Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism

A walking mechanism and complex terrain technology, applied to motor vehicles, control devices, transportation and packaging, etc., can solve problems such as destructive, complex structure, difficult to control, etc., and achieve strong stability, efficient and flexible movement, and strong geological adaptability Effect

Inactive Publication Date: 2012-05-23
UNIV OF SCI & TECH BEIJING
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] 2. The crawler walking mode is an expansion of the wheel-type mobile mechanism. It has a small grounding specific pressure, strong passing performance and cross-country mobility, and has good traction and adhesion performance. It is suitable for walking on soft ground and uneven ground. It adapts to terrain conditions. The method is destructive and consumes a lot of energy
It has good energy consumption characteristics when walking on rough and soft ground, but the structure is complex and difficult to control, especially the movement of the center of gravity and stability of walking

Method used

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  • Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism
  • Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism
  • Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism

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Embodiment Construction

[0036] The technical solution of the present invention will be further elaborated below in conjunction with the accompanying drawings.

[0037] Such as figure 1 As shown, the composite wheeled walking mechanism of the present invention adapts to the complex terrain of the seabed. The mechanism includes an articulated frame 21 and a composite wheel train. Two articulated frames are connected together, and composite wheels are respectively installed on both sides of the frame. Tie.

[0038] Such as figure 2 , 3 As shown, the composite wheel train structure schematic diagram of the present invention. The composite wheel train is composed of a running gear, a power system, a transmission system and a hydraulic system; the running gear includes a front connecting plate 5, a front wheel 6, a middle wheel 7, a rear wheel 8 and a rear connecting plate 9; the hydraulic system includes a first oil cylinder 2 And the second oil cylinder 3; Transmission system includes front sprocket...

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Abstract

The invention discloses a self-adaptive sea bottom complex terrain compound wheel type traveling mechanism which comprises an articulated frame and a compound gear train which is arranged at both sides of the frame and is provided with an independent driving system. The compound gear train comprises a front connecting plate, a back connecting plate and a front wheel, a middle wheel and a back wheel which are arranged on the front connecting plate and back connecting plate and are provided with the independent driving system; chain wheels exist among the front wheel, the middle wheel and the back wheel; the chain wheels transfer the power by chains; and the front connecting plate and the back connecting plate are articulated with a hydro-cylinder and the frame. The traveling mechanism adopts the active control mode for barrier crossing, can cross steps and bosses with the diameter larger than that of the tyre by two times, can stride a ditch less than the distance between the front wheel and the back wheel in the wheel train, can be adaptive to the high-low fluctuant road surface, causes the tyre and the road surface to be continuously contacted, furthest obtains the adhesive forceof the road surface, effectively increases the dynamic performance and working efficiency in the sea bottom complex road condition. The traveling mechanism is simple and compact, has high efficient and flexible movement, low cost, wide adaptation range, good stability and high reliability.

Description

technical field [0001] The invention belongs to the field of mechanical manufacturing, and relates to a composite wheel-type walking mechanism adaptive to the complex topography of the seabed, which can be used in a deep-sea resource mining system and an ore collection system under harsh conditions. Background technique [0002] At present, the walking modes that adapt to various terrains mainly include wheeled, crawler, leg-footed and mixed, each of which has different terrain movement characteristics; [0003] 1. The wheeled walking mode is characterized by high efficiency and high flexibility. Combined with the design of the suspension and tires, it can obtain high passing performance and anti-rollover ability. The lunar rover schemes of various countries are all the first to promote the wheeled design. And in the military field, wheeled solutions have gradually become the main platform for battlefield transportation in various countries. The cost and maintenance cost of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D61/12B60K17/00
Inventor 张文明冯雅丽杨耀东姜勇常举林景高康翌婷杨珏
Owner UNIV OF SCI & TECH BEIJING
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