A single-sided double-tube screw propulsion travel device suitable for the seabed

Abstract

The present invention discloses a single-sided double-drum spiral propulsion travel device suitable for the seabed, comprising a vehicle body, a spiral drum, a driving device, a power generation device and a deck control platform; the power generation device and the deck control platform are arranged on a mother ship at sea level; the vehicle body is connected to the power generation device and the deck control platform on the surface mother ship through an umbilical cable to realize the transmission of power and signals; two spiral drums are respectively arranged on both sides of the bottom of the vehicle body, one end of the spiral drum is connected to the driving device, and the driving device is connected to the umbilical cable through an electric cable; the driving device is fixed to the bottom of the vehicle body. The present invention has a simple structure, is safe and reliable, is not easy to sink or slip when traveling on a soft seabed, and can quickly and efficiently travel to the seabed slope and travel along the slope, has strong environmental adaptability, and has a long practical life.

Description

Technical Field

[0001] The invention belongs to the field of submarine engineering machinery, and in particular relates to a single-sided double-tube screw-propelled traveling device suitable for submarine. Background Art

[0002] The ocean accounts for about 71% of the earth's surface area, and it contains a large number of resources that have not yet been fully recognized and utilized by humans. With the rapid development of the world's industry and economy, marine resources have attracted the attention and research of more and more countries and organizations. Due to the complex seabed topography and a thick layer of sediment on the surface, most of the seabed sediments are soft sediments with high content of clay and mud. Many underwater operations require devices that can walk on the seabed to complete.

[0003] With the development of marine engineering, crawler walking devices are widely used in deep seabed monitoring, detection, and mineral resource development. Crawler walking devices have the characteristics of strong passability, strong stability, and high obstacle crossing ability, but general crawlers are difficult to pass through these extremely soft areas. Faced with relatively poor loose road surfaces, crawler vehicles will sink seriously when traveling in the soft mud on the seabed, causing the crawler tracks to lose propulsion, and problems such as slipping and inaccurate control will occur, making it difficult to use normally. Therefore, solving these driving problems on soft ground is of great significance to economic development. Therefore, it is necessary to design a traveling device that can be applied to soft seabeds. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a single-sided double-tube screw-propelled traveling device suitable for seabed with simple structure and strong adaptability.

[0005] The technical solution adopted by the present invention is: a single-sided double-drum screw-propelled traveling device suitable for the seabed, comprising a vehicle body, a spiral drum, a driving device, a power generation device and a deck control platform; the power generation device and the deck control platform are arranged on a mother ship located at sea level; the vehicle body is connected to the power generation device and the deck control platform on the surface mother ship through an umbilical cable to realize the transmission of power and signals; two spiral drums are respectively arranged on both sides of the bottom of the vehicle body, one end of the spiral drum is connected to the driving device, and the driving device is connected to the umbilical cable through an electric cable; the driving device is fixed to the bottom of the vehicle body.

[0006] In the above-mentioned single-sided double-barrel screw-propelled traveling device applicable to the seabed, the vehicle body comprises a vehicle compartment and a vehicle body bottom plate, and the vehicle compartment is fixedly mounted on the vehicle body bottom plate.

[0007] In the above-mentioned single-sided double-drum spiral propulsion traveling device suitable for the seabed, the spiral drums on both sides of the bottom of the vehicle body are symmetrically arranged; one end of the spiral drum is installed in the drive box through a bearing seat and is connected to the drive device in the drive box, and the drive box is installed on the bottom plate of the vehicle body through a supporting device, and the other end of the spiral drum is installed on the lower end of the support rod through a bearing seat, and the upper end of the support rod is installed on the bottom plate of the vehicle body.

[0008] In the above-mentioned single-sided double-drum spiral propulsion traveling device applicable to the seabed, the drive box is formed by a drive box shell and a drive box cover plate fixedly connected by bolts; the drive box cover plate is provided with a through hole, and a bearing seat is provided in the drive box, the bearing seat is coaxial with the through hole and fixedly connected to the drive box cover plate; the drive device includes a reducer and a motor, the reducer and the motor are fixed in the drive box, the input shaft of the reducer is connected to the output shaft of the motor, and the output shaft of the reducer is connected to the spiral drum; a through hole is provided at the upper end of the drive box shell, and the cable is connected to the motor through the through hole at the upper end of the drive box shell.

[0009] In the above-mentioned single-sided double-drum spiral propulsion traveling device suitable for the seabed, the drive box connected to the spiral drum located at the front of the vehicle body is hinged to the lower end of the folding support rod, and the upper end of the folding support rod is hinged to the bottom plate of the vehicle body. The folding support rod includes an upper rod and a lower rod, and the lower end of the upper rod and the upper end of the lower rod are hinged through a hinge pin shaft, and the hinge pin shafts of the two folding support rods are connected to the two ends of the connecting beam I; the connecting beam I is hinged to one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the bottom plate of the vehicle body; the upper end of the support rod I connected to the front spiral drum is hinged to the bottom plate of the vehicle body.

[0010] In the above-mentioned single-sided double-drum spiral propulsion traveling device suitable for the seabed, the drive box connected to the spiral drum located at the rear of the vehicle body is fixedly installed at the lower end of the support rod III, and the upper end of the support rod III is fixedly connected to the bottom plate of the vehicle body; the two support rods III are fixedly connected in the middle by a connecting beam II; the upper end of the support rod II connected to the spiral drum located at the rear of the vehicle body is fixedly connected to the bottom plate of the vehicle body.

[0011] In the above-mentioned single-sided double-drum spiral propulsion traveling device suitable for the seabed, the spiral drum is a hollow structure with stepped shafts at both ends, and spiral blades are provided on the outside of the spiral drum. The spiral blades of the spiral drum at the left front and right rear of the vehicle body have a left-hand rotation direction, and the spiral blades of the spiral drum at the right front and left rear of the vehicle body have a right-hand rotation direction.

[0012] In the above-mentioned single-sided double-barrel screw-propelled traveling device suitable for submarine, a splitter is provided inside the carriage and 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 to the input end of the splitter, and each output end of the splitter is connected to the cable lines of the four drive devices, and is connected to the motors in each drive box through the through holes provided on the bottom plate of the vehicle body.

[0013] In the above-mentioned single-sided double-barrel screw-propelled traveling device applicable to the seabed, a buoy is provided on the umbilical cable, the buoy is fixedly connected to the umbilical cable by a rope, the buoy is installed close to the vehicle body, the umbilical cable passes around the pulley and winch on the transmission frame and is connected to the power generation device and the deck control platform, and the transmission frame and winch are installed on the mother ship.

[0014] In the above-mentioned single-sided double-barrel screw-propelled traveling device applicable to the seabed, the upper rod of the folding support rod is provided with a limit block, and the lower rod is provided with a limit groove, which can ensure that the upper rod and the lower rod are located in the same straight line after the folding support rod is unfolded.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention has a simple structure. It adopts a spiral drum with a hollow interior as a traveling mechanism, which can play the role of a buoy, effectively reduce the grounding pressure, and is not easy to sink in an environment with soft seabed sediments; each spiral drum of the present invention has a separate driving device, and by changing the speed and steering of the driving device, the traveling device can realize forward, backward, steering, lateral translation or in-situ steering, etc.; the vehicle body bottom plate of the present invention is provided with a hydraulic cylinder, and by controlling the length of the hydraulic cylinder piston rod, when the spiral drum travels to the seabed with a slope, the travel angles of the left front and right front spiral drums are changed, which can better fit the slope surface, increase friction, prevent the middle part of the spiral drum from slipping in the air, and improve the climbing ability; the umbilical cable of the present invention is provided with a floating ball, and the floating ball can avoid the umbilical cable and the seabed debris from being entangled, causing the traveling device to be blocked or the umbilical cable to be damaged, and the service life of the umbilical cable is increased; the folding support rod of the present invention is provided with a limit block and a limit groove, which can be in a vertical state when the folding support rod is folded and restored to the original state, which is more conducive to the travel of the traveling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a side structural schematic diagram of the present invention.

[0019] Figure 3 It is a schematic diagram of the side sectional structure of the spiral drum of the present invention.

[0020] Figure 4 It is a schematic diagram of the internal structure of the carriage of the present invention.

[0021] Figure 5 It is a schematic diagram of the internal structure of the drive box of the present invention.

[0022] Figure 6 It is a schematic diagram of the structure of traveling along a slope of the present invention.

[0023] In the figure: 1—deck control platform; 2—generator; 3—winch; 4—rotating frame; 5—pulley; 6—umbilical cable; 7—buoy; 8—car body; 801—carriage; 802—car body bottom plate; 9—connecting beam I; 10—drive box; 1001—drive box shell; 1002—drive box cover; 11—screw drum; 12—connecting beam II; 13—mother ship; 14—folding support rod; 1401—limit block; 1402—limit groove; 15—cable line; 16—piston rod; 17—hydraulic cylinder; 18—end cover; 19—support rod I; 20—support rod II; 21—bearing seat; 2101—sleeve; 2102—rolling bearing; 22—support rod III; 23—motor; 24—reducer; 2401—output shaft of reducer; 25—distributor. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] like Figure 1-Figure 5 As shown, the present invention includes 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 installed on a mother ship 13 located at the sea level; the vehicle body 8, the spiral drum 11 and the drive box 10 are located on the seabed. The umbilical cable 6 on the vehicle body 8 is connected to the power generation device 2 and the deck control platform 1 on the surface mother ship 13, and the power generation device 2 and the deck control platform 1 are connected to realize the transmission of power and signals. The umbilical cable 6 passes around the pulley 5 and the winch 3 on the rotating frame 4, and 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 propulsion travel device on the seabed through the umbilical cable 6, and can adjust the length of the umbilical cable 6 by controlling the winch 3 to adapt to the seabed of different depths. The umbilical cable 6 is provided with a buoy 7, which is fixedly connected to the umbilical cable 6 by a rope and installed near the vehicle body 8; the buoy 7 can effectively prevent the umbilical cable 6 from being entangled with foreign objects on the seabed or from contacting and rubbing with the seabed, causing problems such as difficulty in moving the traveling device or damage to the umbilical cable, and can ensure the travel of the traveling device to a certain extent, greatly increasing the service life of the umbilical cable 6.

[0026] The vehicle body 8 includes a vehicle compartment 801 and a vehicle body bottom plate 802, wherein the vehicle compartment 801 is fixedly mounted on the vehicle body bottom plate 802. Different experimental devices can be mounted on the vehicle body 8 to complete different submarine scientific research tasks. A wire splitter 25 is provided inside the vehicle compartment 801, and the wire splitter 25 is fixed on the vehicle body bottom plate 802. The umbilical cable 6 enters the vehicle compartment 801 through a through hole on the vehicle compartment 801 and is connected to the input end of the wire splitter 25.

[0027] Two spiral drums 11 are respectively provided on both sides of the bottom of the vehicle body bottom plate 802, and the spiral drums 11 on both sides of the vehicle body bottom plate 802 are symmetrically arranged. One end of the spiral drum 11 located at the front of the vehicle body is connected to the driving device 23, and the driving device 23 is installed in the driving box 10, and the driving box 10 is hinged to the lower end of the folding support rod 14. The folding support rod 14 includes an upper rod and a lower rod, the upper end of the upper rod is hinged to the vehicle body bottom plate 802, the lower end is hinged to the upper end of the lower rod through a hinge pin, and the lower end of the lower rod is hinged to the corresponding driving box 10. The upper rod is provided with a limit block 1401, and the lower rod is provided with a limit groove 1402, which can ensure that the upper rod and the lower rod are located in the same straight line after the folding support rod 14 is unfolded, which is conducive to the movement of the traveling device on the seabed.

[0028] The hinge pins of the two folding support rods 14 are connected to the two ends of the connecting beam I9; the connecting beam I9 is ​​hinged to one end of the hydraulic cylinder 17, and the other end of the hydraulic cylinder 17 is hinged to the vehicle body bottom plate 802. The front spiral drum is installed on the lower end of the support rod I19 through a bearing seat, and the upper end of the support rod I19 is hinged to the vehicle body bottom plate 802. One end of the spiral drum 11 located at the rear of the vehicle body 8 is connected to the driving device, and the driving device is installed in the driving box. The driving box is fixedly installed at the lower end of the support rod III22, and the upper end of the support rod III22 is fixedly connected to the vehicle body bottom plate 802. The middle of the two support rods III22 is fixedly connected by the connecting beam II12. The other end of the spiral drum located at the rear of the vehicle body is installed on the support rod II20 through a bearing seat, and the upper end of the support rod II20 is fixedly connected to the vehicle body bottom plate 802. The driving device includes a reducer 24 and a motor 23, which are fixed in the driving box 10, the input shaft of the reducer 24 is connected to the output shaft of the motor 23, and the output shaft 2401 of the reducer 24 is connected to the corresponding spiral drum 11. Each output end of the splitter 25 is connected to the cable 15, and is connected to the motor 23 in each driving box 10 through the through hole provided in the vehicle body bottom plate 802. The staff controls the speed and direction of the motor 23 corresponding to each spiral drum 11 through the deck control platform 1.

[0029] The spiral drum 11 is a hollow structure, with stepped shafts at both ends, which are interference fit with the inner ring of the rolling bearing 2102 in the bearing seat 21 and are axially fixed by the sleeve 2101. The spiral drum 11 is provided with spiral blades on the outside, and the spiral blades of the spiral drums at the left front and right rear of the vehicle body are left-handed, and the spiral blades of the spiral drums at the right front and left rear of the vehicle body are right-handed.

[0030] The drive box 10 is composed of a drive box shell 1001 and a drive box cover 1002 fixedly connected by bolts; the drive box cover 1002 is provided with a through hole, and a bearing seat is provided in the drive box 10, the bearing seat 21 is coaxial with the through hole, and is fixedly connected to the drive box cover 1002 by bolts.

[0031] The present invention generates electricity through the power generation device 2 of the mother ship 13, and transmits the electricity to each motor 23 and the deck control platform 1 through the umbilical cable 6. The deck control platform 1 controls the start and stop of the motor 23. The deck control platform 1 sends instructions and transmits signals to each motor 23 through the umbilical cable 6 to control the speed and direction of the motor 23. The motor 23 in the drive box 10 is decelerated and amplified by the reducer 24, so that the output shaft 2401 of the reducer drives the spiral drum 11 outside the drive box 10 to rotate. When the spiral drum 11 rotates to cut the seabed sediment, it will generate a forward or backward force, and also generate a lateral force. Since the blades outside the spiral drum 11 on both sides of the vehicle body 8 have different rotation directions, the lateral friction force can be offset, and only the longitudinal friction force is generated, so that the traveling device moves forward or backward without slipping on the soft seabed. When observed from the front of the vehicle body 8, when the vehicle body 8 moves forward, the left front spiral roller of the vehicle body rotates clockwise, the right front spiral roller of the vehicle body rotates counterclockwise, the left rear spiral roller of the vehicle body rotates counterclockwise, and the right rear spiral roller of the vehicle body rotates clockwise. When the vehicle body 8 moves backward, the left front spiral roller of the vehicle body rotates counterclockwise, the right front spiral roller of the vehicle body rotates clockwise, the left rear spiral roller of the vehicle body rotates clockwise, and the right rear spiral roller of the vehicle body 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 speed or stop. At this time, the power of the two spiral rollers on the right side of the vehicle body is obviously greater than that on the left side, so that the spiral roller 11 obtains 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 speed or stop. At this time, the power of the two spiral rollers on the left side of the vehicle body is obviously greater than that on the right side, 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 four spiral rollers 11 rotate to one side.

[0032] like Figure 6 As shown, the angle between the two spiral rollers 11 at the front of the vehicle body 8 and the vehicle body bottom plate 802 can be adjusted by the piston rod 16; when the traveling device travels to the seabed with 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 support rod 14, thereby raising the position of the drive box 10, and the support rod Ⅰ19 swings accordingly, so that the spiral roller at the front of the vehicle body 8 can fit the slope better, increase the friction, and can travel to the seabed slope more quickly and efficiently to perform slope operations.

Claims

1. A single-sided double-tube screw propulsion device suitable for the seabed, Its characteristics are: It includes a vehicle body, a spiral drum, a driving device, a power generation device and a deck control platform; the power generation device and the deck control platform are arranged on a mother ship at sea level; the vehicle body is connected to the power generation device and the deck control platform on the surface mother ship through an umbilical cable to realize the transmission of power and signals; two spiral drums are respectively arranged on both sides of the bottom of the vehicle body, and the spiral drums on both sides of the bottom of the vehicle body are symmetrically arranged; one end of the spiral drum is connected to the driving device, and the driving device is connected to the umbilical cable through an electric cable; the driving device is fixed to the bottom of the vehicle body; The drive box connected to the spiral drum at the front of the vehicle body is hinged to the lower end of the folding support rod, and the upper end of the folding support rod is hinged to the bottom plate of the vehicle body. The folding support rod includes an upper rod and a lower rod, and the lower end of the upper rod is hinged to 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 to the two ends of the connecting beam I; the connecting beam I is hinged to one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the bottom plate of the vehicle body; the upper end of the support rod I connected to the front spiral drum is hinged to the bottom plate of the vehicle body; The driving box connected to the spiral drum at the rear of the vehicle body is fixedly installed at the lower end of the support rod III, and the upper end of the support rod III is fixedly connected to the bottom plate of the vehicle body; the middle of the two support rods III is fixedly connected by a connecting beam II; the upper end of the support rod II connected to the spiral drum at the rear of the vehicle body is fixedly connected to the bottom plate of the vehicle body.

2. According to claim 1, the single-sided double-tube screw propulsion travel device suitable for use on the seabed, Its characteristics are: The vehicle body comprises a carriage and a vehicle body bottom plate, and the carriage is fixedly mounted on the vehicle body bottom plate.

3. The single-sided double-tube screw propulsion travel device applicable to the seabed according to claim 1, Its characteristics are: One end of the spiral drum is installed in the drive box through a bearing seat and connected to the drive device in the drive box. The drive box is installed on the vehicle body bottom plate through a supporting device. The other end of the spiral drum is installed on the lower end of the support rod through a bearing seat, and the upper end of the support rod is installed on the vehicle body bottom plate.

4. The single-sided double-tube screw propulsion travel device applicable to the seabed according to claim 3, Its characteristics are: The drive box is formed by a drive box shell and a drive box cover plate fixedly connected by bolts; the drive box cover plate is provided with a through hole, and a bearing seat is provided in the drive box, the bearing seat is coaxial with the through hole and fixedly connected to the drive box cover plate; the drive device includes a reducer and a motor, the reducer and the motor are fixed in the drive box, the input shaft of the reducer is connected to the output shaft of the motor, and the output shaft of the reducer is connected to the spiral drum; a through hole is provided at the upper end of the drive box shell, and the cable is connected to the motor through the through hole at the upper end of the drive box shell.

5. According to claim 1, the single-sided double-tube screw propulsion travel device suitable for use on the seabed, Its characteristics are: The spiral drum is a hollow structure with stepped shafts at both ends. Spiral blades are arranged on the outside of the spiral drum. The spiral blades of the spiral drum at the left front and right rear of the vehicle body are left-handed, while the spiral blades of the spiral drum at the right front and left rear of the vehicle body are right-handed.

6. The single-sided double-tube screw propulsion travel device suitable for use on the seabed according to claim 2, Its characteristics are: A wire splitter is provided inside the carriage and fixed on the bottom plate of the carriage; the umbilical cable enters the carriage through a through hole on the carriage and is connected to the input end of the wire splitter; each output end of the wire splitter is connected to the cables of the four drive devices and is connected to the motors in each drive box through the through holes provided on the bottom plate of the carriage.

7. The single-sided double-tube screw propulsion traveling device applicable to the seabed according to claim 1, Its characteristics are: The umbilical cable is provided with a buoy, which is fixedly connected to the umbilical cable through a rope. The buoy is installed close to the vehicle body. The umbilical cable passes around the pulley and winch on the transmission frame and is connected to the power generation device and the deck control platform. The transmission frame and winch are installed on the mother ship.

8. The single-sided double-tube screw propulsion travel device applicable to the seabed according to claim 1, Its characteristics are: The upper rod of the folding support rod is provided with a limiting block, and the lower rod is provided with a limiting groove, which can ensure that the upper rod and the lower rod are located on the same straight line after the folding support rod is unfolded.

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