CN110723225A - Underwater mining multi-degree-of-freedom four-crawler walking device - Google Patents
Underwater mining multi-degree-of-freedom four-crawler walking device Download PDFInfo
- Publication number
- CN110723225A CN110723225A CN201911017720.8A CN201911017720A CN110723225A CN 110723225 A CN110723225 A CN 110723225A CN 201911017720 A CN201911017720 A CN 201911017720A CN 110723225 A CN110723225 A CN 110723225A
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- Prior art keywords
- crawler
- support
- chassis
- freedom
- hydraulic oil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
The invention relates to an underwater mining multi-degree-of-freedom four-crawler traveling device which comprises a chassis, wherein a plurality of hydraulic oil cylinders are arranged on the outer side of the chassis, crawler supports are correspondingly arranged on the outer side of the chassis at the positions of the hydraulic oil cylinders, the output ends of the hydraulic oil cylinders penetrate through the crawler supports and are connected with crawler suspension support plates, and the two sides of each crawler suspension support plate are in sliding connection with the inner walls of the two sides of each crawler support, so that the crawler suspension support plates generate moving pairs relative to the crawler supports when the hydraulic oil cylinders act; the bottom of each track suspension support plate is connected with a track wheel structure through a shaft and a support plate, and the track wheel structure is driven by a motor. The self-adaptive crawler belt leveling mechanism can realize self-adaptive movement by additionally arranging the hydraulic oil cylinder, the crawler belt support plate is in sliding connection relative to the crawler belt support, the crawler belt can freely rotate around the crawler belt suspension support plate in the +/-30-degree direction, and the self-adaptive crawler belt leveling mechanism is suitable for rugged terrains with different angles.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater mining multi-degree-of-freedom four-crawler walking device.
Background
According to the results of many years of exploration and research at home and abroad, the ocean occupying about 71% of the sphere surface area is a huge resource treasury, and the storage capacity of mineral resources is greatly higher than that of the land. Among the discovered deep-sea mineral resources, the major application values for human production and life are polymetallic tuberculosis, cobalt-rich crusts, polymetallic sulfides and the like. Among them, the polymetallic sulfide is rich in copper, lead, zinc, manganese, iron, gold, silver and other metals, especially the content of gold, silver and other noble metals is far higher than that of the polymetallic manganese nodule, so it is called as "seabed vault", and has the most commercial development value. Because the seabed environment is complex, underwater mining is generally completed by adopting an underwater robot. The traditional underwater robot is unstable when walking on the seabed, and particularly, complex terrains are difficult to mine smoothly, so that a walking device which aims at the complex terrains and is suitable for the underwater robot is urgently needed to be designed.
Disclosure of Invention
The applicant aims at the existing problems and carries out research and improvement, and provides the underwater mining multi-degree-of-freedom four-crawler traveling device which can adapt to rugged terrains with different angles, so that mining operation can be smoothly completed on the complicated terrains.
The technical scheme adopted by the invention is as follows:
the underwater mining multi-degree-of-freedom four-crawler traveling device comprises a chassis, wherein a plurality of hydraulic oil cylinders are arranged on the outer side of the chassis, crawler supports are correspondingly arranged on the outer side of the chassis at the positions of the hydraulic oil cylinders, the output ends of the hydraulic oil cylinders penetrate through the crawler supports and are connected with crawler suspension support plates, and the two sides of each crawler suspension support plate are in sliding connection with the inner walls of the two sides of each crawler support, so that the crawler suspension support plates generate moving pairs relative to the crawler supports when the hydraulic oil cylinders act; the bottom of each track suspension support plate is connected with a track wheel structure through a shaft and a support plate, and the track wheel structure is driven by a motor.
The further technical scheme is as follows:
the chassis is of a rectangular frame structure formed by criss-cross and enclosing of a plurality of square steels and steel plates;
the bottom of the cylinder body of the hydraulic oil cylinder is in pin joint with a first lug plate, the first lug plate is connected with one end of an I-shaped steel fixedly connected to the side face of the chassis, the other end of the I-shaped steel is connected with the top of the cylinder body of the hydraulic oil cylinder, the output end of the hydraulic oil cylinder is in pin joint with a second lug plate through a connecting seat, and the second lug plate is fixedly connected to a crawler suspension support plate;
the I-shaped steel comprises a first connecting support, a second connecting support and a third connecting support, the first connecting support and the third connecting support are vertically and fixedly connected to the outer side of the chassis, and the second connecting support is connected between the first connecting support and the third connecting support;
the first connecting bracket and the third connecting bracket are parallel to each other;
guide grooves used for being connected with the sliding blocks are formed in the left side and the right side of the crawler support respectively, and the opening parts of the guide grooves are sealed through limiting plates;
the crawler wheel structure comprises a driven wheel and a driving wheel which are arranged at the front end and the rear end of the supporting plate through bearings, a chain is connected between the driven wheel and the driving wheel, and a crawler is arranged on the periphery of the chain;
and a plurality of pairs of supporting seats are further arranged on the supporting plate, and a supporting wheel for supporting the chain is connected between the adjacent supporting seats through a rotating shaft.
The invention has the following beneficial effects:
the crawler belt self-adaptive movement mechanism is simple in structure and convenient to use, self-adaptive movement of the crawler belt self-adaptive movement mechanism can be achieved by additionally arranging the hydraulic oil cylinder, the crawler belt support plate is in sliding connection relative to the crawler belt support, the crawler belt can freely rotate around the crawler belt suspension support plate in the +/-30-degree direction, the crawler belt self-adaptive movement mechanism is suitable for rugged terrains with different angles, automatic leveling can be achieved, and the influence of the terrains on mining equipment is reduced.
According to the invention, the crawler support is additionally arranged at the top of the crawler, so that the distance of the shaft is shortened, the bending moment arm is shortened, and the rigidity of the shaft is increased.
The crawler support and the chassis are welded into a whole, so that the hydraulic cylinder only bears axial acting force during operation, the hydraulic cylinder cannot be subjected to shearing force, the shearing force applied to the crawler is transmitted to the crawler support through the sliding block and finally transmitted to the chassis, the hydraulic cylinder cannot be damaged by being transmitted to the hydraulic cylinder, the service life of the hydraulic cylinder is influenced, most of the shearing force is borne by the vehicle body, and the service life of the hydraulic cylinder body is greatly prolonged.
And the arrangement of the sliding block provides a guiding function for the telescopic motion of the hydraulic oil cylinder, so that the shearing force is prevented from acting on the telescopic rod of the hydraulic oil cylinder.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a partial enlarged view of the present invention.
FIG. 3 is a partial enlarged view of FIG. II of the present invention.
Fig. 4 is a partially enlarged schematic view iii of the present invention.
Fig. 5 is a schematic diagram i of the working state of the present invention.
Fig. 6 is a schematic diagram ii of the working state of the present invention.
Wherein: 1. a chassis; 2. a first connecting bracket; 3. a first ear plate; 4. a hydraulic cylinder; 5. a track frame; 501. a guide groove; 502. a limiting plate; 6. a connecting seat; 7. a second ear panel; 8. a track suspension mounting plate; 9. a slider; 10. a crawler belt; 11. a second connecting bracket; 12. a third connecting bracket; 13. a driven wheel; 14. a drive wheel; 15. a support plate; 16. a supporting seat; 17. a support wheel; 18. a gland; 19. a shaft seat; 20. a shaft; 21. and a chain.
Detailed Description
The following describes specific embodiments of the present invention.
As shown in fig. 1 to 4, the underwater mining multi-degree-of-freedom four-crawler traveling device comprises a chassis 1, wherein the chassis 1 is formed by criss-cross and enclosing a rectangular frame structure by a plurality of square steel plates and steel plates. The outer side of the chassis 1 is provided with a plurality of hydraulic oil cylinders 4, the outer side of the chassis 1 is also correspondingly provided with a crawler support 5 at each hydraulic oil cylinder 4, the hydraulic oil cylinders 4 and the crawler supports 5 are distributed at four corners of a rectangular frame structure in the embodiment, and the crawler supports 5 are welded with the chassis 1 into a whole.
As shown in fig. 1 to 4, the bottom of the hydraulic cylinder 4 is pinned with a first ear plate 3, the first ear plate 3 is connected with one end of an i-steel fixedly connected to the side of the chassis 1, and the other end of the i-steel is connected with the top of the hydraulic cylinder 4.
As shown in fig. 1, the i-steel includes a first connecting bracket 2, a second connecting bracket 11 and a third connecting bracket 12, the first connecting bracket 2 and the third connecting bracket 12 are both vertically and fixedly connected to the outer side of the chassis 1, and the second connecting bracket 11 is connected between the first connecting bracket 2 and the third connecting bracket 12. The first linking bracket 2 and the third linking bracket 12 are parallel to each other.
The hydraulic oil cylinder 4 is fixed on the chassis 1 through I-steel to ensure the structural stability, so that the stress is uniformly distributed on the chassis when the crawler belt is lifted.
As shown in fig. 1, the output end of the hydraulic cylinder 4 penetrates through the track support 5 and is connected with a second lug plate 7 on the track hanging support plate 8 through a connecting seat 6 in a pin joint mode, a bolt hole is further formed in the track support 5 and used for extending the output end of the hydraulic cylinder 4 out, and the second lug plate 7 is fixedly connected to the track hanging support plate 8.
The two sides of the crawler suspension support plate 8 are connected with the inner walls of the two sides of the crawler support 5 in a sliding mode through the sliding blocks 9, so that the crawler suspension support plate 8 generates moving pairs relative to the crawler support 5 when the hydraulic oil cylinder 4 acts, guide grooves 501 used for being connected with the sliding blocks 9 are formed in the left side and the right side of the crawler support 5 respectively, and the opening portions of the guide grooves 501 are sealed through limiting plates 502. The sliding connection ensures the smoothness of the vertical movement of the track 10 in the guide channel 501 of the track frame 5, and also ensures the swing angle of the track wheels, which cannot be shifted horizontally at will. The bottom of each track hanging bracket plate 8 is connected with a track wheel structure through a shaft 20 and a support plate 15, as shown in fig. 4, a gland 18 is installed in the support plate 15, the shaft 20 penetrates through the gland 18 and is connected with shaft seats 19 installed at both sides of the track hanging bracket plate 8, and a driving wheel 14 of the track wheel structure is driven by a motor.
As shown in fig. 1 to 4, the crawler wheel structure includes a driven wheel 13 and a driving wheel 14 mounted on front and rear ends of a support plate 15 through bearings, a chain 21 connected between the driven wheel 13 and the driving wheel 14, and a crawler 10 provided on an outer periphery of the chain 21. A plurality of pairs of bearing blocks 16 are further mounted on the support plate 15, and a support wheel 17 for supporting a chain 21 is connected between the adjacent bearing blocks 16 through a rotating shaft.
The specific working process of the invention is as follows:
as shown in fig. 1 to 6, the track wheel structure can freely rotate ± 30 ° relative to the track suspension support plate 8 with the shaft 20 as a rotation point, specifically, when the driving wheel 14 is driven by the output end of the motor to rotate, the driving wheel 14 drives the driven wheel 13 and the track 10 to rotate through the chain 21 after rotating, the shaft 20 is stressed and transmits the force to the track suspension support plate 8 through the gland 18 while the track wheel structure moves, the track suspension support plate 8 freely moves in the guide groove 501 of the track support 5 through the slider 9 after being stressed, so as to achieve adjustment, and simultaneously, the four hydraulic cylinders 4 are respectively driven to achieve adaptive adjustment with multiple degrees of freedom.
In the invention, each crawler wheel structure is rigidly connected with a crawler suspension support plate 8 to form a four-wheel drive structure. When the motors of the left and right crawler wheel structures are at the same speed, the crawler wheel structure can realize straight movement. When the motors of the left and right crawler wheel structures are at different speeds, the invention realizes steering. The four crawler belts are symmetrically arranged in the transverse direction and the longitudinal direction, and the vehicle weights are symmetrically distributed on the left side and the right side, namely the gravity center has no transverse deviation and only has longitudinal deviation.
The crawler belt self-adaptive movement mechanism is simple in structure and convenient to use, self-adaptive movement of the crawler belt self-adaptive movement mechanism can be achieved by additionally arranging the hydraulic oil cylinder, the crawler belt support plate is in sliding connection relative to the crawler belt support, the crawler belt can freely rotate around the crawler belt suspension support plate in the +/-30-degree direction, the crawler belt self-adaptive movement mechanism is suitable for rugged terrains with different angles, automatic leveling can be achieved, and the influence of the terrains on mining equipment is reduced.
The foregoing description is illustrative of the present invention and is not to be construed as limiting thereof, the scope of the invention being defined by the appended claims, which may be modified in any manner without departing from the basic structure thereof.
Claims (8)
1. Four crawler travel unit of mining multi freedom under water, its characterized in that: the crawler type hydraulic lifting device comprises a chassis (1), wherein a plurality of hydraulic oil cylinders (4) are arranged on the outer side of the chassis (1), a crawler support (5) is correspondingly arranged on the outer side of the chassis (1) at each hydraulic oil cylinder (4), the output ends of the hydraulic oil cylinders (4) penetrate through the crawler support (5) and are connected with crawler suspension support plates (8), and the two sides of each crawler suspension support plate (8) are in sliding connection with the inner walls of the two sides of each crawler support (5), so that the crawler suspension support plates (8) generate moving pairs relative to the crawler supports (5) when the hydraulic oil cylinders (4) act; the bottom of each track suspension support plate (8) is connected with a track wheel structure through a shaft (20) and a support plate (15), and the track wheel structure is driven by a motor.
2. The underwater mining multi-degree-of-freedom four-crawler traveling device according to claim 1, wherein: the chassis (1) is formed by criss-cross and enclosing a plurality of square steels and steel plates into a rectangular frame structure.
3. The underwater mining multi-degree-of-freedom four-crawler traveling device according to claim 1, wherein: the hydraulic cylinder is characterized in that the bottom of a cylinder body of the hydraulic cylinder (4) is in pin joint with a first lug plate (3), the first lug plate (3) is connected with one end of an I-shaped steel fixedly connected to the side face of the chassis (1), the other end of the I-shaped steel is connected with the top of the cylinder body of the hydraulic cylinder (4), the output end of the hydraulic cylinder (4) is in pin joint with a second lug plate (7) through a connecting seat (6), and the second lug plate (7) is fixedly connected to a crawler suspension support plate (8).
4. The underwater mining multi-degree-of-freedom four-crawler traveling device according to claim 3, wherein: the I-steel comprises a first connecting support (2), a second connecting support (11) and a third connecting support (12), wherein the first connecting support (2) and the third connecting support (12) are vertically and fixedly connected to the outer side of the chassis (1), and the second connecting support (11) is connected between the first connecting support (2) and the third connecting support (12).
5. The underwater mining multi-degree-of-freedom four-crawler traveling device according to claim 4, wherein: the first connecting bracket (2) and the third connecting bracket (12) are parallel to each other.
6. The underwater mining multi-degree-of-freedom four-crawler traveling device according to claim 1, wherein: guide grooves (501) used for being connected with the sliding blocks (9) are formed in the left side and the right side of the crawler support (5) respectively, and the opening parts of the guide grooves (501) are sealed through limiting plates (502).
7. The underwater mining multi-degree-of-freedom four-crawler traveling device according to claim 1, wherein: the crawler wheel structure comprises a driven wheel (13) and a driving wheel (14) which are arranged at the front end and the rear end of a supporting plate (15) through bearings, a chain (21) is connected between the driven wheel (13) and the driving wheel (14), and a crawler (10) is arranged on the periphery of the chain (21).
8. The underwater mining multi-degree-of-freedom four-crawler traveling device of claim 7, wherein: and a plurality of pairs of supporting seats (16) are further arranged on the supporting plate (15), and a supporting wheel (17) for supporting a chain (21) is connected between the adjacent supporting seats (16) through a rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017720.8A CN110723225A (en) | 2019-10-24 | 2019-10-24 | Underwater mining multi-degree-of-freedom four-crawler walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017720.8A CN110723225A (en) | 2019-10-24 | 2019-10-24 | Underwater mining multi-degree-of-freedom four-crawler walking device |
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| CN110723225A true CN110723225A (en) | 2020-01-24 |
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| CN201911017720.8A Pending CN110723225A (en) | 2019-10-24 | 2019-10-24 | Underwater mining multi-degree-of-freedom four-crawler walking device |
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| CN (1) | CN110723225A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361645A (en) * | 2020-03-05 | 2020-07-03 | 华南农业大学 | All-terrain four-crawler chassis and agricultural machine |
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| GB1079250A (en) * | 1963-12-03 | 1967-08-16 | Werf Gusto V H A F Smulders Fa | Structure for carrying out operations in deep waters |
| RU2165021C1 (en) * | 1999-09-14 | 2001-04-10 | Санкт-Петербургский государственный горный институт им. Г.В. Плеханова (Технический университет) | Plant for gathering minerals from surface of sea bottom |
| JP2012144944A (en) * | 2011-01-14 | 2012-08-02 | Nippon Steel Engineering Co Ltd | Seabed deposit mining method and mining unit for the same |
| CN203113203U (en) * | 2012-05-04 | 2013-08-07 | 陕西长大实业有限公司 | Novel road finishing machine |
| CN107521643A (en) * | 2017-07-21 | 2017-12-29 | 长沙矿山研究院有限责任公司 | Undersea mining chassis, undersea mining car and its control method |
| CN207345949U (en) * | 2017-08-14 | 2018-05-11 | 中交第二航务工程局有限公司 | A kind of sea crawler-type traveling job platform |
| CN108999165A (en) * | 2018-08-16 | 2018-12-14 | 燕山大学 | A kind of shallow sea mobile working platform being suitable for especially big slope in length and breadth |
-
2019
- 2019-10-24 CN CN201911017720.8A patent/CN110723225A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1079250A (en) * | 1963-12-03 | 1967-08-16 | Werf Gusto V H A F Smulders Fa | Structure for carrying out operations in deep waters |
| RU2165021C1 (en) * | 1999-09-14 | 2001-04-10 | Санкт-Петербургский государственный горный институт им. Г.В. Плеханова (Технический университет) | Plant for gathering minerals from surface of sea bottom |
| JP2012144944A (en) * | 2011-01-14 | 2012-08-02 | Nippon Steel Engineering Co Ltd | Seabed deposit mining method and mining unit for the same |
| CN203113203U (en) * | 2012-05-04 | 2013-08-07 | 陕西长大实业有限公司 | Novel road finishing machine |
| CN107521643A (en) * | 2017-07-21 | 2017-12-29 | 长沙矿山研究院有限责任公司 | Undersea mining chassis, undersea mining car and its control method |
| CN207345949U (en) * | 2017-08-14 | 2018-05-11 | 中交第二航务工程局有限公司 | A kind of sea crawler-type traveling job platform |
| CN108999165A (en) * | 2018-08-16 | 2018-12-14 | 燕山大学 | A kind of shallow sea mobile working platform being suitable for especially big slope in length and breadth |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361645A (en) * | 2020-03-05 | 2020-07-03 | 华南农业大学 | All-terrain four-crawler chassis and agricultural machine |
| CN111361645B (en) * | 2020-03-05 | 2022-11-29 | 华南农业大学 | All-terrain four-crawler chassis and agricultural machine |
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Application publication date: 20200124 |
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