Floatable track type special underwater operation robot suitable for extremely soft geology

An underwater operation and crawler-type technology, which is applied to tracked vehicles, motor vehicles, amphibious vehicles, etc., can solve the problems of underwater shooting difficulties, increase the input of manpower and material resources, and damage the ore-collecting head, so as to shorten the operation time and task cycle , Improve the reliability of the device and reduce the effect of grounding specific pressure

Active Publication Date: 2019-02-01
SHANGHAI JIAO TONG UNIV
View PDF5 Cites 15 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1) It does not have the ability to suspend and float, and it needs to configure additional mother ships for launch and recovery during work, which is costly and inefficient
[0005] 2) It can only carry out bottoming operations. Since it is only equipped with a crawler mechanism and has no buoyancy equipment, it can only rely on crawlers and other equipment to perform three-degree-of-freedom movement on the seabed during work.
When encountering submarine terrain such as steep slopes, strong power is required to travel, which is easy to burn out the host and reduce the reliability of the system
When encountering complex and changeable seabed terrain, you cannot adjust your posture freely, and you are easy to touch obstacles, which will cause certain damage to the mining equipment
[0006] 3) Difficulty shooting underwater
Due to the cumbersome structure of the existing seabed ore-collecting equipment, multiple underwater cameras need to be installed to take detailed, all-round and multi-angle shots of the seabed environment, which has high requirements for the structural layout of the seabed ore-collecting equipment. It increases the difficulty of equipment design and increases the input of manpower and material resources
[0007] 4) Since there is no mechanical arm, it is impossible to clear obstacles, and it can only absorb ore from the flat seabed. When there are stones or other sundries pressing on the object to be absorbed, you must choose to give up the operation. Forcible operation is easy to damage the ore collecting head.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Floatable track type special underwater operation robot suitable for extremely soft geology
  • Floatable track type special underwater operation robot suitable for extremely soft geology
  • Floatable track type special underwater operation robot suitable for extremely soft geology

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0067] In this example, see Figure 1-3 , the crawler track adapted to the extremely thin and soft underwater ground environment is used to travel on the seabed and other rare and soft geological conditions. The track is a sled track, including the following parts: rubber track 106, spur 107, roller 108, driving gear 109, guide wheel assembly 1010, track walking structure side panel 1011, track water jet device 1012 and other structures.

[0068] The rubber track 106 is composed of track shoes, track pins and the like. The track pins connect the track shoes to form a track link. There are holes at both ends of the track shoes, which mesh with the driving wheel, and there are inducing teeth in the middle, which are used to regulate the track and prevent the track from falling off when the device turns or rolls, which improves the stability of the device.

[0069] The thorns 107 are fixed on the bottom of the rubber crawler, and their length is longer than that of ordinary tho...

Embodiment 2

[0097] The difference between the walking mechanism in this embodiment and the first embodiment is that the caterpillar belts on the left and right sides of the robot are divided into front and rear units respectively.

[0098] This embodiment has the same design idea and structure as the first embodiment, and can realize all the functions of the first embodiment. On this basis, the present embodiment also has additional designs, which are specifically described as follows:

[0099] see Figure 7 , 10 , 12. The center of the robot chassis is in the shape of a bell mouth with a large bottom and a small top. The collection box 2 is in a ring structure. There is a columnar space in the ring structure. The upper end of the columnar space is a water inlet, and the lower end is a water outlet. A propeller 8 is set at the center, and the propeller can drive water into the columnar space; a slightly raised baffle 1018 is fixed below the columnar space, and under the blocking effect ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a floatable track type special underwater operation robot suitable for extremely soft geology. The floatable track type special underwater operation robot suitable for extremely soft geology comprises a running mechanism; the running mechanism is a track and mud sled composite structure; mud sled board structures are fixedly arranged on the track; the bottoms of the mud sled board structures are higher than the bottom of the track and have arch-shaped board heads; board water jet devices are arranged on the arch-shaped board heads; the board water jet devices jet waterforwards; in the running process of the running mechanism, the arch-shaped board heads press water downwards; the pressed water and jet water mutually form water films at the bottoms of the mud sledboard structures to reduce the running resistance; and therefore, the floatable track type special underwater operation robot suitable for extremely soft geology can stably run in the extremely soft geology. According to the floatable track type special underwater operation robot suitable for extremely soft geology, as parts such as a propelling mechanism, a buoyancy adjusting device, an operationmodule are also designed, the underwater robot can automatically run on the sea bed and has multiple functions such as water floating, fault self-repairing and fine operation.

Description

technical field [0001] The invention relates to a crawler walking mechanism, in particular to a crawler walking structure and a robot device adapted to the environment of extremely thin and soft underwater ground. Background technique [0002] In the prior art, there is a design of setting spurs on the track to increase the thrust. The spurs mainly play the role of increasing friction, but the height of the spurs is generally low, and the effect is often not good, because the length of the spurs is relatively short. There is no effect of removing mud. The main reason is that sludge is easily embedded between the spurs, and the lengthening of the spurs will make it more difficult to remove the sludge. In the existing technology, the purpose of gravity deslagging is also achieved by setting the angle of the spurs, but , the desludging effect is always unsatisfactory; the underwater walking mechanism has relatively high requirements for the balance of the grounding specific pre...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B60F3/00B62D55/088B62D55/26
CPCB60F3/0015B60F3/0038B62D55/0882B62D55/26
Inventor 肖龙飞杨建民赵国成彭涛唐雷吕海宁刘明月寇雨丰赵伟杰
Owner SHANGHAI JIAO TONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap