driving and controlling system has two sets of hydraulic driving and controlling systems, which respectively control the motion of the tracks 8 at two sides, as shown in the schematic diagram of fig. 5, the hydraulic driving and controlling system comprises a filter 11, a water tank, a constant hydraulic pump 12, a hydraulic proportional reversing valve 16 and a hydraulic motor 17 which are sequentially connected in series, an accumulator 15 and a hydraulic one-way valve 14 which are sequentially connected in series are also connected between the constant hydraulic pump 12 and the hydraulic proportional reversing valve 16 in parallel, the input end of the constant hydraulic pump 12 is connected with a variable frequency motor 13, the input end of the variable frequency motor 13 is connected with a controller, the hydraulic motor 17 is a bidirectional hydraulic motor, the output shaft of the hydraulic motor 17 is connected with the main shaft of the driving wheel 2 through a coupling and drives the driving wheel 2 to rotate, a rotation speed sensor is also arranged on the hydraulic motor 17, and the output end of the rotation speed sensor is connected with the controller.
When the rotation speeds of the two hydraulic motors 17 are the same, the tracked vehicle can keep straight, when the movement speed of the tracked vehicle is disturbed by the outside, the closed loop control system can automatically adjust the motor flow, keep the rotation speeds of the two tracked vehicles 8 stable, the steering of the vehicle body is realized by controlling the rotation speeds of the two hydraulic motors 17 to be different, and according to the movement instructions, the rotation speeds of the two hydraulic motors 17 are respectively controlled to realize the differential steering of the tracked vehicle, the turning radius is determined by the rotation speed difference of the two hydraulic motors 17, and the tracked vehicle can be steered by the proportional steering valve 16, namely the rotation directions of the two hydraulic motors 17 are switched simultaneously, so that the forward and backward direction conversion of the tracked vehicle can be realized.
The hydraulic driving control system is an open type hydraulic system, and the water medium in the water tank is connected with external water through a small hole provided with the filter 11 so as to ensure that the water pressure in the water tank is the same as the external environment water pressure, thereby realizing the pressure self-adaptive adjustment of the system without a pressure compensator; the rotation speed of the constant water hydraulic pump 12 (such as a gear pump, a vane pump, a plunger pump and the like) is regulated by the rotation speed of the variable frequency motor 13 controlled by the controller, so that the large-flow control of the medium is realized, the high-pressure water medium output by the constant water hydraulic pump 12 drives the water hydraulic motor 17 through the proportional reversing valve 16, and the small-range regulation of the output flow of the working water medium can be realized through the proportional reversing valve 16, so that the rotation speed control precision of the water hydraulic motor 17 is ensured through a system flow subsection control strategy of controlling the large flow and the small flow through the constant water hydraulic pump 12; the hydraulic motor 17 drives the crawler belt to move through the speed change mechanism, and the different rotation speeds of the hydraulic motor 17 determine the movement speed of the crawler belt and the steering of the vehicle body; the reversing of the proportional reversing valve 16 can control the rotation direction of the hydraulic motor 17 to be switched, so that the advancing and retreating of the crawler chassis are realized.
The filter 11 is also provided with a small hole communicated with external seawater, and the small hole arranged on the filter 11 is connected with the external water so as to ensure that the water pressure in the water tank is the same as the external environment water pressure, realize the pressure self-adaptive regulation of the system, avoid using a pressure compensator and simplify the structure.
The chassis of the crawler is composed of a crawler travel assembly and a hydraulic drive control system, wherein a power system is a variable frequency motor 13, a transmission system is in pure hydraulic transmission, a driving wheel 2 is driven by a hydraulic motor 17, each crawler 8 is provided with a set of variable frequency speed-regulating hydraulic system, and double-crawler differential steering is adopted; compared with the existing crawler belt driving chassis oil pressure driving and controlling mode, the hydraulic driving and controlling system provided by the invention adopts the seawater medium, and compared with an underwater oil hydraulic system, the hydraulic driving and controlling system does not need a pressure compensator, so that the system pressure self-adaption of full water depth is realized, the environment pollution caused by external leakage of the medium is small, meanwhile, the corrosion and abrasion of the hydraulic element caused by external seawater leakage into the system are small, and the reliability of the system is improved.
The current energy-saving hydraulic drive control system of the heavy-duty tracked vehicle is a load sensitive or positive and negative flow system, and is characterized in that the flow of the system is regulated by controlling the flow output of a variable pump. Compared with the traditional valve control, the existing energy-saving hydraulic drive control system regulates flow through the variable pump, can reduce throttle energy loss of the valve and improve energy efficiency, but because the power consumption of the motor is constant, part of energy is lost through an overflow valve of the hydraulic system. The caterpillar chassis provided by the invention is characterized in that a variable frequency motor 13 drives a constant water hydraulic pump 12, the flow is directly output through a rotating speed regulating system of the variable frequency motor 13, the energy consumption of the motor changes along with the system load, the energy utilization efficiency is higher, the constant water hydraulic pump 12 driven by the variable frequency motor 13 is a power element, a water hydraulic reversing valve 16 is a control element, a water hydraulic motor 17 is an executive element, 15 and a sensor are auxiliary elements, the power element provides high-pressure water medium, the pressure of the water medium is controlled by the control element, the executive element is driven to realize the movement of a running system, the control principle is that the rotating speed of the water hydraulic motor 17 in the water hydraulic driving system is fed back to a controller, the controller controls the rotating speed of the variable frequency motor 13 to regulate the rotating speed of the constant pump, a closed-loop negative feedback system is formed, the control of the output flow of the constant water hydraulic pump 12 is realized, and the rotating speed of the water hydraulic motor 17 is further realized, and the movement control of the running system is realized.
When the hydraulic control system works, as shown in fig. 6, firstly, a tracked vehicle sends a motion command to a controller, the controller controls the output of a frequency converter of the variable frequency motor 13 through a control algorithm according to the input tracked vehicle motion command and the rotating speed negative feedback of the hydraulic motor 17, and the rotating speed of the variable frequency motor 13 controlled by the output of the frequency converter is adjustable, so that different flow output quantities of the constant hydraulic pump 12 are controlled, and the rotating speed of the hydraulic motor 17 driving the tracked vehicle is controlled.
The system is a sectional control system, the whole system forms a closed-loop control system of the rotation speed of the water hydraulic motor, and when the rotation speed of the constant water hydraulic pump 12 changes greatly, the rotation speed of the variable frequency motor 13 adjusts the system large-flow output control of the constant water hydraulic pump 12; when the rotation speed of the water hydraulic motor 17 is changed less, the output flow of the proportional reversing valve 16 is regulated by the controller to realize the small flow output control of the system, so that the accurate control of the movement speed of the running system is realized.
According to the crawler chassis, aiming at the submarine mining working condition, the water hydraulic technology is adopted, water is adopted as a working medium, environmental pollution caused by mineral oil medium leakage which is easy to generate under the submarine working condition of the traditional hydraulic system is avoided, the pollution to the underwater ecological environment is small, and the strict environmental protection regulation requirement of submarine operation can be met.
Directly adopts water as a working medium, solves the problem that the traditional mineral oil medium is corroded and worn by hydraulic elements due to the deterioration of the medium caused by the seawater leaked into a hydraulic system, and improves the reliability of the system.
The hydraulic control system is adopted, the hydraulic control system is automatically suitable for large-range change of external environment pressure, complex components such as a pressure compensator and the like are not needed, and the hydraulic control system is simple and reliable in structure.
The variable-frequency speed-regulating hydraulic energy-saving technology is adopted, and the variable-frequency motor with a simple and reliable structure and a constant pump are adopted, so that the energy utilization rate can be effectively improved compared with the traditional energy-saving load-sensitive/positive and negative flow hydraulic technology of the tracked vehicle.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a sea water drive deep sea tracked vehicle chassis which characterized in that: comprising
The crawler belt walking assembly comprises a suspension assembly, wherein two sides of the suspension assembly are respectively provided with a crawler belt, a driving wheel, a guide wheel, a supporting wheel and a supporting chain wheel are arranged in the crawler belt, and the driving wheel, the guide wheel, the supporting wheel and the supporting chain wheel are all arranged on the suspension assembly;
The hydraulic driving control system comprises a filter, a water tank, a constant water hydraulic pump, a water hydraulic proportional reversing valve and a water hydraulic motor which are sequentially connected in series, an energy accumulator and a water hydraulic one-way valve which are sequentially connected in series are also connected between the constant water hydraulic pump and the water hydraulic proportional reversing valve in parallel, the input end of the constant water hydraulic pump is connected with a variable frequency motor, the input end of the variable frequency motor is connected with a controller, the water hydraulic motor is connected with a driving wheel and drives the driving wheel to rotate, a rotational speed sensor is further arranged on the water hydraulic motor, and the output end of the rotational speed sensor is connected with the controller;
the hydraulic driving and controlling system has two sets to control the crawler belt on two sides of the suspension assembly;
The hydraulic drive control system is a sectional control system, the whole system forms a closed-loop control system of the rotation speed of the hydraulic motor, and when the rotation speed of the hydraulic motor changes greatly, the rotation speed of the variable frequency motor adjusts the large-flow output control of the constant hydraulic pump; when the rotation speed of the water hydraulic motor is changed less, the controller adjusts the output flow of the proportional reversing valve to realize the small flow output control of the system, thereby realizing the accurate control of the movement speed of the running system.
2. The seawater driven deep sea crawler chassis of claim 1, wherein: the driving wheels and the guide wheels are respectively arranged on two sides of the crawler belt and are meshed with each other, the guide wheels are arranged on the front side of the crawler belt, a tensioning device is further arranged between the guide wheels and the suspension assembly, the driving wheels are arranged on the rear side of the crawler belt, a plurality of supporting wheels are arranged between the driving wheels and the guide wheels in parallel, the supporting wheels are attached to the upper surface of the lower layer of the crawler belt, a plurality of supporting chain wheels are arranged between the driving wheels and the guide wheels in parallel, and the supporting chain wheels are attached to the lower surface of the upper layer of the crawler belt.
3. The seawater driven deep sea crawler chassis of claim 1, wherein: the crawler belt is a single-rib crawler plate.
4. The seawater driven deep sea crawler chassis of claim 1, wherein: the filter is also provided with a small hole communicated with outside seawater.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910879838.5A CN110422306B (en) | 2019-09-18 | 2019-09-18 | Seawater-driven deep-sea tracked vehicle chassis |
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| CN201910879838.5A CN110422306B (en) | 2019-09-18 | 2019-09-18 | Seawater-driven deep-sea tracked vehicle chassis |
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| CN110422306A CN110422306A (en) | 2019-11-08 |
| CN110422306B true CN110422306B (en) | 2024-05-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114104131B (en) * | 2021-12-30 | 2022-12-27 | 苏州瑞得恩光能科技有限公司 | Crawler and crawler travel device |
| CN115140278B (en) * | 2022-06-22 | 2024-03-08 | 上海海事大学 | Underwater robot telescopic crawler device based on water hydraulic system |
| CN115123503A (en) * | 2022-07-29 | 2022-09-30 | 中国海洋大学 | All-terrain seabed mining vehicle walking device |
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