CN209225366U - A kind of deep landing vehicle in full sea - Google Patents

Abstract

The utility model relates to complete extra large deep investigation equipment technology fields, specifically a kind of deep landing vehicle in full sea, including frame and Athey wheel system, two Athey wheel systems are divided into frame two sides, and the driving device of driving Athey wheel system is equipped in frame, front in frame is equipped with level-one ballast component, second level ballast component is equipped in frame rear end, level-one ballast component includes level-one electromagnet and level-one kentledge, and level-one electromagnet abandons level-one kentledge when the landing of car body seabed, second level ballast component includes two-stage electromagnetic iron and second level kentledge, and car body start float when two-stage electromagnetic iron abandon second level kentledge, buoyancy material is equipped on the upside of frame, and lifting component is equipped in the middle part of buoyancy material, it lifts by crane component and is equipped with propeller, and when the landing of car body seabed or floating, the propeller starting.The utility model can have compared with strong adaptability sea bottom complex operating environment, while having started a kind of new model of seabed landing equipment in the mobile completion scientific investigation in seabed.

Description

A kind of deep landing vehicle in full sea

Technical field

The utility model relates to complete extra large deep investigation equipment technology field, specifically a kind of deep landing vehicle in full sea.

Background technique

Since 20th century, various countries scientific research personnel will study sight and invest mankind's tera incognita, and constantly issue to the limit It challenges, for example opens the veil of world's mystery step by step using space exploration vehicle, polar region scientific investigation vehicle and beaching crawler vehicle.And for For oceanographic survey field, the tool generallyd use at present is mainly the devices such as unmanned submersible, manned underwater vehicle, these Device has following disadvantage: being easily lost, is at high cost, safety is low, work capacity is weak etc..In addition existing seabed is visited It surveys for equipment, the mobile detection equipment of landing-type also only resides within relatively shallower sea area, is not ground for deep-sea domain System, and the lander for being related to blue water can be only done the simple operation of fixed-point type, is unable to complete mobile complicated section and appoints by examination Business.

Utility model content

The purpose of this utility model is to provide a kind of complete deep landing vehicles in sea, can control under the multiple degrees of freedom environment of seabed It is mobile to complete scientific investigation, have sea bottom complex operating environment compared with strong adaptability, while having started a kind of seabed landing equipment New model.

The purpose of this utility model is achieved through the following technical solutions:

A kind of deep landing vehicle in full sea, including frame and Athey wheel system, two Athey wheel systems are divided into frame two Side, and the driving device for driving the Athey wheel system is equipped in the frame, the front in the frame is equipped with one Grade ballast component, the frame rear end be equipped with second level ballast component, the level-one ballast component include level-one electromagnet and Level-one kentledge, and level-one electromagnet abandons level-one kentledge when the landing of car body seabed, the second level ballast component includes second level Electromagnet and second level kentledge, and two-stage electromagnetic iron abandons second level kentledge, the frame when car body floats by seabed Upside is equipped with buoyancy material, and the lifting component being connected with frame is equipped in the middle part of buoyancy material, and the lifting component, which is equipped with, to be promoted Device, and when the landing of car body seabed or floating, the propeller starting.

The Athey wheel system includes driving wheel, thrust wheel, support sprocket wheel, deflecting roller, support plate and crawler belt, the support plate One end is connected with the driving wheel, and the other end is equipped with the deflecting roller, is equipped with row's thrust wheel, the branch on the downside of the support plate It is equipped with a row on the upside of fagging and holds in the palm sprocket wheel, crawler belt is wrapped on the outside of the driving wheel, support sprocket wheel, deflecting roller and thrust wheel, the drive Driving wheel is driven by the driving device and is rotated.

It is equipped with multiple thrust wheel brackets on the downside of the support plate, the thrust wheel bracket is in inverted V-type, and upside tip It is connected with the support plate, lower end two sides are connected with a thrust wheel respectively, are in addition equipped with deflecting roller one end in the support plate Equipped with damping spring.

The frame front end is equipped with sampling basket and manipulator, and the buoyancy material front end is equipped with headstock frame, the headstock frame It is equipped with the lamp including headlamp and camera and takes the photograph system.

Be equipped with multiple electronic components inside the frame, the multiple electronic component include CTD sensor, altimeter, Electronic compartment, battery and driver.

Ultra-short baseline positioning device is equipped on the upside of the buoyancy material, the buoyancy material rear end is equipped with rear frame, the tailstock Frame is equipped with stroboscopic lamp, flag, optical fiber interface, iridium satellite beacon and the lamp including headlamp and camera and takes the photograph system.

The lifting component includes suspension hook, hoisting bracket, propeller and propeller bracket, the hoisting bracket and the vehicle Frame is connected, and suspension hook is set on the hoisting bracket, and the suspension hook passes through the buoyancy material, on the downside of the hoisting bracket with Propeller bracket is connected, and the propeller is mounted on propeller bracket.

The advantages of the utility model and good effect are as follows:

1, the utility model can be in the mobile completion scientific investigation of seabed multifreedom controlling, to sea bottom complex operating environment With discharging compared with strong adaptability, and using the accurate proportion of level-one kentledge and second level kentledge, the unpowered dive of car body is realized And movement of floating, power source is saved, and using propeller as emergency buffer unit, provide appropriate buffering in landing mission Power provides additional floating power so that landing is safer in initial floating-upward process, improves floating success rate, has started one kind The new model of seabed landing equipment.

2, the utility model uses crawler-type mobile chassis structure, gives full play to crawler body ground connection than big, passability is strong The characteristics of, stable chassis structure meets the job requirements of complete extra large abyssal floor complex environment, while its lower position of centre of gravity, Stronger work capacity can be provided for the deep landing vehicle in full sea, in addition the Athey wheel system design of the utility model has the branch of V-type Roller bracket and damping spring can substantially alleviate impact failure of the complicated sea-floor relief to car body, improve the deep landing in full sea The adaptive capacity to environment and passability of vehicle.

3, the utility model has the power tool of complete set, wherein cooperates between manipulator and sampling basket, energy Enough operations and acquisition realized to seabed object, greatly improve scientific investigation efficiency and data collecting efficiency, the number with complete set According to measuring, store and transmit system, and the utility model uses CTD sensor, electronic compartment and optical fiber interface, can be to seabed The data such as salinity, temperature and depth are measured, are stored and pass lash ship back in real time.

4, the utility model carries ultra-short baseline positioning device, scientific investigation personnel can be allowed clearly to grasp the deep landing vehicle in full sea specific Landing point, and positioning system is searched as the water surface using iridium satellite beacon, flag and LED stroboscopic lamp, position is sent by iridium satellite beacon Confidence breath determines the position that the deep landing vehicle in full sea emerges, and flag, LED stroboscopic lamp is combined to mention in the position at daytime and night It is shown as using, guarantees car body search and smoothly recycling, reduce the funds loss in process of scientific research.

5, the utility model can complete two ways seabed operation operational mode, it may be assumed that manual manipulation mode and automatic control Molding formula.The complete deep landing vehicle in sea can complete a series of sections according to the control command of operator and appoint by examination, can also be according to exploit person Member's setting program carries out scientific investigation task in seabed, and can still carry out independently meeting an urgent need in the case where not depending on fiber optic communication and throw It carries, to cope with the emergency situations of subsea environment.

Detailed description of the invention

Fig. 1 is the stereoscopic schematic diagram of the utility model,

Fig. 2 is the frame schematic diagram of internal structure in Fig. 1,

Fig. 3 is the Athey wheel system schematic in Fig. 1,

Fig. 4 is that the lamp in Fig. 1 takes the photograph system schematic,

Fig. 5 is the lifting component diagram in Fig. 1,

Fig. 6 is the work flow schematic diagram of the utility model.

Wherein, 1 is lifting component, and 2 be buoyancy material, and 3 take the photograph system for lamp, and 4 be headstock frame, and 5 be sampling basket, and 6 be manipulator, 7 be Athey wheel system, and 8 be stroboscopic lamp, and 9 be flag, and 10 be optical fiber interface, and 11 be iridium satellite beacon, and 12 be rear frame, and 13 be vehicle frame Frame, 14 be ultra-short baseline positioning device, and 15 be CTD sensor, and 16 be altimeter, and 17 be level-one kentledge, and 18 be retarder, 19 It is two-stage electromagnetic iron for shaft coupling, 20,21 be two-stage electromagnetic retort stand, and 22 be second level kentledge, and 23 be motor, and 24 be driving Device, 25 be electronic compartment, and 26 be level-one electromagnet stent, and 27 be level-one electromagnet, and 28 be battery, and 29 be deflecting roller, and 30 be damping Spring, 31 be thrust wheel bracket, and 32 be thrust wheel, and 33 be driving wheel, and 34 be drive wheel bracket, and 35 be support plate, and 36 be support chain Wheel, 37 be bolt, and 38 be crawler belt, and 39 be headlamp, and 40 be camera, and 41 be plate fixed frame, and 42 be hoisting bracket, and 43 be to push away Into device, 44 be propeller bracket.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawing.

As shown in figs. 1 to 6, the utility model includes frame 13 and Athey wheel system 7, and two Athey wheel systems 7 set up separately In 13 two sides of frame, as shown in Fig. 2, setting in the frame 13, there are two the Track gears that driving device respectively drives two sides System 7 is walked, and in the present embodiment, the driving device includes connected motor 23 and speed reducer 18, the output of the speed reducer 18 Axis is connected by shaft coupling 19 with corresponding Athey wheel system 7, and level-one ballast component, two are in addition equipped in the frame 13 Grade ballast component and multiple electronic components, the level-one ballast component are set to 13 front of frame, the second level ballast component It is set to 13 rear end of frame, the level-one ballast component includes level-one electromagnet 27 and level-one kentledge 17, and car body seabed Level-one electromagnet 27 abandons level-one kentledge 17 when landing, and the second level ballast component includes two-stage electromagnetic iron 20 and second level ballast Iron 22, and two-stage electromagnetic iron 20 abandons second level kentledge 22 when car body floating, and buoyancy material 2 is equipped on the upside of the frame 13, and It is equipped with the lifting component 1 being connected with frame 13 in the middle part of buoyancy material 2, is pushed away as shown in figure 5,1 lower end of lifting component is equipped with Into device 43, and when the landing of car body seabed or floating, the propeller 43 starts.

As shown in Fig. 1~2,13 front end of frame is equipped with sampling basket 5 and manipulator 6, and the manipulator 6 is for completing Sample is simultaneously put into the sampling basket 5 by sea floor sampling, is equipped with headstock frame 4, rear end equipped with rear frame in 2 front end of buoyancy material 12, and be equipped with lamp on the headstock frame 4 and rear frame 12 and take the photograph system 3, as shown in figure 4, it includes headlamp that the lamp, which takes the photograph system 3, 39, camera 40 and plate fixed frame 41, the plate fixed frame 41 are installed on the headstock frame 4 or rear frame 12, illumination Lamp 39 and camera 40 are installed on the plate fixed frame 41.The manipulator 6, headlamp 39 and camera 40 are ability Domain well-known technique.

As shown in Fig. 2, being equipped with multiple electronic components inside the frame 13, the multiple electronic component includes that CTD is passed Sensor 15, altimeter 16, electronic compartment 25, battery 28 and driver 24, the CTD sensor 15, altimeter 16 and battery 28 are set It is placed in 13 front of frame, the electronic compartment 25 is set to 13 middle part position to the rear of frame, control unit and various detection moulds Block is set in the electronic compartment 25, and battery 28 is each electronic component and the driving device, level-one electromagnet 27, second level Electromagnet 20 is powered.The CTD sensor 15, altimeter 16, electronic compartment 25 are, battery 28 and driver 24 are this field public affairs Know technology.

As shown in Figure 1, ultra-short baseline positioning device 14 is equipped on the upside of 2 front of buoyancy material, on 2 rear end of buoyancy material Stroboscopic lamp 8, flag 9, optical fiber interface 10 and iridium satellite beacon 11 are additionally provided on the rear frame 12 of side in addition to the lamp takes the photograph system 3.Institute Stating ultra-short baseline positioning device 14, stroboscopic lamp 8, flag 9, optical fiber interface 10 and iridium satellite beacon 11 is techniques well known.

As shown in figure 3, the Athey wheel system 7 includes driving wheel 33, thrust wheel 32, support sprocket wheel 36, deflecting roller 29, support Plate 35 and crawler belt 38, described 35 one end of support plate are connected by drive wheel bracket 34 with 33 wheel shaft of driving wheel, and the other end is set There is the deflecting roller 29, is equipped with row's thrust wheel 32 on the downside of the support plate 35, and be equipped with multiple on the downside of the support plate 35 Roller bracket 31 is connected with corresponding thrust wheel 32 respectively, and a row is equipped on the upside of the support plate 35 and holds in the palm sprocket wheel 36, crawler belt 38 wraps up In the driving wheel 33, support sprocket wheel 36, deflecting roller 29 and the outside of thrust wheel 32, be equipped on the outside of the support plate 35 for The bolt 37 that frame 13 connects, the driving wheel 33 pass through driving device driving rotation corresponding in frame 13.

The thrust wheel bracket 31 is in inverted V-type, and upside tip is connected with the support plate 35, lower end two sides difference It is connected with the wheel shaft of a thrust wheel 32, is in addition additionally provided with damping spring 30 equipped with 29 one end of deflecting roller in the support plate 35 and rises To shock absorbing effect, 29 wheel shaft of deflecting roller is connected by a connecting plate with adjacent 32 wheel shaft of thrust wheel, the damping 30 upper end of spring is connected with the support plate 35, and lower end is connected with the connecting plate.

As shown in figure 5, the lifting component 1 includes suspension hook, hoisting bracket 42, propeller 43 and propeller bracket 44, institute It states hoisting bracket 42 and the frame 13 is connected, suspension hook is set on the hoisting bracket 42, and the suspension hook is across described Buoyancy material 2,42 downside of hoisting bracket are connected with propeller bracket 44, and the propeller 43 is mounted on propeller bracket 44 On.The propeller 43 is commercial products.

As shown in Fig. 2, the level-one ballast component is equipped with level-one electromagnet stent 26, on the level-one electromagnet stent 26 End is connected with frame 13, and lower end and the level-one electromagnet 27 are connected, and the second level ballast component is equipped with two-stage electromagnetic iron branch Frame 21,21 upper end of two-stage electromagnetic retort stand and frame 13 are connected, and lower end and the two-stage electromagnetic iron 20 are connected, and are landing Before vehicle landing operation, the level-one electromagnet 27 states level-one kentledge 17, the second level electricity by itself suction adsorption residence Magnet 20 states second level kentledge 22 by itself suction adsorption residence.

The working principle of the utility model are as follows:

As shown in fig. 6, be operated first personnel when utility model works by the laying system on lash ship, it is practical to incite somebody to action this Novel car body is placed on sea, and car body is under the effect of gravity by rapid unpowered dive, high during entire dive Degree meter 16 sends the altitude information of acquisition to control unit, when the utility model is close to seabed ground certain altitude, control Unit sends the signal control movement of level-one electromagnet 27 and abandons level-one kentledge 17, and the negative buoyancy force of car body itself is reduced, slowly complete At landing.

In addition in dive landing mission, to guarantee that car body safety and stability is landed, level-one is abandoned in level-one electromagnet 27 After kentledge 17, the propeller 43 of control unit control starting lifting 1 lower end of component, propeller 43 generates upward counter push away Power makes car body deceleration dive, is further ensured that car body buffering is landed.

When the utility model is when seabed works, the operator on lash ship can manipulate car body by tiny fiber-optics and carry out Movement, completes a series of scientific investigation detection and sampling task, and in addition the utility model also has automatic control function, i.e., originally Utility model by the program contexture by self seabed operating path set according to research staff and can complete scientific investigation task, this also makes In the case where tiny fiber-optics break down, the utility model still can fulfil assignment mission.

The utility model is equipped on car body front end headstock frame 4 and rear end rear frame 12 including headlamp 39 and camera 40 lamp takes the photograph system 3, and the utility model can return seabed video when seabed works in real time, and operator can be according to the sea passed back Bottom video information operates the utility model and carries out sea floor sampling and avoidance, completes specific scientific investigation task.

When the utility model completes seabed operation, second level kentledge is abandoned in the control unit control movement of two-stage electromagnetic iron 20 22, the two-stage electromagnetic iron 20 is connect with 13 tail portion crossbeam of frame, and release second level kentledge 22 can increase car body itself just Buoyancy, hull back first tilts at this time, and floats up to the water surface so that faster speed is unpowered.

In addition after floating initial stage namely the release second level kentledge 22 of two-stage electromagnetic iron 20 on the car body, if floating power The adhesion strength of clay cannot be overcome, the propeller 43 of control unit starting lifting 1 lower end of component carries out power-assisted floating, guarantees car body Success is aweigh floated under the opposition of propeller 43.

After the utility model exposes the surface, what the operator on scientific investigation lash ship was sent by searching iridium satellite beacon 11 Geographical location information determines the position that car body emerges, and stroboscopic lamp 8 and the eye-catching of flag 9 is combined to show bit function, fast quick access The deep landing vehicle in the full sea of close and recycling.

It is complete by the recovery system on scientific investigation lash ship after scientific investigation personnel successfully search the utility model on emersion sea At recycling.

Claims (7)

1. a kind of deep landing vehicle in full sea, it is characterised in that: including frame (13) and Athey wheel system (7), two Track gears System (7) is divided into frame (13) two sides, and the driving dress for driving the Athey wheel system (7) is equipped in the frame (13) It sets, the front in the frame (13) is equipped with level-one ballast component, is equipped with second level ballast in the frame (13) rear end Component, the level-one ballast component include level-one electromagnet (27) and level-one kentledge (17), and level-one when car body seabed is landed Electromagnet (27) is abandoned level-one kentledge (17), and the second level ballast component includes two-stage electromagnetic iron (20) and second level kentledge (22), two-stage electromagnetic iron (20) is abandoned second level kentledge (22) when and car body floats by seabed, on the frame (13) Side is equipped with buoyancy material (2), and the lifting component (1) being connected with frame (13), the lifting group are equipped in the middle part of buoyancy material (2) Part (1) is equipped with propeller (43), and when the landing of car body seabed or floating, propeller (43) starting.

2. the deep landing vehicle in full sea according to claim 1, it is characterised in that: the Athey wheel system (7) includes driving wheel (33), thrust wheel (32), support sprocket wheel (36), deflecting roller (29), support plate (35) and crawler belt (38), described support plate (35) one end It is connected with the driving wheel (33), the other end is equipped with the deflecting roller (29), and a row Zhi Chong is equipped on the downside of the support plate (35) It takes turns (32), a row is equipped on the upside of the support plate (35) and holds in the palm sprocket wheel (36), crawler belt (38) is wrapped in the driving wheel (33), support chain (36), deflecting roller (29) and thrust wheel (32) outside are taken turns, the driving wheel (33) passes through the driving device and drives rotation.

3. the deep landing vehicle in full sea according to claim 2, it is characterised in that: be equipped with multiple on the downside of the support plate (35) Roller bracket (31), the thrust wheel bracket (31) is in inverted V-type, and upside tip is connected with the support plate (35), under End two sides are connected with a thrust wheel (32) respectively, are in addition equipped with deflecting roller (29) one end in the support plate (35) and are equipped with damping Spring (30).

4. the deep landing vehicle in full sea according to claim 1, it is characterised in that: frame (13) front end is equipped with sampling basket (5) and manipulator (6), buoyancy material (2) front end are equipped with headstock frame (4), and it includes headlamp that the headstock frame (4), which is equipped with, (39) and the lamp of camera (40) takes the photograph system (3).

5. the deep landing vehicle in full sea according to claim 1, it is characterised in that: be equipped with multiple electricity inside the frame (13) Subassembly, the multiple electronic component include CTD sensor (15), altimeter (16), electronic compartment (25), battery (28) and driving Device (24).

6. the deep landing vehicle in full sea according to claim 1, it is characterised in that: be equipped with ultrashort base on the upside of the buoyancy material (2) Line positioning device (14), buoyancy material (2) rear end be equipped with rear frame (12), the rear frame (12) be equipped with stroboscopic lamp (8), Flag (9), optical fiber interface (10), iridium satellite beacon (11) and the lamp including headlamp (39) and camera (40) take the photograph system (3).

7. the deep landing vehicle in full sea according to claim 1, it is characterised in that: the lifting component (1) includes suspension hook, lifting Bracket (42), propeller (43) and propeller bracket (44), the hoisting bracket (42) and the frame (13) are connected, suspension hook Be set on the hoisting bracket (42), and the suspension hook passes through the buoyancy material (2), on the downside of the hoisting bracket (42) with push away It is connected into device bracket (44), the propeller (43) is mounted on propeller bracket (44).