CN217022848U - One-side double-cylinder spiral propulsion type advancing device suitable for seabed - Google Patents
One-side double-cylinder spiral propulsion type advancing device suitable for seabed Download PDFInfo
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- CN217022848U CN217022848U CN202220966191.7U CN202220966191U CN217022848U CN 217022848 U CN217022848 U CN 217022848U CN 202220966191 U CN202220966191 U CN 202220966191U CN 217022848 U CN217022848 U CN 217022848U
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Abstract
The utility model discloses a single-side double-cylinder spiral propelling type advancing device suitable for seabed, which comprises a vehicle body, a spiral roller, a driving device, a power generation device and a deck control platform, wherein the spiral roller is arranged on the vehicle body; the power generation device and the deck control platform are arranged on the mother ship positioned at the sea level; the car body is connected with a power generation device and a deck control platform on the surface mother ship through an umbilical cable, so that the transmission of electric power and signals is realized; two sides of the bottom of the vehicle body are respectively provided with two spiral rollers, one end of each spiral roller is connected with a driving device, and the driving device is connected with an umbilical cable through a cable; the driving device is fixed at the bottom of the vehicle body. The utility model has simple structure, safety and reliability, is not easy to sink and slip when running on soft seabed, can quickly and efficiently run on the seabed slope surface and run along the slope surface, has strong environmental adaptability and long service life.
Description
Technical Field
The utility model belongs to the field of submarine engineering machinery, and particularly relates to a submarine single-side double-cylinder spiral propulsion type advancing device.
Background
The oceans account for about 71% of the surface area of the earth, and there are a large number of resources that have not been fully recognized and utilized by humans. With the rapid development of the world industry and economy, marine resources have attracted more and more attention and research from countries and organizations. Because the submarine topography is complex, the surface has a layer of thick sediment, the submarine sediment is mostly soft sediment, the content of clay and soft mud is high, and a plurality of underwater operations need to be completed by a device capable of walking on the seabed.
With the development of ocean engineering, the monitoring, detection and mineral resource development of the deep sea bottom are widely applied to crawler type walking devices. The crawler-type traveling device has the characteristics of strong trafficability, strong stability, high obstacle crossing capability and the like, but the common crawler belt is difficult to pass through extremely soft zones. In the face of a severe loose road surface, the crawler can seriously sink when running in seabed soft mud, so that the crawler loses the propelling force, the problems of skidding, inaccurate control and the like can occur, and the crawler is difficult to normally use. Therefore, solving these driving problems on soft ground is of great significance to economic development. It is required to design a traveling apparatus that can be applied to soft seabed.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model provides a single-side double-cylinder spiral propelling type advancing device which is simple in structure and strong in adaptability and is suitable for the seabed.
The technical scheme adopted by the utility model is as follows: a double-cylinder spiral propelling type advancing device suitable for a seabed single side comprises a vehicle body, a spiral roller, a driving device, a power generation device and a deck control platform; the power generation device and the deck control platform are arranged on the mother ship positioned at the sea level; the vehicle body is connected with a power generation device and a deck control platform on the surface mother ship through an umbilical cable, so that the transmission of electric power and signals is realized; two sides of the bottom of the vehicle body are respectively provided with two spiral rollers, one end of each spiral roller is connected with a driving device, and the driving device is connected with an umbilical cable through a cable; the driving device is fixed at the bottom of the vehicle body.
In the above one-sided double-cylinder screw propulsion type advancing device suitable for the seabed, the vehicle body comprises a carriage and a vehicle body bottom plate, and the carriage is fixedly mounted on the vehicle body bottom plate.
In the seabed single-side double-cylinder spiral propelling type advancing device, the spiral rollers on two sides of the bottom of the vehicle body are symmetrically arranged; one end of the spiral roller is installed in the driving box through a bearing seat and is connected with a driving device in the driving box, the driving box is installed on a vehicle body bottom plate through a supporting device, the other end of the spiral roller is installed at the lower end of the supporting rod through the bearing seat, and the upper end of the supporting rod is installed on the vehicle body bottom plate.
In the seabed single-side double-cylinder spiral propelling type advancing device, the driving box is formed by fixedly connecting a driving box shell and a driving box cover plate through bolts; the driving box cover plate is provided with a through hole, a bearing seat is arranged in the driving box, and the bearing seat is coaxial with the through hole and is fixedly connected with the driving box cover plate; the driving device comprises a speed reducer and a motor, the speed reducer and the motor are fixed in the driving box, an input shaft of the speed reducer is connected with an output shaft of the motor, and the output shaft of the speed reducer is connected with the spiral roller; the through hole is arranged at the upper end of the driving box shell, and the cable is connected with the motor through the through hole at the upper end of the driving box shell.
In the seabed single-side double-cylinder spiral propelling type advancing device, the driving box connected with the spiral roller positioned in the front of the vehicle body is hinged with the lower end of the folding support rod, the upper end of the folding support rod is hinged with the bottom plate of the vehicle body, the folding support rod comprises an upper rod and a lower rod, the lower end of the upper rod is hinged with the upper end of the lower rod through a hinge pin shaft, and the hinge pin shafts of the two folding support rods are connected with the two ends of the connecting beam I; the connecting beam I is hinged with one end of a hydraulic cylinder, and the other end of the hydraulic cylinder is hinged with a vehicle body bottom plate; the upper end of a supporting rod I connected with the front spiral roller is hinged with a bottom plate of the vehicle body.
In the seabed single-side double-cylinder spiral propelling type advancing device, the driving box connected with the spiral roller at the rear part of the vehicle body is fixedly arranged at the lower end of the supporting rod III, and the upper end of the supporting rod III is fixedly connected with the bottom plate of the vehicle body; the middle parts of the two support rods III are fixedly connected through a connecting beam II; the upper end of a support rod II connected with a spiral roller positioned at the rear part of the vehicle body is fixedly connected with a bottom plate of the vehicle body.
In the above single-side double-drum screw propulsion type advancing device suitable for the seabed, the screw drum is of a hollow structure, stepped shafts are respectively arranged at two ends of the screw drum, screw blades are arranged on the outer side of the screw drum, the rotation directions of the screw blades of the screw drums at the left front part and the right rear part of the vehicle body are left-handed, and the rotation directions of the screw blades of the screw drums at the right front part and the left rear part of the vehicle body are right-handed.
In the seabed single-side double-cylinder spiral propelling type advancing device, the carriage is internally provided with the deconcentrator which is fixed on the bottom plate of the vehicle body; the umbilical cable enters the carriage through a through hole on the carriage and is connected with the input end of the deconcentrator, and each output end of the deconcentrator is connected with the cables of the four driving devices and is connected with the motors in each driving box through a through hole arranged on the bottom plate of the carriage body.
In the spiral propelling type advancing device suitable for the seabed single-side double-barrel, the umbilical cable is provided with the floating ball, the floating ball is fixedly connected with the umbilical cable through the rope, the floating ball is installed close to the vehicle body, the umbilical cable is connected with the power generation device and the deck control platform by bypassing the pulley and the winch on the transmission frame, and the transmission frame and the winch are installed on the mother ship.
In the seabed single-side double-cylinder spiral propelling type advancing device, the upper rod of the folding support rod is provided with the limiting block, and the lower rod of the folding support rod is provided with the limiting groove, so that the upper rod and the lower rod can be positioned on the same straight line after the folding support rod is unfolded.
Compared with the prior art, the utility model has the beneficial effects that:
the utility model has simple structure, adopts the spiral roller with hollow inner part as the traveling mechanism, can play the role of a buoy, effectively reduces the grounding pressure, and is not easy to sink in the soft environment of the seabed sediment; each spiral roller is provided with an independent driving device, and the walking device can realize advancing, retreating, steering, transverse translation or pivot steering and the like by changing the speed and steering of the driving device; according to the utility model, the hydraulic cylinder is arranged on the bottom plate of the vehicle body, and the length of the piston rod of the hydraulic cylinder is controlled, so that when the spiral roller of the hydraulic cylinder advances to the seabed with a slope, the advancing angles of the spiral rollers at the left front and the right front are changed, the hydraulic cylinder can be more attached to the slope, the friction force is increased, the middle part of the spiral roller is prevented from hanging and slipping in the air, and the climbing capability is improved; the floating ball is arranged on the umbilical cable, so that the problems that the movement of the travelling device is blocked or the umbilical cable is damaged due to the winding of the umbilical cable and seabed sundries and the like can be solved, and the service life of the umbilical cable is prolonged; the folding support rod is provided with the limiting block and the limiting groove, so that the folding support rod can be in a vertical state after being folded and then being restored to an original state, and the advancing device is more favorable for advancing.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic side view of the present invention.
Fig. 3 is a side sectional view of the spiral drum of the present invention.
Fig. 4 is a schematic view of the interior structure of the vehicle compartment of the present invention.
Fig. 5 is a schematic view of the internal structure of the driving box of the present invention.
Fig. 6 is a schematic view of the present invention in a driving configuration along a slope.
In the figure: 1-deck control platform; 2, a power generation device; 3, a winch; 4, rotating the frame; 5, a pulley; 6-umbilical cable; 7-floating ball; 8, a vehicle body; 801-compartment; 802-body floor; 9-connecting a beam I; 10-a drive box; 1001 — drive case housing; 1002-driving box cover plate; 11-a helical drum; 12-connecting beam II; 13-mother ship; 14-folding the support bar; 1401-a limiting block; 1402-a limit groove; 15-cable wires; 16-a piston rod; 17-a hydraulic cylinder; 18-end cap; 19-support bar i; 20-support bar II; 21-a bearing seat; 2101-sleeve; 2102 — rolling bearing; 22-support bar iii; 23-a motor; 24-a reducer; 2401 — an output shaft of the reducer; 25-splitter.
Detailed Description
The utility model is further described below with reference to the accompanying drawings.
As shown in fig. 1-5, the present invention comprises a vehicle body 8, a spiral drum 11, a drive box 10, a power generation device 2 and a deck control platform 1. The power generation device 2 and the deck control platform 1 are arranged on a mother ship 13 positioned at sea level; the vehicle body 8, the spiral roller 11 and the driving box 10 are positioned on the seabed. The umbilical cable 6 on the vehicle body 8 is connected with the power generation device 2 and the deck control platform 1 on the mother ship 13 on the water surface, and the power generation device 2 is connected with the deck control platform 1 to realize the transmission of electric power and signals. The umbilical cable 6 bypasses the pulley 5 on the rotating frame 4 and the winch 3, the rotating frame 4 and the winch 3 are arranged on the mother ship 13, and the winch 3 is connected close to the power generation device. The deck control platform 1 can directly control the travel route of the spiral propelling type travel device on the seabed through the umbilical cable 6, and can adjust the length of the umbilical cable 6 through the control winch 3 to adapt to the seabed at different depths. The umbilical cable 6 is provided with a floating ball 7, the floating ball 7 is fixedly connected with the umbilical cable 6 through a rope and is arranged close to the vehicle body 8; the floating ball 7 can effectively avoid the problems that the moving device is difficult to move or the umbilical cable is damaged due to the fact that the umbilical cable 6 is wound with foreign matters on the seabed or is in contact friction with the seabed, the moving of the moving device can be guaranteed to a certain extent, and the service life of the umbilical cable 6 is greatly prolonged.
The vehicle body 8 comprises a carriage 801 and a vehicle body bottom plate 802, and the carriage 801 is fixedly installed on the vehicle body bottom plate 802. Different experimental devices can be arranged on the vehicle body 8, and different seabed scientific research tasks can be completed. The carriage 801 is internally provided with a deconcentrator 25, and the deconcentrator 25 is fixed on a vehicle body bottom plate 802. The umbilical cable 6 enters the inside of the carriage 801 through a through hole on the carriage 801 and is connected with the input end of the deconcentrator 25.
Two sides of the bottom of the vehicle body bottom plate 802 are respectively provided with two spiral rollers 11, and the spiral rollers 11 at two sides of the vehicle body bottom plate 802 are symmetrically arranged. One end of the spiral roller 11 positioned at the front part of the vehicle body is connected with a driving device 23, the driving device 23 is arranged in a driving box 10, and the driving box 10 is hinged with the lower end of the folding supporting rod 14. The folding support rod 14 comprises an upper rod and a lower rod, the upper end of the upper rod is hinged with the bottom plate 802 of the vehicle body, the lower end of the upper rod is hinged with the upper end of the lower rod through a hinge pin, and the lower end of the lower rod is hinged with the corresponding drive box 10. The upper rod is provided with a limit block 1401, the lower rod is provided with a limit groove 1402, the upper rod and the lower rod can be ensured to be positioned on the same straight line after the folding support rod 14 is unfolded, and the moving of the advancing device on the seabed is facilitated.
Hinge pin shafts of the two folding support rods 14 are connected with two ends of the connecting beam I9; the tie-beam I9 is articulated with the one end of pneumatic cylinder 17, and the other end of pneumatic cylinder 17 is articulated with vehicle body bottom plate 802, and anterior helical drum passes through the bearing frame to be installed at the lower extreme of bracing piece I19, and the upper end of bracing piece I19 is articulated with vehicle body bottom plate 802. One end of a spiral roller 11 positioned at the rear part of the vehicle body 8 is connected with a driving device, the driving device is arranged in a driving box, the driving box is fixedly arranged at the lower end of a supporting rod III 22, and the upper end of the supporting rod III 22 is fixedly connected with a vehicle body bottom plate 802. The middle parts of the two supporting rods III 22 are fixedly connected through a connecting beam II 12. The other end of the spiral roller at the rear part of the vehicle body is arranged on a support rod II 20 through a bearing seat, and the upper end of the support rod II 20 is fixedly connected with a vehicle body bottom plate 802. The driving device comprises a speed reducer 24 and a motor 23, the speed reducer 24 and the motor 23 are fixed in the driving box 10, an input shaft of the speed reducer 24 is connected with an output shaft of the motor 23, and an output shaft 2401 of the speed reducer 24 is connected with the corresponding spiral roller 11. The output ends of the wire distributor 25 are connected with the cables 15 and are connected with the motors 23 in the driving boxes 10 through holes arranged on the bottom plate 802 of the vehicle body. The working personnel controls the rotating speed and the steering direction of the motor 23 corresponding to each spiral roller 11 through the deck control platform 1.
The helical drum 11 is of a hollow structure, stepped shafts are respectively arranged at two ends of the helical drum, and the stepped shafts are in interference fit with inner rings of the rolling bearings 2102 in the bearing blocks 21 and are axially fixed through the sleeves 2101. The outer side of the spiral roller 11 is provided with spiral blades, the rotation directions of the spiral blades of the spiral rollers at the left front part and the right rear part of the vehicle body are left-handed, and the rotation directions of the spiral blades of the spiral rollers at the right front part and the left rear part of the vehicle body are right-handed.
The driving box 10 is formed by fixedly connecting a driving box shell 1001 and a driving box cover plate 1002 through bolts; the driving box cover plate 1002 is provided with a through hole, a bearing seat is arranged in the driving box 10, and the bearing seat 21 is coaxial with the through hole and is fixedly connected with the driving box cover plate 1002 through a bolt.
The utility model generates electric power through the power generation device 2 of the mother ship 13, transmits the electric power to each motor 23 and the deck control platform 1 through the umbilical cable 6, and the deck control platform 1 controls the start and stop of the motors 23. The deck control platform 1 sends commands to transmit signals to the motors 23 through the umbilical 6 to control the rotational speed and steering of the motors 23. The motor 23 in the driving box 10 is decelerated and amplifies the torque through the decelerator 24, so that the output shaft 2401 of the decelerator rotates the spiral roller 11 outside the driving box 10, and the spiral roller 11 rotates to cut the seabed sediment to generate a forward or backward acting force and a transverse acting force. Because the blades outside the spiral rollers 11 at the two sides of the vehicle body 8 have different rotating directions, the transverse friction force can be counteracted, only the longitudinal friction force is generated, the advancing device advances forwards or backwards, and the slipping phenomenon can not occur at the soft seabed. When the vehicle body 8 advances forward as viewed from the front of the vehicle body 8, the vehicle body left front spiral drum rotates clockwise, the vehicle body right front spiral drum rotates counterclockwise, the vehicle body left rear spiral drum rotates counterclockwise, and the vehicle body right rear spiral drum rotates clockwise. When the vehicle body 8 travels backward, the vehicle body left front spiral drum rotates counterclockwise, the vehicle body right front spiral drum rotates clockwise, the vehicle body left rear spiral drum rotates clockwise, and the vehicle body right rear spiral drum rotates counterclockwise. When the vehicle body 8 turns to the left, the two spiral rollers on the left side of the vehicle body reduce the rotating speed or stop, and at the moment, the power of the two spiral rollers on the right side of the vehicle body is obviously greater than that of the two spiral rollers on the left side, so that the spiral rollers 11 obtain the required steering torque and can turn to the left. When the vehicle body 8 turns to the right, the two spiral rollers on the right side of the vehicle body reduce the rotating speed or stop, and at the moment, the power of the two spiral rollers on the left side of the vehicle body is obviously greater than that of the two spiral rollers on the right side of the vehicle body, so that the vehicle body 8 obtains the required steering torque and can turn to the right. When the vehicle body 8 moves laterally, all of the four spiral rollers 11 rotate to one side.
As shown in fig. 6, the angle between the two spiral rollers 11 at the front of the vehicle body 8 and the vehicle body floor 802 can be adjusted by the piston rod 16; when the advancing device advances the seabed of a certain slope, the extension length of the piston rod 16 of the hydraulic cylinder 17 is shortened to drive the connecting beam I9 to fold the folding supporting rod 14, so that the position of the driving box 10 is improved, the supporting rod I19 swings along with the connecting beam, the spiral roller at the front part of the vehicle body 8 can be attached to the slope surface, the friction force is increased, and the seabed can be driven to the slope surface to perform slope operation at higher speed and higher efficiency.
Claims (10)
1. The utility model provides a be applicable to seabed unilateral binocular screw propulsion formula advancing device which characterized by: comprises a vehicle body, a spiral roller, a driving device, a power generation device and a deck control platform; the power generation device and the deck control platform are arranged on the mother ship positioned at the sea level; the car body is connected with a power generation device and a deck control platform on the surface mother ship through an umbilical cable, so that the transmission of electric power and signals is realized; two sides of the bottom of the vehicle body are respectively provided with two spiral rollers, one end of each spiral roller is connected with a driving device, and the driving device is connected with an umbilical cable through a cable; the driving device is fixed at the bottom of the vehicle body.
2. The marine single-sided double-cylinder screw propulsion advancing device according to claim 1, wherein: the car body comprises a carriage and a car body bottom plate, and the carriage is fixedly arranged on the car body bottom plate.
3. The marine single-sided double-cylinder screw propulsion advancing device according to claim 2, wherein: the spiral rollers on two sides of the bottom of the vehicle body are symmetrically arranged; one end of the spiral roller is installed in the driving box through a bearing seat and is connected with a driving device in the driving box, the driving box is installed on a vehicle body bottom plate through a supporting device, the other end of the spiral roller is installed at the lower end of the supporting rod through the bearing seat, and the upper end of the supporting rod is installed on the vehicle body bottom plate.
4. The marine single-sided dual-drum screw propulsion device according to claim 3, wherein: the driving box is formed by fixedly connecting a driving box shell and a driving box cover plate through bolts; the driving box cover plate is provided with a through hole, a bearing seat is arranged in the driving box, and the bearing seat is coaxial with the through hole and is fixedly connected with the driving box cover plate; the driving device comprises a speed reducer and a motor, the speed reducer and the motor are fixed in the driving box, an input shaft of the speed reducer is connected with an output shaft of the motor, and the output shaft of the speed reducer is connected with the spiral roller; the through hole is arranged at the upper end of the driving box shell, and the cable is connected with the motor through the through hole at the upper end of the driving box shell.
5. The marine single-sided dual-drum screw propulsion device according to claim 4, wherein: the driving box connected with the spiral roller positioned at the front part of the vehicle body is hinged with the lower end of the folding supporting rod, the upper end of the folding supporting rod is hinged with the bottom plate of the vehicle body, the folding supporting rod comprises an upper rod and a lower rod, the lower end of the upper rod is hinged with the upper end of the lower rod through a hinge pin shaft, and the hinge pin shafts of the two folding supporting rods are connected with the two ends of the connecting beam I; the connecting beam I is hinged with one end of a hydraulic cylinder, and the other end of the hydraulic cylinder is hinged with a vehicle body bottom plate; the upper end of a supporting rod I connected with the front spiral roller is hinged with a bottom plate of the vehicle body.
6. The marine single-sided dual-drum screw propulsion device of claim 4, wherein: a driving box connected with a spiral roller positioned at the rear part of the vehicle body is fixedly arranged at the lower end of a supporting rod III, and the upper end of the supporting rod III is fixedly connected with a vehicle body bottom plate; the middle parts of the two support rods III are fixedly connected through a connecting beam II; the upper end of a support rod II connected with a spiral roller positioned at the rear part of the vehicle body is fixedly connected with a vehicle body bottom plate.
7. The marine single-sided double-cylinder screw propulsion type traveling device according to claim 5 or 6, wherein: the spiral roller be hollow structure, both ends are equipped with the step shaft respectively, the spiral roller outside is equipped with helical blade, the helical blade of the spiral roller of the front portion on the left of the automobile body and right rear portion revolves to for the levogyration, the helical blade of the spiral roller of the front portion on the right side of the automobile body and left rear portion revolves to for dextrorotation.
8. The marine single-sided dual-drum screw propulsion device according to claim 4, wherein: the interior of the carriage is provided with a deconcentrator which is fixed on a bottom plate of the carriage body; the umbilical cable enters the carriage through a through hole on the carriage and is connected with the input end of the deconcentrator, and each output end of the deconcentrator is connected with the cables of the four driving devices and is connected with the motors in each driving box through a through hole arranged on the bottom plate of the carriage body.
9. The marine single-sided dual-drum screw propulsion device of claim 1, wherein: the umbilical cable is provided with a floating ball, the floating ball is fixedly connected with the umbilical cable through a rope, the floating ball is installed close to the vehicle body, the umbilical cable bypasses a pulley and a winch on a transmission frame and is connected with a power generation device and a deck control platform, and the transmission frame and the winch are installed on a mother ship.
10. The marine single-sided dual-drum screw propulsion device according to claim 5, wherein: the upper rod of folding bracing piece be equipped with the stopper, the lower beam is equipped with the spacing groove, can guarantee that upper rod and lower beam lie in same straight line after folding bracing piece expandes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220966191.7U CN217022848U (en) | 2022-04-25 | 2022-04-25 | One-side double-cylinder spiral propulsion type advancing device suitable for seabed |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220966191.7U CN217022848U (en) | 2022-04-25 | 2022-04-25 | One-side double-cylinder spiral propulsion type advancing device suitable for seabed |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117328524A (en) * | 2023-11-28 | 2024-01-02 | 湖南千智机器人科技发展有限公司 | Marine engineering tunnel marine organism cleaning method and cleaning system |
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2022
- 2022-04-25 CN CN202220966191.7U patent/CN217022848U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117328524A (en) * | 2023-11-28 | 2024-01-02 | 湖南千智机器人科技发展有限公司 | Marine engineering tunnel marine organism cleaning method and cleaning system |
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