CN204250197U - The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy - Google Patents
The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy Download PDFInfo
- Publication number
- CN204250197U CN204250197U CN201420697464.8U CN201420697464U CN204250197U CN 204250197 U CN204250197 U CN 204250197U CN 201420697464 U CN201420697464 U CN 201420697464U CN 204250197 U CN204250197 U CN 204250197U
- Authority
- CN
- China
- Prior art keywords
- wheel
- rear end
- motor
- outer rotor
- magnetic patch
- 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.)
- Withdrawn - After Issue
Links
Abstract
The purpose of this utility model is the magnetic coupling transmission crawler type seabed imaging detection car providing exploration submarine geomorphy, and motion and detection process are divided into, and driven by motor internal rotor rotates, and magnetic patch coupling simultaneously, drives outer rotor to rotate thus Athey wheel travels forward.Displacement pickup on belt wheel contacts with holding screw face, seabed in real time along with wheel, and the track that belt wheel is passed by all is detected record by sensor, and signal transmission on the working mother boat of sea, thus carries out the analysis to submarine geomorphy.The utility model have employed the motor-driven mode of four-wheel, is directly installed on by displacement pickup on crawler belt, and transducing signal to be arrived on sea working mother boat by umbilical cables transmission thus carries out the analysis of landforms.This probe vehicles mechanism is simply cheap, adaptable, and exploration result is accurate, and safety factor is high, and recyclable ability is strong.Can real-time monitored record environments such as subsea, and have employed the difficult problem that magnetic-coupled mode solves the axle drive shaft dynamic seal that seabed high pressure brings.
Description
Technical field
The utility model relates to a kind of exploring equipment, specifically the lower exploring equipment in sea.
Background technology
Well-known seabed is not only richly stored with the mineral resources such as oil, natural fuels, also there is a lot of unknown biology, and marine environment needs people to go to explore and excavate simultaneously.Therefore explore environments such as subsea, understand sea bed landforms, the R and D for seabed just seem particularly important.In recent years, the measurement technique on the people surface, Haiti that utility model is more, in the middle of these technology, has application seafloor robot ROV to carry out the method for auxiliary exploration; Also useful long rang navigation satellite carries out large-area scanning, is parsed into the technology of picture.Wherein more or carry out real-time on-site sonar or infrared investigation method with lash ship.Be that single measurement area coverage is extensive by the advantage of these methods, but thing followed problem is cannot the environment of real simulation sea bed, error is very large, and apparatus expensive.
Summary of the invention
The purpose of this utility model is to provide to be analyzed and imaging submarine geomorphy, makes the magnetic coupling transmission crawler type seabed imaging detection car of the exploration submarine geomorphy of early-stage preparations to seafari.
The purpose of this utility model is achieved in that
The magnetic coupling transmission crawler type seabed imaging detection car of the utility model exploration submarine geomorphy, it is characterized in that: comprise front support main body, rear end supportive body, umbilical cables connecting box, first-four wheel, front end motor, rear end motor, first-the second impeller, between front support main body and umbilical cables connecting box, all be connected by flexible metal connection unit between rear end supportive body with umbilical cables connecting box, equal mounting spring connecting element on front support main body and rear end supportive body, equal mounting spring between spring mountings and umbilical cables connecting box, rear end motor comprises the first rear end motor and the second rear end motor, first rear end motor and the second rear end motor are all arranged in the supportive body of rear end, first rear end motor connects the first trailing wheel internal rotor, first trailing wheel internal rotor outer setting first rear end stator, first rear end stator exterior arranges the first rear end outer rotor, first rear end stator and rear end supportive body fix, first rear end outer rotor and the first wheel fix, first trailing wheel internal rotor installs magnetic patch in the first trailing wheel, first rear end outer rotor is installed the outer magnetic patch of the first trailing wheel, in first trailing wheel, magnetic patch is relative with the outer magnetic patch position of the first trailing wheel, first rear end motor, first trailing wheel internal rotor, first rear end stator, first rear end outer rotor, first wheel, magnetic patch in first trailing wheel, the outer magnetic patch of first trailing wheel forms the first back wheel driving gear, second rear end motor, second trailing wheel internal rotor, second rear end stator, second rear end outer rotor, second wheel, magnetic patch in second trailing wheel, the outer magnetic patch of second trailing wheel forms the second back wheel driving gear, second back wheel driving gear is identical with the first back wheel driving gear structure, and be symmetrically arranged according to rear end supportive body, front end motor comprises the first front end motor and the second front end motor, first front end motor and the second front end motor are all arranged in front support main body, magnetic patch in mouth first front-wheel of the first front end motor, in first front-wheel, magnetic patch outer setting first front end outer rotor supports, first front end outer rotor supports outer arranges the first front end outer rotor, first front end outer rotor supports and fixes with front support main body, first front end outer rotor outer setting the 3rd wheel, bearing fit is passed through between first front end outer rotor and the 3rd wheel, the end of the first front end outer rotor connects the first impeller, first front end outer rotor is installed the outer magnetic patch of the first front-wheel, the outer magnetic patch of first front-wheel is relative with magnetic patch position in the first front-wheel, first front end motor, magnetic patch in first front-wheel, first front end outer rotor supports, first front end outer rotor, first impeller, 3rd wheel forms the first front-wheel drive, second front end motor, magnetic patch in second front-wheel, second front end outer rotor supports, second front end outer rotor, second impeller, 4th wheel forms the second front-wheel drive, second front-wheel drive is identical with the first front-wheel drive structure, and be symmetrically arranged according to front support main body, first wheel and the 3rd wheel are wound around the first crawler belt, second wheel and the 4th wheel are wound around the second crawler belt.
The utility model can also comprise:
1, the first displacement pickup installed by 3rd wheel, the cable of the first displacement pickup passes the 3rd wheel and draws from the wheel hub of the 3rd wheel, the end of the first displacement pickup cable connects copper ball, copper ball contacts with copper ring, front support main body installs front springs, compressing member connects front springs by copper ball under the effect of front springs, copper ring is pressed in the 3rd wheel, second displacement sensor installed by 4th wheel, the mounting means of second displacement sensor is identical with the first displacement pickup, umbilical cables connecting box draws the near front wheel Sensor output, off front wheel Sensor output, front turbin generator output line, rear-wheel motor output line, the near front wheel Sensor output, off front wheel Sensor output connects the cable of the first displacement pickup and the cable of second displacement sensor respectively, front turbin generator output line connects the first front end motor and the second front end motor, rear-wheel motor output line connects the first rear end motor and the second rear end motor.
Advantage of the present utility model is: the magnetic coupling transmission crawler type seabed imaging detection car that the utility model is released, it have employed the motor-driven mode of four-wheel, mainly be directly installed on crawler belt by displacement pickup, transducing signal to be arrived on sea working mother boat by umbilical cables transmission thus carries out the analysis of landforms.This probe vehicles mechanism is simply cheap, adaptable, and exploration result is accurate, and safety factor is high, and recyclable ability is strong.And well reach real-time monitored by such structure and record environments such as subsea, and have employed the difficult problem that magnetic-coupled mode solves the axle drive shaft dynamic seal that seabed high pressure brings.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the partial view that sensor signal spreads out of mechanism;
Fig. 3 is the partial view of coupled drive.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the utility model is described in more detail:
Composition graphs 1 ~ 3, this magnetic coupling transmission machinery crawler type seabed imaging detection car is mainly used in 100 and arrives the dark seabed of ten thousand metres, is used to the device detecting seafloor topography.The overall dimensions of this car is long × wide is: 460 × 260mm, speed range is at 10-30mm/s.Have employed motor to drive, and motor cable and the integrated mode of sensor cable umbilical cables carry electric signal, adopt the mode of remote control to control probe vehicles, other equipment can be installed additional in probe vehicles, such as infrared detecting set, make a video recording first-class, so can better monitor environments such as subsea.In addition, because self suppleness of probe vehicles is good, more complicated sea bed environment can be applicable to.
Magnetic coupling type submarine geomorphy imaging detection car is by wheel 1, outer rotor fix screw 2, outer rotor retainingf key 3, outer rotor fix screw 4, rear end stator 5, axle sleeve 6, tapered roller bearing 7, rear end outer rotor 8, crawler belt 9, umbilical cables interface 10, rear-wheel motor output line 11, the near front wheel Sensor output 12, off front wheel Sensor output 13, front turbin generator output line 14, impeller over cap 15, over cap fix screw 16 and 19, impeller 17, impeller fix screw 18, front end outer rotor 20, front end outer rotor supports 21, front end motor 22, displacement pickup 23, slideway 24, compressing member 25, watertight cable joint 26 and 31, compressing member fix screw 27, front support main body bolt 28, supportive body 29, watertight cable joint fix screw 30, water tight joint retaining washer 32, seal ring 33, copper ball 34, copper ring 35, outer magnetic patch 36, metal is connected and fixed screw 37, front end outer rotor bracing frame 38, spring mountings 39, flexible metal connection unit 40, umbilical cables connecting box 41, inside cable joint 42, spring 43, spring mountings screw 44, rear end supportive body bolt 45, supportive body seal ring 46, the outer magnetic patch 47 of trailing wheel, rear-wheel motor 48, trailing wheel internal rotor 49, flat key 50, motor flat key holding screw 51, rear-wheel motor fix screw 52, magnetic patch 53 in trailing wheel, rear end supportive body 54 forms.
Installation relation for the magnetic coupling transmission machinery crawler type seabed imaging detection car surveying submarine geomorphy is as follows: motor 48 is fixed on supportive body 54 by motor fix screw, holding screw fixed electrical machinery flat key 50 thus connect the internal rotor 49 rotated with it.Stator 5 is separately fixed on supportive body 54 and wheel 1 by supportive body bolt 45 and outer rotor fix screw 4, and the wheel between it and wheel 1 is employed circular cone rod bearing 7 and realized, and bearing has axle sleeve 6 to withstand on wheel.Two motors of front end and the connection of wheel are therewith in like manner.Supportive body and outer rotor support and complete sealing by seal ring 46.Crawler belt 9 and wheel engagement.Turning to impeller 17 to support 21 by two fix screws 16,18 and outer rotor is fixed on wheel, and impeller over cap 15 is designed to through-hole type, marine algae can be prevented to be involved in seawater also can be allowed to enter.This ensures that there continuity during whole body movement.The output of the cable 12,13 of sensor is the place of the utility model design uniqueness, cable is by deriving in the middle of wheel hub, be connected on copper ball 34, and by spring application, copper ball is ensured that the moment contacts with the copper ring 35 that cable connects, and compressing member 25 is by the larger spring 27 of rigidity being pressed on wheel tightly.So compressing member is not moving part, complete the dynamic seal between wheel by slideway 24.Water-stop 31 is fixed on supportive body by screw 30, and the sealing 33 under its packing ring 32 hinders the immersion of seawater.Two middle long springs 43 are fixed on supportive body by attaching parts 39, and with the fixing upper umbilical cables connecting box 41 of bolt on two flexible metals 40, the safety and stability this ensures that thering cable exports.
Principle of work: the magnetic coupling transmission crawler type seabed imaging detection car motion of exploration submarine geomorphy and detection process are divided into, and driven by motor internal rotor rotates, simultaneously inside and outside magnetic patch coupling, drive outer rotor to rotate thus Athey wheel travels forward.Displacement pickup on belt wheel contacts with holding screw face, seabed in real time along with wheel, and the track that belt wheel is passed by all is detected record by sensor, and signal transmission on the working mother boat of sea, thus carries out the analysis to submarine geomorphy.Specific as follows:
1) electric machine rotation electric signal flows to electrical motor 48 by water tight joint, the charged rotation of electrical motor, flat key 50 is connected on internal rotor 49 by holding screw 51, thus internal rotor follows its rotation, and electrical motor is fixed on supportive body 55 by fix screw 54, therefore electrical motor charged after just main axis and electrical motor itself is motionless.
2) after magnetic coupling rotor turns electrical motor 48 drives internal rotor 49 to rotate, interior magnetic patch 53 is embedded in internal rotor 49 outer wall place, internal rotor 49 rotates, magnetic direction is changed, and outside outer rotor 8 China and foreign countries magnetic patch 47 will be subject to the change of this magnetic line of force, will produce rotary motion by magnetic Field Coupling along with internal rotor 49, internal rotor 49 and outer rotor 8 are kept apart by stator 5, be in contactless state, therefore, be called the rotation of magnetic coupling noncontact driving.
3) working sensor outer rotor 8 rotates and is rotated by drive Athey wheel 1, thus whole device is advanced forward.The sensor 23 be loaded on belt wheel moves together along with belt wheel, and just record a signal when sensor often contacts a sea bottom surface, the signal of sensor record is spread out of by sensor output cable 12,13, after marine Received signal strength, analyzes and forms image.
4) when probe vehicles turns to probe vehicles to need to turn to, imported into front end two motor electric signal by watertight cable joint 31, the differential realizing motor rotates, and the impeller 17 be connected with motor rotates along with electrical motor, produce thrust, make whole probe vehicles can left and right turn flexibly.
5) probe vehicles gets over slope when car body runs into little domatic of gradient, because the deadweight of vehicle body is ordered about, spring 43 subsidiary on car is connected 40 will be changed along with the shape on bucket slope with flexible metal, and sensor 23 just can contact with sea bottom surface in the moment, avoids the interruption of signal.
Utility model works mode: first four motors are positioned in the motor cabinet of supportive body respectively, power is spread out of by key joint between motor and internal rotor, the postrotational changes of magnetic field of internal rotor, by magnetic Field Coupling, drives outer rotor to rotate, thus drives connected wheel hub Driving Torque.Two magnetic-coupled inner and outer rotors are discontiguous, outer rotor immerses in the seawater, and internal rotor is sealed in motor cabinet together with motor, such motor output shaft has just changed into static seal by original dynamic seal, so reach motor and seawater is completely isolated, prevent its water inlet electric leakage, thus probe vehicles is moved.
In addition, this probe vehicles is by the support as front and back of spring and flexible metal, this ensures that there and make it contact with the sea bed moment under the ordering about of probe vehicles self gravitation, thus the displacement pickup be arranged on crawler belt just can well read high-low signal plays a role.The impeller of this device front end is arranged on outer rotor shaft, and the object done like this is, when the rotating speed giving front end motor different, left and right wheel speed changes, and realizes differential motion, thus solves the Steering of probe vehicles.
Claims (2)
1. survey the magnetic coupling transmission crawler type seabed imaging detection car of submarine geomorphy, it is characterized in that: comprise front support main body, rear end supportive body, umbilical cables connecting box, first-four wheel, front end motor, rear end motor, first-the second impeller, between front support main body and umbilical cables connecting box, all be connected by flexible metal connection unit between rear end supportive body with umbilical cables connecting box, equal mounting spring connecting element on front support main body and rear end supportive body, equal mounting spring between spring mountings and umbilical cables connecting box, rear end motor comprises the first rear end motor and the second rear end motor, first rear end motor and the second rear end motor are all arranged in the supportive body of rear end, first rear end motor connects the first trailing wheel internal rotor, first trailing wheel internal rotor outer setting first rear end stator, first rear end stator exterior arranges the first rear end outer rotor, first rear end stator and rear end supportive body fix, first rear end outer rotor and the first wheel fix, first trailing wheel internal rotor installs magnetic patch in the first trailing wheel, first rear end outer rotor is installed the outer magnetic patch of the first trailing wheel, in first trailing wheel, magnetic patch is relative with the outer magnetic patch position of the first trailing wheel, first rear end motor, first trailing wheel internal rotor, first rear end stator, first rear end outer rotor, first wheel, magnetic patch in first trailing wheel, the outer magnetic patch of first trailing wheel forms the first back wheel driving gear, second rear end motor, second trailing wheel internal rotor, second rear end stator, second rear end outer rotor, second wheel, magnetic patch in second trailing wheel, the outer magnetic patch of second trailing wheel forms the second back wheel driving gear, second back wheel driving gear is identical with the first back wheel driving gear structure, and be symmetrically arranged according to rear end supportive body, front end motor comprises the first front end motor and the second front end motor, first front end motor and the second front end motor are all arranged in front support main body, magnetic patch in mouth first front-wheel of the first front end motor, in first front-wheel, magnetic patch outer setting first front end outer rotor supports, first front end outer rotor supports outer arranges the first front end outer rotor, first front end outer rotor supports and fixes with front support main body, first front end outer rotor outer setting the 3rd wheel, bearing fit is passed through between first front end outer rotor and the 3rd wheel, the end of the first front end outer rotor connects the first impeller, first front end outer rotor is installed the outer magnetic patch of the first front-wheel, the outer magnetic patch of first front-wheel is relative with magnetic patch position in the first front-wheel, first front end motor, magnetic patch in first front-wheel, first front end outer rotor supports, first front end outer rotor, first impeller, 3rd wheel forms the first front-wheel drive, second front end motor, magnetic patch in second front-wheel, second front end outer rotor supports, second front end outer rotor, second impeller, 4th wheel forms the second front-wheel drive, second front-wheel drive is identical with the first front-wheel drive structure, and be symmetrically arranged according to front support main body, first wheel and the 3rd wheel are wound around the first crawler belt, second wheel and the 4th wheel are wound around the second crawler belt.
2. the magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy according to claim 1, it is characterized in that: the first displacement pickup installed by the 3rd wheel, the cable of the first displacement pickup passes the 3rd wheel and draws from the wheel hub of the 3rd wheel, the end of the first displacement pickup cable connects copper ball, copper ball contacts with copper ring, front support main body installs front springs, compressing member connects front springs by copper ball under the effect of front springs, copper ring is pressed in the 3rd wheel, second displacement sensor installed by 4th wheel, the mounting means of second displacement sensor is identical with the first displacement pickup, umbilical cables connecting box draws the near front wheel Sensor output, off front wheel Sensor output, front turbin generator output line, rear-wheel motor output line, the near front wheel Sensor output, off front wheel Sensor output connects the cable of the first displacement pickup and the cable of second displacement sensor respectively, front turbin generator output line connects the first front end motor and the second front end motor, rear-wheel motor output line connects the first rear end motor and the second rear end motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420697464.8U CN204250197U (en) | 2014-11-20 | 2014-11-20 | The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420697464.8U CN204250197U (en) | 2014-11-20 | 2014-11-20 | The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204250197U true CN204250197U (en) | 2015-04-08 |
Family
ID=52954529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420697464.8U Withdrawn - After Issue CN204250197U (en) | 2014-11-20 | 2014-11-20 | The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204250197U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477261A (en) * | 2014-11-20 | 2015-04-01 | 哈尔滨工程大学 | Magnetic coupling transmission crawler type seabed imaging detection vehicle for surveying submarine landform |
-
2014
- 2014-11-20 CN CN201420697464.8U patent/CN204250197U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477261A (en) * | 2014-11-20 | 2015-04-01 | 哈尔滨工程大学 | Magnetic coupling transmission crawler type seabed imaging detection vehicle for surveying submarine landform |
| CN104477261B (en) * | 2014-11-20 | 2016-09-14 | 哈尔滨工程大学 | The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103600821B (en) | Omnidirectional swims and climbs wall under-water robot | |
| CN103818535B (en) | Integrate motor propelling unit | |
| CN105620708B (en) | A kind of underwater electric steering wheel and rudder angle detection method | |
| CN100484727C (en) | Rotary joint structure of underwater electric manipulator | |
| CN205836998U (en) | Snake-shaped robot is taken turns in the active of Flexible Transmission more | |
| CN110077562B (en) | Swimming combined underwater monitoring robot | |
| CN105751226A (en) | Negative-pressure suction and dual-manipulator assisted clamping type underwater steel structure cleaning robot | |
| KR101767215B1 (en) | Apparatus for measuring thrust of azimuth thruster and azimuth thruster having thrust measuring function using thereof | |
| CN104015911A (en) | Full-rotating integrated propelling device | |
| CN204250197U (en) | The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy | |
| CN106741778A (en) | A kind of rotatable propeller system in deep-sea | |
| CN207298394U (en) | Submarine pipeline detects robot | |
| CN108839787B (en) | A kind of underwater steering engine of small-sized large torque | |
| CN114221474B (en) | Waterproof motor for electric joint of mechanical arm | |
| CN104477261B (en) | The magnetic coupling transmission crawler type seabed imaging detection car of exploration submarine geomorphy | |
| CN106927008B (en) | A kind of submersible multi-thruster synchronous rotating mechanism | |
| CN101655364A (en) | Device for accurately measuring posture of pipelines in deep sea | |
| CN212300305U (en) | Three-dimensional measuring instrument | |
| CN113799948A (en) | Portable submarine cable inspection unmanned underwater vehicle | |
| CN211649493U (en) | CCTV pipeline inspection robot body structure | |
| CN216132497U (en) | All-terrain pipe culvert water affair detection robot | |
| AU2016250199B2 (en) | Electrically powered rotating subsea apparatus and method | |
| CN106647751A (en) | Underwater cleaning robot path control and positioning device for ship | |
| CN104691727A (en) | Rotary annular bracket for underwater robot axial coded data collector | |
| CN112629396A (en) | Deepwater pipeline tie-back pose measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150408 Effective date of abandoning: 20160914 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |