CN114825243A - Complicated topography sliding shoe stabilising arrangement - Google Patents

Complicated topography sliding shoe stabilising arrangement Download PDF

Info

Publication number
CN114825243A
CN114825243A CN202210520484.7A CN202210520484A CN114825243A CN 114825243 A CN114825243 A CN 114825243A CN 202210520484 A CN202210520484 A CN 202210520484A CN 114825243 A CN114825243 A CN 114825243A
Authority
CN
China
Prior art keywords
sliding shoe
rod
horizontal
rotatably connected
assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210520484.7A
Other languages
Chinese (zh)
Other versions
CN114825243B (en
Inventor
李华军
张其一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ocean University of China
Original Assignee
Ocean University of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ocean University of China filed Critical Ocean University of China
Priority to CN202210520484.7A priority Critical patent/CN114825243B/en
Publication of CN114825243A publication Critical patent/CN114825243A/en
Application granted granted Critical
Publication of CN114825243B publication Critical patent/CN114825243B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G9/00—Installations of electric cables or lines in or on the ground or water
    • H02G9/12—Installations of electric cables or lines in or on the ground or water supported on or from floats, e.g. in water
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

The invention discloses a skid shoe stabilizing device for complex terrains, which comprises a connecting assembly, wherein the connecting assembly comprises a hydraulic push rod, and the hydraulic push rod is connected to a parent frame; and a slipper mechanism, one end of the slipper mechanism is connected to the connecting component, the slipper mechanism comprises: the connecting rod assembly, quadrangle portion and sliding shoe assembly. Due to the fact that the hydraulic push rod in the connecting assembly is arranged, the connecting rod assembly and the quadrilateral portion in the sliding shoe mechanism are arranged, the sliding shoe assembly can be adjusted in height or inclination to a certain degree, and meanwhile the spring portion is arranged in the sliding shoe assembly, so that the sliding shoe assembly can buffer vibration or impact in the height or inclination adjusting process.

Description

一种复杂地形滑靴稳定装置A sliding shoe stabilization device for complex terrain

技术领域technical field

本发明涉及电缆铺设设备技术领域，具体涉及一种复杂地形滑靴稳定装置。The invention relates to the technical field of cable laying equipment, in particular to a sliding shoe stabilization device for complex terrain.

背景技术Background technique

现有电缆铺设设备中，滑靴不能实现相应的高度或倾斜度的调节，使得整个设备的使用场景比较单一，使用也不方便；在遇到海底复杂地形时，海底电缆铺埋机会出现明显的纵向倾斜和横向摇摆，对电缆埋设造成很大的困难。In the existing cable laying equipment, the sliding shoe cannot adjust the corresponding height or inclination, which makes the use scene of the whole equipment relatively simple and inconvenient to use; when encountering complex terrain on the seabed, the submarine cable laying opportunity will appear obvious. Longitudinal inclination and lateral sway cause great difficulties in cable burial.

发明内容SUMMARY OF THE INVENTION

本发明旨在至少解决现有技术中的问题之一。The present invention aims to solve at least one of the problems in the prior art.

本发明的目的在于提出一种复杂地形滑靴稳定装置。The purpose of the present invention is to provide a slipper stabilization device for complex terrain.

根据本发明实施例的复杂地形滑靴稳定装置，它包括：连接组件，所述连接组件包括液压推杆，所述液压推杆连接于母体框架上；以及滑靴机构，所述滑靴机构一端连接于所述连接组件上，所述滑靴机构包括：连杆组件，所述连杆组件的一侧连接于所述连接组件上，所述连杆组件包括：第二水平导轨，所述第二水平导轨滑动连接于所述液压推杆的一端上；第一水平导轨，所述第一水平导轨的中心处转动连接于所述第二水平导轨的一端上；四边形部，所述四边形部的一侧转动连接于所述第一水平导轨上；以及滑靴组件，所述滑靴组件的一侧连接于所述连杆组件上，所述滑靴的另一侧抵接于海底地面上，所述滑靴组件包括弹簧部，所述四边形部的另一侧连接于所述弹簧部上。A sliding shoe stabilization device for complex terrain according to an embodiment of the present invention includes: a connecting component including a hydraulic push rod, the hydraulic pushing rod is connected to the mother frame; and a sliding shoe mechanism, one end of the sliding shoe mechanism connected to the connecting assembly, the sliding shoe mechanism includes: a connecting rod assembly, one side of the connecting rod assembly is connected to the connecting assembly, the connecting rod assembly includes: a second horizontal guide rail, the first Two horizontal guide rails are slidably connected to one end of the hydraulic push rod; a first horizontal guide rail, the center of the first horizontal guide rail is rotatably connected to one end of the second horizontal guide rail; One side is rotatably connected to the first horizontal guide rail; and a sliding shoe assembly, one side of the sliding shoe assembly is connected to the connecting rod assembly, and the other side of the sliding shoe abuts on the seabed ground, The shoe assembly includes a spring portion, and the other side of the quadrangular portion is connected to the spring portion.

由于设置连接组件中的液压推杆，以及滑靴机构中的连杆组件、四边形部，可使得滑靴组件在一定程度上进行高度或倾斜度的调节，同时，滑靴组件中设置弹簧部，使得滑靴组件在高度或倾斜度的调节过程中，能够缓冲震动或冲击。Due to the hydraulic push rod in the connecting assembly, the connecting rod assembly and the quadrilateral part in the sliding shoe mechanism, the height or inclination of the sliding shoe assembly can be adjusted to a certain extent. At the same time, the sliding shoe assembly is provided with a spring part, So that the sliding shoe assembly can buffer shock or impact during the adjustment process of height or inclination.

根据本发明的一个实施例，所述滑靴机构设置为两组，每一组滑靴机构设置为两个；所述连接组件设置为两个，每一个连接组件与每一组滑靴机构相适配；所述一个连接组件中的液压推杆的一端转动连接于一个所述滑靴机构上，所述液压推杆的另一端转动连接于另一个所述滑靴机构上。According to an embodiment of the present invention, the sliding shoe mechanisms are provided in two groups, and each group of sliding shoe mechanisms is provided with two; Adaptation; one end of the hydraulic push rod in the one connecting assembly is rotatably connected to one of the sliding shoe mechanisms, and the other end of the hydraulic push rod is rotatably connected to the other sliding shoe mechanism.

根据本发明的一个实施例，所述滑靴组件还包括中空滑靴，所述弹簧部设置于所述中空滑靴的内腔上。According to an embodiment of the present invention, the sliding shoe assembly further includes a hollow sliding shoe, and the spring portion is disposed on the inner cavity of the hollow sliding shoe.

根据本发明的一个实施例，所述弹簧部包括：竖向弹簧，所述竖向弹簧的一端抵接于所述内腔上，所述竖向弹簧的另一端抵接于所述四边形部上；以及竖向滑动导环，所述竖向滑动导环通过转动铰链连接于所述内腔上，所述竖向滑动导环设置为两个，两个所述竖向滑动导环分别设置于所述竖向弹簧的两侧。According to an embodiment of the present invention, the spring part comprises: a vertical spring, one end of the vertical spring abuts on the inner cavity, and the other end of the vertical spring abuts on the quadrangular part ; And a vertical sliding guide ring, the vertical sliding guide ring is connected to the inner cavity through a rotating hinge, the vertical sliding guide ring is arranged in two, and the two vertical sliding guide rings are respectively arranged on both sides of the vertical spring.

根据本发明的一个实施例，所述弹簧部还包括：水平滑动轴承，所述水平滑动轴承的两侧连接有水平弹簧，所述水平弹簧远离所述水平滑动轴承的一端连接于弹簧座上；第一倾斜杆，所述第一倾斜杆的一端通过第一连接座转动连接于所述水平滑动轴承上，所述第一倾斜杆的另一端转动连接于所述四边形部上。According to an embodiment of the present invention, the spring portion further includes: a horizontal sliding bearing, two sides of the horizontal sliding bearing are connected with horizontal springs, and one end of the horizontal spring away from the horizontal sliding bearing is connected to the spring seat; A first inclined rod, one end of the first inclined rod is rotatably connected to the horizontal sliding bearing through a first connection seat, and the other end of the first inclined rod is rotatably connected to the quadrangular part.

根据本发明的一个实施例，所述四边形部包括：固定杆，所述固定杆的一端连接于母体框架上；三角转板，所述三角转板的一侧设置为转轴侧，所述三角转板包括第三连接座、第一转轴，所述第一转轴通过第一连接座组转动连接于所述固定杆的一端上；第一水平杆，所述第一水平杆的一端通过所述第三连接座转动连接于所述三角转板上；以及第二竖向杆，所述第二竖向杆的一端转动连接于所述第一水平杆的另一端上，所述第二竖向杆的另一端转动连接于所述固定杆的中心处；所述固定杆、所述转轴侧、所述第一水平杆和所述第二竖向杆围绕成四边形状。According to an embodiment of the present invention, the quadrilateral part includes: a fixing rod, one end of the fixing rod is connected to the parent frame; The plate includes a third connecting seat and a first rotating shaft, the first rotating shaft is rotatably connected to one end of the fixed rod through the first connecting seat group; a first horizontal rod, one end of the first horizontal rod passes through the Three connecting bases are rotatably connected to the triangular turning plate; and a second vertical rod, one end of the second vertical rod is rotatably connected to the other end of the first horizontal rod, the second vertical rod The other end of the rod is rotatably connected to the center of the fixed rod; the fixed rod, the side of the rotating shaft, the first horizontal rod and the second vertical rod are surrounded into a quadrilateral shape.

根据本发明的一个实施例，所述四边形部还包括第二转轴，所述第二转轴通过第二连接座组转动连接于所述第一水平导轨的一端上。According to an embodiment of the present invention, the quadrilateral portion further includes a second rotating shaft, and the second rotating shaft is rotatably connected to one end of the first horizontal guide rail through a second connecting seat group.

根据本发明的一个实施例，所述第一倾斜杆的另一端通过第二连接座转动连接于所述第一水平杆的中心处。According to an embodiment of the present invention, the other end of the first inclined rod is rotatably connected to the center of the first horizontal rod through a second connection seat.

根据本发明的一个实施例，所述复杂地形滑靴稳定装置还包括扭力杆和第二倾斜杆，所述扭力杆的一端通过第五连接座转动连接于所述第二倾斜杆的一端上，所述第二倾斜杆的另一端通过第六连接座转动连接于所述三角转板上。According to an embodiment of the present invention, the complex terrain sliding shoe stabilization device further includes a torsion bar and a second inclined rod, one end of the torsion rod is rotatably connected to one end of the second inclined rod through a fifth connection seat, The other end of the second inclined rod is rotatably connected to the triangular turning plate through a sixth connecting seat.

根据本发明的一个实施例，所述三角转板上设置有第四连接座，所述第六连接座转动连接于所述第四连接座上。According to an embodiment of the present invention, a fourth connection seat is provided on the triangular turning plate, and the sixth connection seat is rotatably connected to the fourth connection seat.

附图说明Description of drawings

以下附图仅旨在于对本发明做示意性说明和解释，并不限定本发明的范围。其中：The following drawings are only intended to illustrate and explain the present invention schematically, and do not limit the scope of the present invention. in:

图1为本发明实施例的第一立体结构示意图；1 is a schematic diagram of a first three-dimensional structure of an embodiment of the present invention;

图2为本发明实施例的第一局部结构示意图；2 is a schematic diagram of a first partial structure of an embodiment of the present invention;

图3为本发明实施例的第二局部结构示意图；3 is a second partial structural schematic diagram of an embodiment of the present invention;

图4为本发明实施例的第二连接座组的结构示意图。FIG. 4 is a schematic structural diagram of a second connecting seat group according to an embodiment of the present invention.

图中：In the picture:

100-复杂地形滑靴稳定装置；100-Slipper stabilization device for complex terrain;

110-弹性部，111-竖向滑动导环，1111-转动铰链，112-竖向弹簧，113-水平滑动轴承，1131-水平弹簧，1132-弹簧座，1133-第一连接座，114-第一倾斜杆；115-第一水平杆，1153-第二连接座，116-第一竖向杆；110-elastic part, 111-vertical sliding guide ring, 1111-rotating hinge, 112-vertical spring, 113-horizontal sliding bearing, 1131-horizontal spring, 1132-spring seat, 1133-first connecting seat, 114-first an inclined rod; 115- the first horizontal rod, 1153- the second connecting seat, 116- the first vertical rod;

120-三角转板，121-第三连接座，122-第一转轴,123-第二转轴，124-第四连接座；120-triangular rotating plate, 121-third connecting seat, 122-first rotating shaft, 123-second rotating shaft, 124-fourth connecting seat;

130-第二竖向杆，140-固定杆，141-第一连接座组，150-第一水平导轨，151-第二连接座组，1511-第七连接座，1512-第八连接座；130-second vertical rod, 140-fixed rod, 141-first connecting seat group, 150-first horizontal guide rail, 151-second connecting seat group, 1511-seventh connecting seat, 1512-eighth connecting seat;

160-扭力杆，1601-第五连接座，161-第二倾斜杆，1611-第六连接座；160-torsion bar, 1601-fifth connecting seat, 161-second tilting rod, 1611-sixth connecting seat;

170-第二水平导轨，180-液压推杆，190-中空滑靴，191-内腔。170-Second horizontal guide rail, 180-Hydraulic push rod, 190-Hollow sliding shoe, 191-Inner cavity.

具体实施方式Detailed ways

下面结合附图和实施例，进一步阐述本发明。在下面的详细描述中，只通过说明的方式描述了本发明的某些示范性实施例。毋庸置疑，本领域的普通技术人员可以认识到，在不偏离本发明的精神和范围的情况下，可以用各种不同的方式对所描述的实施例进行修正。因此，附图和描述在本质上是说明性的，而不是用于限制权利要求的保护范围。The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, certain exemplary embodiments of the present invention have been described by way of illustration only. Needless to say, as those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

如图1至3所示，该复杂地形滑靴稳定装置100包括连接组件和滑靴机构。该连接组件包括液压推杆180，该液压推杆连接于母体框架上；该滑靴机构一端连接于该连接组件上，该滑靴机构包括连杆组件、四边形部和滑靴组件。该连杆组件的一侧连接于该连接组件上，该连杆组件包括：第二水平导轨170和第一水平导轨150，该第二水平导轨170滑动连接于该液压推杆180的一端上；该第一水平导轨150的中心处转动连接于该第二水平导轨170的一端上；该四边形部的一侧转动连接于该第一水平导轨150上；该滑靴组件的一侧连接于该连杆组件上，该滑靴组件的另一侧抵接于海底地面上，该滑靴组件包括弹簧部110，该四边形部的另一侧连接于该弹簧部110上。As shown in Figures 1 to 3, the complex terrain slipper stabilization device 100 includes a connecting assembly and a slipper mechanism. The connecting assembly includes a hydraulic push rod 180, which is connected to the main frame; one end of the sliding shoe mechanism is connected to the connecting assembly, and the sliding shoe mechanism includes a connecting rod assembly, a quadrangular part and a sliding shoe assembly. One side of the connecting rod assembly is connected to the connecting assembly, and the connecting rod assembly includes: a second horizontal guide rail 170 and a first horizontal guide rail 150, and the second horizontal guide rail 170 is slidably connected to one end of the hydraulic push rod 180; The center of the first horizontal guide rail 150 is rotatably connected to one end of the second horizontal guide rail 170; one side of the quadrilateral portion is rotatably connected to the first horizontal guide rail 150; one side of the sliding shoe assembly is connected to the connecting On the rod assembly, the other side of the sliding shoe assembly abuts on the seabed surface, the sliding shoe assembly includes a spring part 110 , and the other side of the quadrangular part is connected to the spring part 110 .

由于设置连接组件中的液压推杆，以及滑靴机构中的连杆组件、四边形部，可使得滑靴组件在一定程度上进行高度或倾斜度的调节，同时，滑靴组件中设置弹簧部，使得滑靴组件在高度或倾斜度的调节过程中，能够缓冲震动或冲击。Due to the hydraulic push rod in the connecting assembly, the connecting rod assembly and the quadrilateral part in the sliding shoe mechanism, the height or inclination of the sliding shoe assembly can be adjusted to a certain extent. At the same time, the sliding shoe assembly is provided with a spring part, So that the sliding shoe assembly can buffer shock or impact during the adjustment process of height or inclination.

进一步地，该滑靴机构设置为两组，每一组滑靴机构设置为两个；该连接组件设置为两个，每一个连接组件与每一组滑靴机构相适配；该一个连接组件中的液压推杆180的一端转动连接于一个该滑靴机构上，该液压推杆180的另一端转动连接于另一个该滑靴机构上。Further, the sliding shoe mechanisms are arranged in two groups, and each group of sliding shoe mechanisms is arranged with two; the connecting components are arranged in two, and each connecting component is adapted to each group of sliding shoe mechanisms; the one connecting component One end of the hydraulic push rod 180 is rotatably connected to one of the sliding shoe mechanisms, and the other end of the hydraulic push rod 180 is rotatably connected to the other of the sliding shoe mechanisms.

进一步地，该滑靴组件还包括中空滑靴190，该弹簧部110设置于该中空滑靴的内腔191上。优先地，该中空滑靴设置为长方体状。Further, the sliding shoe assembly further includes a hollow sliding shoe 190, and the spring portion 110 is disposed on the inner cavity 191 of the hollow sliding shoe. Preferentially, the hollow shoe is provided in the shape of a cuboid.

进一步地，该弹簧部110包括：竖向弹簧112和竖向滑动导环111，该竖向弹簧112的一端抵接于该内腔191上，该竖向弹簧的另一端抵接于该四边形部上，优先地，该竖向弹簧设置为高强度弹簧；该竖向滑动导环111通过转动铰链1111连接于该内腔191上，该竖向滑动导环111设置为两个，两个该竖向滑动导环111分别设置于该竖向弹簧112的两侧。Further, the spring portion 110 includes: a vertical spring 112 and a vertical sliding guide ring 111, one end of the vertical spring 112 abuts on the inner cavity 191, and the other end of the vertical spring abuts on the quadrilateral portion Above, preferably, the vertical spring is set as a high-strength spring; the vertical sliding guide ring 111 is connected to the inner cavity 191 through a rotating hinge 1111, and the vertical sliding guide ring 111 is set to two, two of the vertical sliding guide ring 111 The sliding guide rings 111 are respectively disposed on both sides of the vertical spring 112 .

更进一步地，该弹簧部110还包括水平滑动轴承113和第一倾斜杆114。该水平滑动轴承113的两侧连接有水平弹簧1131，该水平弹簧1131远离该水平滑动轴承113的一端连接于弹簧座1132上；该第一倾斜杆114的一端通过第一连接座1133转动连接于该水平滑动轴承113上，该第一倾斜杆114的另一端转动连接于该四边形部上。Furthermore, the spring portion 110 further includes a horizontal sliding bearing 113 and a first tilting rod 114 . Two sides of the horizontal sliding bearing 113 are connected with a horizontal spring 1131 , and one end of the horizontal spring 1131 away from the horizontal sliding bearing 113 is connected to the spring seat 1132 ; On the horizontal sliding bearing 113, the other end of the first inclined rod 114 is rotatably connected to the quadrangular part.

进一步地，该弹性部的两侧分别设置有第一竖向杆116，该第一竖向杆的一端转动连接于该第一水平杆115的一端上，该第一竖向杆的另一端设置为自由端。Further, first vertical rods 116 are respectively provided on both sides of the elastic portion, one end of the first vertical rod is rotatably connected to one end of the first horizontal rod 115, and the other end of the first vertical rod is provided with for the free end.

如上设置，滑靴组件运动时，第一竖向杆116可抵接于中空滑靴的内腔上，提供一定的支撑力。As set forth above, when the sliding shoe assembly moves, the first vertical rod 116 can abut on the inner cavity of the hollow sliding shoe to provide a certain supporting force.

如上设置，竖向滑动导环、竖向弹簧的设置，用于缓冲竖向的震动或冲击；水平滑动轴承和水平弹簧的设置，用于用于缓冲水平方向的震动或冲击，水平滑动轴承能够左右滑动，两侧的水平弹簧单元能够确保水平滑动轴承发生水平方向滑动后，具备恢复原来位置的弹力，所以，当一个中空滑靴底部受到的海床反力不均匀时，中空滑靴能够围绕中间的四边形部发生一定角度的旋转，从而实现中空滑靴的上下翘动，从而进一步适应海床不平的表面。As above, the vertical sliding guide ring and vertical spring are used to buffer vertical vibration or shock; the horizontal sliding bearing and horizontal spring are used to buffer horizontal vibration or shock. The horizontal sliding bearing can Sliding left and right, the horizontal spring units on both sides can ensure that the horizontal sliding bearing has the elastic force to restore the original position after horizontal sliding, so when the bottom of a hollow sliding shoe receives uneven seabed reaction force, the hollow sliding shoe can surround The quadrilateral part in the middle rotates at a certain angle, so that the hollow sliding shoe can be tilted up and down, so as to further adapt to the uneven surface of the seabed.

进一步地，该四边形部包括：固定杆140、三角转板120、第一水平杆115和第二竖向杆130。该固定杆的一端亦连接于母体框架上；该三角转板的一侧设置为转轴侧，该三角转板包括第三连接座121、第一转轴122，该第一转轴122通过第一连接座组141转动连接于该固定杆140的一端上；该第一水平杆115的一端通过该第三连接座121转动连接于该三角转板120上；该第二竖向杆130的一端转动连接于该第一水平杆115的另一端上，该第二竖向杆130的另一端转动连接于该固定杆140的中心处；该固定杆140、该转轴侧、该第一水平杆115和该第二竖向杆130围绕成四边形状。Further, the quadrilateral part includes: a fixed rod 140 , a triangular turning plate 120 , a first horizontal rod 115 and a second vertical rod 130 . One end of the fixing rod is also connected to the main frame; one side of the triangular rotating plate is set as the rotating shaft side, and the triangular rotating plate includes a third connecting seat 121 and a first rotating shaft 122, the first rotating shaft 122 passing through the first connecting seat The group 141 is rotatably connected to one end of the fixed rod 140; one end of the first horizontal rod 115 is rotatably connected to the triangular turning plate 120 through the third connecting seat 121; one end of the second vertical rod 130 is rotatably connected to the On the other end of the first horizontal rod 115, the other end of the second vertical rod 130 is rotatably connected to the center of the fixed rod 140; the fixed rod 140, the shaft side, the first horizontal rod 115 and the third The two vertical rods 130 are surrounded in a quadrilateral shape.

如上设置，四边形部在初始位置时为矩形状，在液压推杆的作用下，四边形部变为类平行四边形。As described above, the quadrilateral portion is rectangular in the initial position, and under the action of the hydraulic push rod, the quadrilateral portion becomes a quasi-parallelogram.

进一步地，该四边形部还包括第二转轴123，该第二转轴123通过第二连接座组151转动连接于该第一水平导轨150的一端上。Further, the quadrilateral portion further includes a second rotating shaft 123 , and the second rotating shaft 123 is rotatably connected to one end of the first horizontal guide rail 150 through the second connecting seat group 151 .

第二连接座151组包括第七连接座1511和第八连接座1512，该第七连接座和该第八连接座之间转动连接，该第一水平导轨转动连接于该第七连接座上，该第二转轴转动连接于该第八连接座上。The second connecting seat 151 group includes a seventh connecting seat 1511 and an eighth connecting seat 1512, the seventh connecting seat and the eighth connecting seat are rotatably connected, and the first horizontal guide rail is rotatably connected to the seventh connecting seat, The second shaft is rotatably connected to the eighth connecting seat.

优先地，第一连接座组与第二连接座组的结构相同设置。Preferably, the structures of the first connecting seat group and the second connecting seat group are the same.

进一步地，该第一倾斜杆114的另一端通过第二连接座1153转动连接于该第一水平杆115的中心处。Further, the other end of the first inclined rod 114 is rotatably connected to the center of the first horizontal rod 115 through the second connecting seat 1153 .

进一步地，该复杂地形滑靴稳定装置还包括扭力杆160和第二倾斜杆161，该扭力杆160的一端通过第五连接座1601转动连接于该第二倾斜杆161的一端上，该第二倾斜杆161的另一端通过第六连接座1611转动连接于该三角转板120上。Further, the slipper stabilization device for complex terrain further includes a torsion bar 160 and a second inclined rod 161. One end of the torsion rod 160 is rotatably connected to one end of the second inclined rod 161 through a fifth connecting seat 1601. The other end of the tilting rod 161 is rotatably connected to the triangular turning plate 120 through the sixth connecting seat 1611 .

进一步地，该三角转板120上设置有第四连接座124，该第六连接座1611转动连接于该第四连接座124上。Further, a fourth connecting seat 124 is disposed on the triangular turning plate 120 , and the sixth connecting seat 1611 is rotatably connected to the fourth connecting seat 124 .

更进一步地，每一个滑靴组件中设置三个弹性部三个四边形部，该四边形部与该弹性部一一相适配设置，该第四连接座设置于位于中间位置的四边形部上。Furthermore, each sliding shoe assembly is provided with three elastic parts and three quadrilateral parts, the quadrilateral parts are matched with the elastic parts one by one, and the fourth connecting seat is provided on the quadrilateral part in the middle position.

如上设置，扭力杆在前后两个滑靴组件之间传递扭矩，确保前后两个滑靴组件在分配海床土体传递来的支撑力时，能够互相协调，从而适应海底起伏多变的复杂地形。Set as above, the torsion bar transmits torque between the front and rear sliding shoe assemblies, ensuring that the front and rear sliding shoe assemblies can coordinate with each other when distributing the support force transmitted from the seabed soil, so as to adapt to the complex terrain of seabed fluctuations .

以上所述仅为本发明示意性的具体实施方式，并非用以限定本发明的范围。任何本领域的技术人员，在不脱离本发明的构思和原则的前提下所作出的等同变化与修改，均应属于本发明保护的范围。The above descriptions are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention. Equivalent changes and modifications made by any person skilled in the art without departing from the concept and principles of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1.一种复杂地形滑靴稳定装置，其特征在于：所述复杂地形滑靴稳定装置包括连接组件，所述连接组件包括液压推杆，所述液压推杆连接于母体框架上；以及滑靴机构，所述滑靴机构一端连接于所述连接组件上，所述滑靴机构包括：1. A sliding shoe stabilization device for complex terrain, characterized in that: the complex terrain sliding shoe stabilization device comprises a connecting component, the connecting component includes a hydraulic push rod, and the hydraulic push rod is connected to a parent frame; and a sliding shoe One end of the sliding shoe mechanism is connected to the connecting component, and the sliding shoe mechanism includes: 连杆组件，所述连杆组件的一侧连接于所述连接组件上，所述连杆组件包括：A connecting rod assembly, one side of the connecting rod assembly is connected to the connecting assembly, and the connecting rod assembly includes: 第二水平导轨，所述第二水平导轨滑动连接于所述液压推杆的一端上；a second horizontal guide rail, the second horizontal guide rail is slidably connected to one end of the hydraulic push rod; 第一水平导轨，所述第一水平导轨的中心处转动连接于所述第二水平导轨的一端上；以及a first horizontal guide rail, the center of the first horizontal guide rail is rotatably connected to one end of the second horizontal guide rail; and 四边形部，所述四边形部的一侧转动连接于所述第一水平导轨上；以及A quadrilateral portion, one side of the quadrilateral portion is rotatably connected to the first horizontal guide rail; and 滑靴组件，所述滑靴组件的一侧连接于所述连杆组件上，所述滑靴的另一侧抵接于海底地面上，所述滑靴组件包括弹簧部，所述四边形部的另一侧连接于所述弹簧部上。A sliding shoe assembly, one side of the sliding shoe assembly is connected to the connecting rod assembly, the other side of the sliding shoe abuts on the seabed ground, the sliding shoe assembly includes a spring part, and the quadrangular part has a spring part. The other side is connected to the spring portion. 2.根据权利要求1所述的复杂地形滑靴稳定装置，其特征在于：所述滑靴机构设置为两组，每一组滑靴机构设置为两个；所述连接组件设置为两个，每一个连接组件与每一组滑靴机构相适配；所述一个连接组件中的液压推杆的一端转动连接于一个所述滑靴机构上，所述液压推杆的另一端转动连接于另一个所述滑靴机构上。2. The sliding shoe stabilization device for complex terrain according to claim 1, characterized in that: the sliding shoe mechanisms are arranged in two groups, and each group of sliding shoe mechanisms is arranged with two; the connecting components are arranged with two, Each connecting assembly is adapted to each set of sliding shoe mechanisms; one end of the hydraulic push rod in the one connecting assembly is rotatably connected to one of the sliding shoe mechanisms, and the other end of the hydraulic push rod is rotatably connected to the other on one of the sliding shoe mechanisms. 3.根据权利要求2所述的复杂地形滑靴稳定装置，其特征在于：所述滑靴组件还包括中空滑靴，所述弹簧部设置于所述中空滑靴的内腔上。3. The sliding shoe stabilization device for complex terrain according to claim 2, wherein the sliding shoe assembly further comprises a hollow sliding shoe, and the spring portion is disposed on the inner cavity of the hollow sliding shoe. 4.根据权利要求3所述的复杂地形滑靴稳定装置，其特征在于：所述弹簧部包括：4. The slipper stabilization device for complex terrain according to claim 3, wherein the spring portion comprises: 竖向弹簧，所述竖向弹簧的一端抵接于所述内腔上，所述竖向弹簧的另一端抵接于所述四边形部上；以及a vertical spring, one end of the vertical spring abuts on the inner cavity, and the other end of the vertical spring abuts on the quadrilateral part; and 竖向滑动导环，所述竖向滑动导环通过转动铰链连接于所述内腔上，所述竖向滑动导环设置为两个，两个所述竖向滑动导环分别设置于所述竖向弹簧的两侧。A vertical sliding guide ring, the vertical sliding guide ring is connected to the inner cavity through a rotating hinge, the vertical sliding guide ring is arranged in two, and the two vertical sliding guide rings are respectively arranged on the Both sides of the vertical spring. 5.根据权利要求4所述的复杂地形滑靴稳定装置，其特征在于：所述弹簧部还包括：5. The slipper stabilization device for complex terrain according to claim 4, wherein the spring part further comprises: 水平滑动轴承，所述水平滑动轴承的两侧连接有水平弹簧，所述水平弹簧远离所述水平滑动轴承的一端连接于弹簧座上；a horizontal sliding bearing, two sides of the horizontal sliding bearing are connected with a horizontal spring, and one end of the horizontal spring away from the horizontal sliding bearing is connected to the spring seat; 第一倾斜杆，所述第一倾斜杆的一端通过第一连接座转动连接于所述水平滑动轴承上，所述第一倾斜杆的另一端转动连接于所述四边形部上。A first inclined rod, one end of the first inclined rod is rotatably connected to the horizontal sliding bearing through a first connection seat, and the other end of the first inclined rod is rotatably connected to the quadrangular part. 6.根据权利要求1-5所述的复杂地形滑靴稳定装置，其特征在于：所述四边形部包括：6. The slipper stabilization device for complex terrain according to claims 1-5, wherein the quadrilateral portion comprises: 固定杆，所述固定杆的一端连接于母体框架上；a fixing rod, one end of the fixing rod is connected to the parent frame; 三角转板，所述三角转板的一侧设置为转轴侧，所述三角转板包括第三连接座、第一转轴，所述第一转轴通过第一连接座组转动连接于所述固定杆的一端上；Triangular turning plate, one side of the triangular turning plate is set as the shaft side, the triangular turning plate includes a third connecting seat and a first rotating shaft, and the first rotating shaft is rotatably connected to the fixing rod through the first connecting seat group on one end; 第一水平杆，所述第一水平杆的一端通过所述第三连接座转动连接于所述三角转板上；以及a first horizontal rod, one end of the first horizontal rod is rotatably connected to the triangular turning plate through the third connecting seat; and 第二竖向杆，所述第二竖向杆的一端转动连接于所述第一水平杆的另一端上，所述第二竖向杆的另一端转动连接于所述固定杆的中心处；a second vertical rod, one end of the second vertical rod is rotatably connected to the other end of the first horizontal rod, and the other end of the second vertical rod is rotatably connected to the center of the fixed rod; 所述固定杆、所述转轴侧、所述第一水平杆和所述第二竖向杆围绕成四边形状。The fixed rod, the rotating shaft side, the first horizontal rod and the second vertical rod are surrounded in a quadrangular shape. 7.根据权利要求6所述的复杂地形滑靴稳定装置，其特征在于：所述四边形部还包括第二转轴，所述第二转轴通过第二连接座组转动连接于所述第一水平导轨的一端上。7 . The sliding shoe stabilization device for complex terrain according to claim 6 , wherein the quadrangular portion further comprises a second rotating shaft, and the second rotating shaft is rotatably connected to the first horizontal guide rail through a second connecting seat group. 8 . on one end. 8.根据权利要求6所述的复杂地形滑靴稳定装置，其特征在于：所述第一倾斜杆的另一端通过第二连接座转动连接于所述第一水平杆的中心处。8 . The sliding shoe stabilization device for complex terrain according to claim 6 , wherein the other end of the first inclined rod is rotatably connected to the center of the first horizontal rod through a second connecting seat. 9 . 9.根据权利要求6所述的复杂地形滑靴稳定装置，其特征在于：所述复杂地形滑靴稳定装置还包括扭力杆和第二倾斜杆，所述扭力杆的一端通过第五连接座转动连接于所述第二倾斜杆的一端上，所述第二倾斜杆的另一端通过第六连接座转动连接于所述三角转板上。9 . The sliding shoe stabilization device for complex terrain according to claim 6 , wherein the sliding shoe stabilization device for complex terrain further comprises a torsion bar and a second inclination bar, and one end of the torsion bar is rotated through a fifth connecting seat. 10 . It is connected to one end of the second inclined rod, and the other end of the second inclined rod is rotatably connected to the triangular turning plate through the sixth connecting seat. 10.根据权利要求9所述的复杂地形滑靴稳定装置，其特征在于：所述三角转板上设置有第四连接座，所述第六连接座转动连接于所述第四连接座上。10 . The sliding shoe stabilization device for complex terrain according to claim 9 , wherein a fourth connecting seat is provided on the triangular turning plate, and the sixth connecting seat is rotatably connected to the fourth connecting seat. 11 .
CN202210520484.7A 2022-05-13 2022-05-13 A stabilizer for slippery shoes in complex terrain Active CN114825243B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210520484.7A CN114825243B (en) 2022-05-13 2022-05-13 A stabilizer for slippery shoes in complex terrain

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210520484.7A CN114825243B (en) 2022-05-13 2022-05-13 A stabilizer for slippery shoes in complex terrain

Publications (2)

Publication Number Publication Date
CN114825243A true CN114825243A (en) 2022-07-29
CN114825243B CN114825243B (en) 2023-03-24

Family

ID=82516245

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210520484.7A Active CN114825243B (en) 2022-05-13 2022-05-13 A stabilizer for slippery shoes in complex terrain

Country Status (1)

Country Link
CN (1) CN114825243B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202112644U (en) * 2011-06-17 2012-01-18 张劲松 Balancing device
CN205716011U (en) * 2016-03-29 2016-11-23 中国海洋石油总公司 Submarine pipeline backfill plough
CN109398007A (en) * 2017-08-15 2019-03-01 中国科学院沈阳自动化研究所 A kind of seabed ore gathering vehicle walking chassis and its self-rescue method
CN211198539U (en) * 2019-12-23 2020-08-07 天津索为信息科技有限公司 Underwater equipment moving device
CN112502221A (en) * 2020-12-17 2021-03-16 上海振华重工(集团)股份有限公司 Embedded plough and working method thereof
CN213297951U (en) * 2020-07-03 2021-05-28 拓博爱 Supporting assembly of thick coal seam coal mining machine
CN217607435U (en) * 2022-05-13 2022-10-18 中国海洋大学 A sliding shoe stabilization device for complex terrain

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202112644U (en) * 2011-06-17 2012-01-18 张劲松 Balancing device
CN205716011U (en) * 2016-03-29 2016-11-23 中国海洋石油总公司 Submarine pipeline backfill plough
CN109398007A (en) * 2017-08-15 2019-03-01 中国科学院沈阳自动化研究所 A kind of seabed ore gathering vehicle walking chassis and its self-rescue method
CN211198539U (en) * 2019-12-23 2020-08-07 天津索为信息科技有限公司 Underwater equipment moving device
CN213297951U (en) * 2020-07-03 2021-05-28 拓博爱 Supporting assembly of thick coal seam coal mining machine
CN112502221A (en) * 2020-12-17 2021-03-16 上海振华重工(集团)股份有限公司 Embedded plough and working method thereof
CN217607435U (en) * 2022-05-13 2022-10-18 中国海洋大学 A sliding shoe stabilization device for complex terrain

Also Published As

Publication number Publication date
CN114825243B (en) 2023-03-24

Similar Documents

Publication Publication Date Title
KR101377594B1 (en) Motion simulator
US2776147A (en) Laterally shiftable wheel mounting structure for automobiles
US5692579A (en) Adjustable snowmobile track suspension
CN217607435U (en) A sliding shoe stabilization device for complex terrain
US10207561B2 (en) System and methods for a vehicle with an articulating suspension exploration platform with shock dampening
US1688576A (en) Reclining chair
JPH10507941A (en) Sports vehicle suspension system
CN114825243B (en) A stabilizer for slippery shoes in complex terrain
US2658748A (en) Vehicle spring suspension system
DE2041278A1 (en) Stabilizing device for a movable seismic vibrator
EP0273796A1 (en) Resilient suspension for an agricultural tractor cab
CN110203029A (en) Mobile chassis and robot
CN108420653A (en) Concealed guardrail bed apparatus
US3708018A (en) Twin-offset disc implement with releasable fastening means connecting dual frames
CN210644366U (en) A suspended self-adjusting shock-absorbing transfer bed
US3137514A (en) Articulated road trains
US2948347A (en) Torsion bar cushioning means for tractor equalizer bar
CN208995907U (en) A bridge anti-seismic bearing
CN108221644B (en) A kind of highway bridge shock bracket
CN212680028U (en) Auxiliary target for volleyball training
CN205632700U (en) Gasbag formula gooseneck portion of adjustable height
CN209669891U (en) A kind of support safeguard structure of building lot
CN224171054U (en) A self-leveling tracked chassis
CN223990122U (en) Suspension mechanism with buffering and swinging functions
CN209026077U (en) a spring shock absorber

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant