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

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...

Examples

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 ...

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...

Examples

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 ...

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