CN205906088U - Rare soft substrate drive arrangement and walking chassis - Google Patents
Rare soft substrate drive arrangement and walking chassis Download PDFInfo
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- CN205906088U CN205906088U CN201620704819.0U CN201620704819U CN205906088U CN 205906088 U CN205906088 U CN 205906088U CN 201620704819 U CN201620704819 U CN 201620704819U CN 205906088 U CN205906088 U CN 205906088U
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Abstract
The utility model discloses a rare soft substrate drive arrangement and walking chassis, this rare soft substrate drive arrangement include the support, install on the support the sprocket unit and around locating the walking area on the sprocket unit, the walking area is equipped with the drive plate of a plurality of interval arrangements, the frame rack structure of support for supplying rare soft substrate to pass walks and takes the perforating hole that all is equipped with the rare soft substrate of confession and passes through between arbitrary adjacent drive plate, this walking chassis includes automobile body and two foretell rare soft substrate drive arrangement, and two rare soft substrate drive arrangement install in the both sides of automobile body. The utility model has the advantages of simple structure, light, nimble, big, little, the easy desliming of running resistance of drive power of moving of quality.
Description
Technical field
This utility model be related under water self-propelled implement technical field and in particular to a kind of dilute softground driving means
And there are the walking chassis of this dilute softground driving means.
Background technology
Step with the mankind gradually moves towards ocean, and underwater performance equipment increasingly receives publicity, most substrates of ocean
Be dilute softground, it has the characteristics that, and shear strength is low, bearing capacity is little, under water the traveling of bottom implement cause
The serious problems such as depression, serious skidding.
When dilute softground travels, typically adopt crawler type walking mechanism, for ensureing normal walking, usually require that crawler belt has
There are enough contact areas to reduce grounding pressure, to reduce sinkage, and in order to obtain sufficiently large driving force, require crawler belt again
Grouser can have deeper insertion soil depth.In current underwater performance car, the general traveling using big ground connection ratio and high grouser
Crawler belt, but in ocean dilute softground region, top layer is less than about 0.2 0.5 meters of the substrate thickness mean depth of 3kpa, high grouser
The high mud layer of shear strength cannot be deep into, and increase with contact area, the increase of grouser height can cause whole set equipment matter
Amount increases, thus aggravating depression, the increase of crawler width also can increase crawler belt travel direction running resistance (bulldozing resistance and
Compacting resistance).Further, since soil adhesion is very competent under water, the soil that traveling mechanism adheres in the process of walking more long-pending more
How so that the driving force of drive mechanism declines even loses driving force, also make Working mechanism weight itself more and more simultaneously
Greatly.Drive mechanism travels in dilute soft soil, because also easily producing the problem of de- chain situations such as soil adhesion.
Utility model content
The technical problems to be solved in the utility model is to overcome the shortcomings of that prior art exists, provide a kind of structure simple,
Light weight, motion are flexibly, driving force is big, running resistance is little, be easy to dilute softground driving means and the walking chassis of desliming.
For solving above-mentioned technical problem, this utility model employs the following technical solutions:
A kind of dilute softground driving means, the sprocket wheel unit including support, being installed on support and be set around sprocket wheel unit
On treads, described treads are provided with some spaced apart driving plates, and described support is the frame that can pass through for dilute softground
Rack and panel construction, described treads are equipped with the through hole passing through for dilute softground between arbitrary neighborhood driving plate.
Above-mentioned dilute softground driving means are it is preferred that described treads include two around the chain being located on sprocket wheel unit
Bar, some driving plates are connected between two chains and along chain successively arranged for interval, arbitrary neighborhood driving plate and two chains
Surround the through hole described in.
Above-mentioned dilute softground driving means it is preferred that described chain is formed by connecting by some chain links, described chain both sides
Outer wall on be often separated by the distance of several chain links and be all connected with an engaging lug, described driving plate passes through securing member and engaging lug
Connect.
Above-mentioned dilute softground driving means it is preferred that described driving plate be provided with two respectively correspondence be fastened in two chains
U-shaped draw-in groove on bar, two sides of each u-shaped draw-in groove are affixed with the engaging lug of chain both sides by securing member respectively.
Above-mentioned dilute softground driving means are it is preferred that described treads are run to one section of frame bottom is and level
The parallel flat segments in face, the driving plate in described flat segments and described horizontal plane.
Above-mentioned dilute softground driving means are it is preferred that described driving plate is provided with the reinforcement of some interlaced arrangement.
Above-mentioned dilute softground driving means are it is preferred that described support is the purlin being welded using light hollow section bar
Frame structure；The side of described support is welded with multiple car body connecting seats.
Above-mentioned dilute softground driving means it is preferred that described sprocket wheel unit include drive component, guiding wheel assembly, two
Individual carrying guidance set, bearing assembly and two support chain components, described drive component and guiding wheel assembly are arranged in support
The rear and front end on top, described support chain component is arranged in the top of support and is located between drive component and guiding wheel assembly, two
Individual carrying guidance set is arranged in the rear and front end of support bottom, and described bearing assembly is arranged in support bottom and is located at two
Between individual carrying guidance set, described treads around be located at drive component, carry guidance set, bearing assembly, guiding wheel assembly
And on support chain component.
Above-mentioned dilute softground driving means are it is preferred that described drive component includes drive motor, drive sprocket, driven
Sprocket wheel, drive shaft and the bracing frame being installed on support, described drive motor is installed on bracing frame, and described drive sprocket is fixed
Be connected to the drive end of drive motor, described drive shaft is arranged on bracing frame by bearing, one end of drive shaft with drive horse
The drive end reaching connects, and described driven sprocket is arranged on the other end of drive shaft；
Described guiding wheel assembly includes leading axle, two induction sprockets and the clutch shaft bearing support being installed on support, institute
State leading axle to be arranged in clutch shaft bearing support by bearing, two induction sprockets are separately mounted to the two ends of leading axle；Described
Clutch shaft bearing supports and is also equipped with strainer and support between；
Described carrying guidance set includes carrying axle, two carrying jockey sprockets and the second bearing being installed on support and props up
Support, described carrying axle is arranged in second bearing support by bearing, and two carrying jockey sprockets are separately mounted to carrying axle
Two ends；
Described bearing assembly includes axis, two bearing wheels and the 3rd bearing support being installed on support, described axis
It is arranged in 3rd bearing support, two bearing wheels are separately mounted to the two ends of axis；
Described support chain component includes two support sprocket wheels, and two support sprocket wheels pass through each self-corresponding bearing support block respectively and install
On support.
A kind of walking chassis, including the above-mentioned dilute softground driving means of car body and two, two dilute softgrounds drive dress
Put the both sides being respectively arranged in car body.
Compared with prior art, the utility model has the advantage of: the support of this utility model dilute softground driving means
Using tower structure, treads are provided with some through holes simultaneously, it is possible, firstly, to the quality significantly mitigating whole device (is compared
The quality of half can be reduced in conventional track formula driving means)；Secondly, driving means when inserting deposit, can wear by soil
Cross support and treads, the resistance of generation less so that driving means can greatly depth insertion, and then enter shear strength high
Bottom, obtains bigger driving force, and driving means is in the process of moving, the soil of direct of travel can pass through support and row
Tape transport and by completely extruding remove, thus the running resistance greatly reducing driving means (extrudes and removes the compacting of generation
Resistance and bulldozing resistance)；In addition, driving means in the process of moving, stick to mud in driving plate with driving plate the bottom of by
Layer is when taking driving means top to, can pass through through hole under gravity and support drops back earth surfaces, thus realizing taking off
Mud.This dilute softground driving means has that structure is simple, light weight, motion flexibly, driving force is big, running resistance is little, it is de- to be easy to
The advantages of mud.
Walking chassis of the present utility model, due to employing above-mentioned dilute softground driving means, therefore also have this dilute soft bottom
Matter driving means are had the advantage that.
Brief description
Fig. 1 is the perspective view of dilute softground driving means.
Fig. 2 is the partial enlargement structural representation of treads in dilute softground driving means.
Fig. 3 is the perspective view of dilute softground driving means medium-height trestle.
Fig. 4 is the perspective view of drive component in dilute softground driving means.
Fig. 5 is the perspective view guiding wheel assembly in dilute softground driving means.
Fig. 6 is the perspective view carrying guidance set in dilute softground driving means.
Fig. 7 is the perspective view of bearing assembly in dilute softground driving means.
Fig. 8 is the structural representation of walking chassis.
Marginal data:
1st, support；11st, front mounting plate；12nd, rear installing plate；13rd, connecting seat；2nd, sprocket wheel unit；21st, drive component；211、
Bracing frame；212nd, drive motor；213rd, drive sprocket；214th, driven sprocket；215th, drive shaft；22nd, guide wheel assembly；221st,
One bearings；222nd, leading axle；223rd, induction sprocket；224th, strainer；23rd, carry guidance set；231st, second bearing
Support；232nd, carrying axle；233rd, carry jockey sprocket；24th, bearing assembly；241st, 3rd bearing supports；242nd, axis；243rd, hold
Carry wheel；25th, hold in the palm chain component；251st, bearing support block；252nd, hold in the palm sprocket wheel；3rd, treads；31st, driving plate；311st, u-shaped draw-in groove；
312nd, reinforcement；32nd, chain；321st, chain link；322nd, engaging lug；4th, car body.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, this utility model is described in further detail.
As shown in Figure 1 to Figure 3, a kind of dilute softground driving means of the present embodiment, including support 1, are installed on support 1
Sprocket wheel unit 2 and the treads 3 being set around on sprocket wheel unit 2, treads 3 are provided with some spaced apart driving plates 31, drive
Dynamic plate 31 runs with treads 3 to insert and drives whole device to move ahead in dilute softground, and the support 1 of the present embodiment is to supply dilute soft bottom
The tower structure that matter passes through, treads 3 are equipped with the through hole passing through for dilute softground between arbitrary neighborhood driving plate 31.
The support 1 of this dilute softground driving means adopts tower structure, and treads 3 are provided with some through holes simultaneously, it is possible, firstly, to greatly
The big quality (quality of half can be reduced compared to conventional track formula driving means) mitigating whole device；Secondly, driving means
When inserting deposit, soil can pass through support 1 and treads 3, and the resistance of generation is less so that driving means can be deep greatly
Degree insertion, and then driving plate 31 can enter the high bottom of shear strength, obtains bigger driving force, and driving means are travelling
During, the soil of direct of travel can pass through support 1 and treads 3 not to be removed by extruding completely, thus greatly reducing
The running resistance (extruding and remove compacting resistance and the bulldozing resistance of generation) of driving means；In addition, driving means are running over
Cheng Zhong, sticks to mud in driving plate 31 when taking driving means top with driving plate 31 to by bottom, can be in action of gravity
Under drop back earth surfaces through through hole and support 1, thus realizing desliming.This driving means has that structure is simple, light weight,
Motion is flexibly, driving force is big, running resistance is little, the advantages of be easy to desliming.
In the present embodiment, treads 3 include above-mentioned some driving plates 31 and two around the chain being located on sprocket wheel unit 2
32, some driving plates 31 are connected between two chains 32 and along chain 32 successively arranged for interval, arbitrary neighborhood driving plate 31 with
Article two, the space that chain 32 surrounds between an above-mentioned through hole, namely adjacent driven plate 31 and two chains 32 is insertion
Hole, the treads 3 of this kind of chain-plate type structure make soil cannot stick under gravity in driving plate 31, advantageously in de-
Mud, and its structure is simple, motion is flexible, light weight.
In the present embodiment, chain 32 is made using corrosion resistant general rustless steel, chain 32 connected by some chain links 321 and
Become, the distance that the outer wall of chain 32 both sides is often separated by 2-3 chain link 321 is all welded with an engaging lug 322, driving plate 31 is led to
Cross securing member (bolt) to be connected with engaging lug 322.The driving plate 31 of the present embodiment can adopt metal material, it would however also be possible to employ non-
Metal material, such as titanium alloy, carbon fibre material etc..
Preferably, driving plate 31 is provided with two u-shaped draw-in grooves 311, and two u-shaped draw-in grooves 311 correspond to respectively and are fastened in two chains
On bar 32, on the outer wall of each chain 32 both sides, corresponding every piece of driving plate 31 is equipped with an engaging lug 322, each u-shaped draw-in groove 311
Two sides are affixed with the engaging lug 322 of corresponding chain 32 both sides by securing member (bolt) respectively, can greatly reinforce driving plate
31 installation steadiness.
In the present embodiment, it is parallel with horizontal plane (substrate surface) straight that treads 3 are run to one section of support 1 bottom
Section, the driving plate 31 in flat segments and horizontal plane, make driving plate 31 be easier to insert dilute softground, and can provide maximum
The driving force changed.
In the present embodiment, driving plate 31 is provided with the reinforcement 312 of some interlaced arrangement, to increase the strong of driving plate 31
Degree.
As shown in Fig. 1, Fig. 3 and Fig. 8, the support 1 of the present embodiment is to be tied using the truss that light hollow pipe is welded
Structure, compared to conventional track formula driving means, can substantially reduce overall mass, realize the lightweight of whole device.Support 1 top
Front end be welded with the front mounting plate 11 connecting drive component 21, after the rear end on support 1 top is welded with guiding wheel assembly 22
Installing plate 12, is welded with multiple connecting seats 13 in the side of support 1, for being connected with car body 4.
As shown in Fig. 1, Fig. 4 to Fig. 7, the sprocket wheel unit 2 of the present embodiment includes drive component 21, guiding wheel assembly 22, two
Individual carrying guidance set 23, bearing assembly 24 and two support chain components 25, drive component 21 and guiding wheel assembly 22 are respectively arranged
In the rear and front end on support 1 top, chain component 25 is ask to be arranged in the top of support 1 and be located at drive component 21 and guiding wheel assembly
Between 22, two carry the rear and front end that guidance set 23 is arranged in support 1 bottom, and bearing assembly 24 is arranged in support 1
Bottom is simultaneously located at two and carries between guidance sets 23, and treads 3 are around being located at drive component 21, carry guidance set 23, carry
On assembly 24, guiding wheel assembly 22 and support chain component 25.
In the present embodiment, drive component 21 includes drive motor 212, drive sprocket 213, driven sprocket 214 and drive shaft
215 and the bracing frame 211 that is bolted on the front mounting plate 11 being installed on support 1, drive motor 212 is bolted
It is installed on bracing frame 211, drive sprocket 213 is fixedly connected on the drive end of drive motor 212, drive shaft 215 is in umbrella shape, drives
Moving axis 215 is arranged on bracing frame 211 by bearing, and one end of drive shaft 215 is connected with the drive end of drive motor 212, from
Movable sprocket 214 is arranged on the other end of drive shaft 215 by key and bolt.Drive motor 212 provides driving force, drives drive shaft
215th, drive sprocket 213, driven sprocket 214 rotate, and then drive treads 3 to rotate operation.
In the present embodiment, after guiding wheel assembly 22 includes 222, two induction sprockets 223 of leading axle and is installed on support 1
Clutch shaft bearing on installing plate 12 supports 221, and leading axle 222 is arranged on clutch shaft bearing by bearing and supports in 221, two guiding
Sprocket wheel 223 is separately mounted to the two ends of leading axle 222 by key and bolt；Clutch shaft bearing supports also to be installed between 221 and support 1
There is strainer 224.Guiding wheel assembly 22 is used for guiding the travel direction of driving means.
Strainer 224 and its installation may be referred to prior art, and the strainer 224 of the present embodiment is tensioned machine
Structure, can adopt hydraulic pressure or other strainers in other embodiments, and strainer 224 makes treads 3 keep certain tightness,
Reducing the sagging of treads 3 and beating of being in operation, thus reducing shock loading and extra power attenuation, and preventing chain
32 derailings, run into barrier before guiding wheel assembly 22 simultaneously or treads 3 snap in the hard thing such as stone and so that treads 3 is excessively opened
When tight, it moves after allowing to guide wheel assembly 22, in order to avoid damaging parts, after clearing the jumps, guiding wheel assembly 22 is again in spring
In the presence of set back.
In the present embodiment, carry guidance set 23 and include 232, two carrying jockey sprockets 233 of carrying axle and be installed on
Second bearing on frame 1 supports 231, and carrying axle 232 is arranged on second bearing by bearing and supports in 231, and two carry guiding
Sprocket wheel 233 is separately mounted to the two ends of carrying axle 232.Carry guidance set 23 not only to have supported overall mass but also guided driving means
Travel direction, the sprocket wheel guiding of guiding wheel assembly 22 and carrying guidance set 23 can effectively prevent driving means from occurring in operation
De- chain situation.
In the present embodiment, bearing assembly 24 includes 242, two bearing wheels 243 of axis and the 3rd axle being installed on support 1
Hold support 241, axis 242 is arranged on 3rd bearing and supports in 241, and two bearing wheels 243 are separately mounted to the two of axis 242
End.The quality of the whole driving means of following support in support 1 for the bearing assembly 24, and by Mass Distribution to treads 3, and hold
The spoke type structure carrying assembly 24 also can reduce the quality of driving means.
In the present embodiment, support chain component 25 includes two support sprocket wheels 252, and two support sprocket wheels 252 pass through each to correspond to respectively
Bearing support block 251 be installed on support 1.Treads 3 top is held up by support chain component 25, prevents treads 3 sagging excessive,
What minimizing treads 3 produced in motor process beats and sideshake, and then anti-anti-avulsion chain.
As shown in figure 8, a kind of walking chassis of the present embodiment, drive dress including the above-mentioned dilute softground of car body 4 and two
Put, two dilute softground driving means are respectively arranged in the both sides of car body 4, specifically, dilute softground driving means pass through four even
Linkage, oil cylinder are connected with car body 4, and car body 4 bears the quality load in vertical direction for the car load, and dilute softground driving means provide
The driving force that car load advances, dilute softground driving means can adjust insertion soil in the presence of quadric chain and oil cylinder
Depth.
The above is only preferred implementation of the present utility model, and protection domain of the present utility model is not limited merely to
Above-described embodiment.To those of ordinary skill in the art, gained under the premise of without departing from this utility model technology design
To modifications and variations also should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of dilute softground driving means, including support (1), the sprocket wheel unit (2) that is installed on support (1) and be set around chain
Treads (3) on wheel unit (2), described treads (3) be provided with some spaced apart driving plates (31) it is characterised in that:
Described support (1) is the tower structure that can pass through for dilute softground, described treads (3) in arbitrary neighborhood driving plate (31) it
Between be equipped with the through hole passing through for dilute softground.
2. a kind of dilute softground driving means according to claim 1 it is characterised in that: described treads (3) include two
Bar is connected between two chains (32) and along chain around the chain (32) being located on sprocket wheel unit (2), some driving plates (31)
(32) arranged for interval successively, arbitrary neighborhood driving plate (31) and two chains (32) surround the through hole described in.
3. a kind of dilute softground driving means according to claim 2 it is characterised in that: described chain (32) is by some chains
Section (321) is formed by connecting, and the distance that the outer wall of described chain (32) both sides is often separated by several chain links (321) is all connected with one
Individual engaging lug (322), described driving plate (31) is connected with engaging lug (322) by securing member.
4. a kind of dilute softground driving means according to claim 3 it is characterised in that: described driving plate (31) is provided with two
Individual correspondence respectively is fastened in the u-shaped draw-in groove (311) on two chains (32), and two sides of each u-shaped draw-in groove (311) pass through tightly respectively
Firmware is affixed with the engaging lug (322) of chain (32) both sides.
5. a kind of dilute softground driving means according to claim 1 it is characterised in that: described treads (3) run to
One section of support (1) bottom is the flat segments with plane-parallel, the driving plate (31) in described flat segments and described horizontal plane
Vertically.
6. a kind of dilute softground driving means according to claim 1 it is characterised in that: described driving plate (31) is provided with
The reinforcement (312) of some interlaced arrangement.
7. a kind of dilute softground driving means according to claim 1 it is characterised in that: described support (1) is using light
The truss structure that matter hollow profile is welded；The side of described support (1) is welded with multiple car body connecting seats (13).
8. a kind of dilute softground driving means according to claim 1 it is characterised in that: described sprocket wheel unit (2) includes
Drive component (21), guiding wheel assembly (22), two carry guidance set (23), bearing assembly (24) and two hold in the palm chain components
(25), described drive component (21) and guiding wheel assembly (22) are arranged in the rear and front end on support (1) top, described support chain
Assembly (25) is arranged in the top of support (1) and is located between drive component (21) and guiding wheel assembly (22), and two carryings are led
It is arranged in the rear and front end of support (1) bottom to assembly (23), described bearing assembly (24) is arranged in support (1) bottom simultaneously
Carry between guidance set (23) positioned at two, described treads (3) are around being located at drive component (21), carry guidance set
(23), in bearing assembly (24), guiding wheel assembly (22) and support chain component (25).
9. a kind of dilute softground driving means according to claim 8 it is characterised in that: described drive component (21) includes
Drive motor (212), drive sprocket (213), driven sprocket (214), drive shaft (215) and the support being installed on support (1)
Frame (211), described drive motor (212) is installed on bracing frame (211), and described drive sprocket (213) is fixedly connected on driving
The drive end of motor (212), described drive shaft (215) is arranged on bracing frame (211) by bearing, and the one of drive shaft (215)
End is connected with the drive end of drive motor (212), and described driven sprocket (214) is arranged on the other end of drive shaft (215)；
Described guiding wheel assembly (22) includes leading axle (222), two induction sprockets (223) and is installed on support (1) the
One bearings (221), described leading axle (222) is arranged on clutch shaft bearing by bearing and supports in (221), two induction sprockets
(223) it is separately mounted to the two ends of leading axle (222)；Described clutch shaft bearing supports and is also equipped between (221) and support (1) opening
Tight mechanism (224)；
Described carrying guidance set (23) includes carrying axle (232), two carrying jockey sprockets (233) and is installed on support (1)
On second bearing support (231), described carrying axle (232) pass through bearing be arranged on second bearing support (231) in, two are held
Carry the two ends that jockey sprocket (233) is separately mounted to carrying axle (232)；
Described bearing assembly (24) includes axis (242), two bearing wheels (243) and the 3rd bearing being installed on support (1)
Support (241), described axis (242) is arranged on 3rd bearing and supports in (241), and two bearing wheels (243) are separately mounted to lead to
The two ends of axle (242)；
Described support chain component (25) includes two support sprocket wheels (252), and two support sprocket wheels (252) pass through each self-corresponding bearing respectively
Support base (251) is installed on support (1).
10. a kind of walking chassis, are respectively arranged in the driving means of car body (4) both sides including car body (4) and two, and its feature exists
In: described driving means are the dilute softground driving means any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620704819.0U CN205906088U (en) | 2016-07-06 | 2016-07-06 | Rare soft substrate drive arrangement and walking chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620704819.0U CN205906088U (en) | 2016-07-06 | 2016-07-06 | Rare soft substrate drive arrangement and walking chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205906088U true CN205906088U (en) | 2017-01-25 |
Family
ID=57805738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620704819.0U Withdrawn - After Issue CN205906088U (en) | 2016-07-06 | 2016-07-06 | Rare soft substrate drive arrangement and walking chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205906088U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966479A (en) * | 2016-07-06 | 2016-09-28 | 长沙矿冶研究院有限责任公司 | Thin and soft substrate driving device and walking chassis |
| CN108909860A (en) * | 2018-05-29 | 2018-11-30 | 上海交通大学 | It is adapted to the crawler travel structure and its working method of ground environment under extremely dilute soft water |
| WO2019148943A1 (en) * | 2018-02-02 | 2019-08-08 | 上海交通大学 | Suspendable crawler-type underwater operations robot for extremely soft ground |
-
2016
- 2016-07-06 CN CN201620704819.0U patent/CN205906088U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966479A (en) * | 2016-07-06 | 2016-09-28 | 长沙矿冶研究院有限责任公司 | Thin and soft substrate driving device and walking chassis |
| WO2019148943A1 (en) * | 2018-02-02 | 2019-08-08 | 上海交通大学 | Suspendable crawler-type underwater operations robot for extremely soft ground |
| US11498378B2 (en) | 2018-02-02 | 2022-11-15 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| CN108909860A (en) * | 2018-05-29 | 2018-11-30 | 上海交通大学 | It is adapted to the crawler travel structure and its working method of ground environment under extremely dilute soft water |
| CN108909860B (en) * | 2018-05-29 | 2023-08-22 | 上海交通大学 | Caterpillar track walking structure suitable for ground environment under extremely thin soft water and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170125 Effective date of abandoning: 20180925 |