Method for using a track steering mechanism of a deep-sea walking device

Abstract

The application relates to a kind of methods for using track steering mechanisms of deep-sea walking devices, the walking device includes a vehicle body, the left front, left rear, right front and right rear of the vehicle body are each provided with a track module, a steering mechanism is installed between each single track module and the vehicle body, and the steering mechanism promotes the corresponding track module to rotate in the horizontal plane relative to the vehicle body;By the setting of the steering mechanism, it greatly helps and facilitates the free walking of the walking device on the deep-sea seabed, especially when trapped in the seabed soft mud, it can effectively free itself from the trouble, and it can smoothly turn around in place while reducing the impact on the bearing capacity of the seabed soil, so that the walking device can be used smoothly and smoothly on the deep-sea seabed.

Description

Technical Field

[0001] This invention relates to the field of deep-sea walking device technology, and in particular to a method of using a track steering mechanism for a deep-sea walking device. Background Technology

[0002] The ocean contains abundant biological and mineral resources, especially polymetallic sulfides, polymetallic nodules, and cobalt-rich crusts. Due to the complex seabed environment, underwater robots are generally used for underwater mining.

[0003] In the existing technology, for underwater walking devices with tracked walking, since the seabed geology is mostly soft mud, it is easy to slip. Slipping will disturb the soft mud directly under the track, which will seriously affect the load-bearing capacity of the seabed soft mud for the vehicle, and may even cause the vehicle to get stuck in the mud and be unable to move forward.

[0004] On the other hand, existing tracked underwater walking devices have difficulty performing in-situ turning maneuvers on soft seabed surfaces. This is because the in-situ turning process will cause a large lateral slippage in the normal direction of the track, and the speed of this lateral slippage will cause a large disturbance to the soft mud at the track location, greatly reducing the bearing capacity of the mud at that location, causing the track to sink into the mud and lose its ability to move.

[0005] When an underwater walking device gets stuck in the seabed mud, it can usually only be lifted from the seabed by an external cable and then lowered back to the seabed from another location. This operation is very troublesome, time-consuming and labor-intensive, which seriously affects the smooth use of the walking device underwater. Summary of the Invention

[0006] In response to the shortcomings of the existing production technology, the applicant provides a method for using a tracked steering mechanism of a deep-sea walking device with a reasonable structure, which enables effective self-rescue and on-the-spot turning on the seabed, greatly facilitating and enabling the walking device to move freely on the deep seabed.

[0007] The technical solution adopted in this invention is as follows:

[0008] A method for using a track steering mechanism of a deep-sea walking device, the walking device including a vehicle body, track modules are installed on the front left, rear left, front right and rear right of the vehicle body, and a steering mechanism is installed between each track module and the vehicle body, the steering mechanism causing the corresponding track module to rotate in the horizontal plane relative to the vehicle body.

[0009] The method of use includes:

[0010] When the walking device is trapped in the soft mud on the seabed and cannot continue to walk forward, the steering mechanism works, so that each group of track modules is rotated in the horizontal plane relative to the vehicle body until each group of track modules is parallel to each other, and each group of track modules forms the same included angle with the front-back direction; each group of track modules is commonly driven in the same direction and rubs with the new contact position on the seabed to realize the escape of the walking device.

[0011] When the walking device needs to turn in place, the steering mechanism works, so that each group of track modules is rotated in the horizontal plane relative to the vehicle body until each group of track modules is located on the four sides of the same rhombus structure with the vehicle body as the center, and each group of track modules forms the same included angle with the front-back direction; the two groups of track modules on the same side of the vehicle body are driven in the same direction, and the track modules on both sides of the vehicle body are driven in opposite directions to realize the turning of the walking device in place.

[0012] As a further improvement of the above technical solution:

[0013] The track in the circumferential direction of the single track module is driven in the circumferential direction under the driving of the corresponding track motor.

[0014] Each single track module is provided with a track speed sensor, and the track speed sensor is used to measure the driving speed of the track in the corresponding track module; the electronic cabin of the vehicle body is provided with an inertial navigation system, and the walking speed of the walking device is collected in real time by the inertial navigation system.

[0015] During the walking process of the walking device, the driving speed of the corresponding track module is measured in real time by the track speed sensor, and the walking speed of the walking device is collected in real time by the inertial navigation system; when the walking speed collected by the inertial navigation system is 0 and the driving speed collected by the four track speed sensors is not 0, it is judged that the walking device is trapped in the soft mud, and the escape instruction is triggered by the controller.

[0016] When escaping, each group of track modules is synchronously rotated in the horizontal plane relative to the vehicle body by the same angle clockwise or counterclockwise under the driving of the corresponding steering mechanism, and then each group of track modules is synchronously driven forward.

[0017] When turning in place, the two groups of track modules in front of the vehicle body are rotated in opposite directions under the driving of the corresponding steering mechanism, so that the front parts of the two groups of track modules are close to each other in the retracted state; similarly, the rear parts of the two groups of track modules behind the vehicle body are close to each other in the retracted state.

[0018] The center of gravity of the walking device on the vehicle body is set as point O, the center of rotation when the steering mechanism drives the corresponding track module to rotate is set as point A, and the center of the longitudinal section of the single track module is set as point B; when turning in place, after the single track module is turned, the corresponding point B is located on the same straight line as point O and point A.

[0019] When turning in place, the track modules on the left side of the vehicle body are all driven forward, and the track modules on the right side of the vehicle body are all driven backward, so that the whole walking device turns in place to the right.

[0020] The front and rear parts of the two sides of the vehicle body are respectively provided with connecting seats, and a single connecting seat is provided with a steering mechanism between the connecting seat and the corresponding track module; the steering mechanisms corresponding to the two groups of track modules on the same side of the vehicle body are respectively arranged on the opposite sides of the connecting seats.

[0021] The steering mechanism comprises a steering oil cylinder rotatably installed on the connecting seat, and the output end of the steering oil cylinder is rotatably connected with one end of a connecting rod, and the other end of the connecting rod is rotatably connected with the connecting seat through a hinged shaft; the end of the connecting rod, on which the hinged shaft is installed, is fixedly installed with a track support in the corresponding track module.

[0022] The beneficial effects of the present application are as follows:

[0023] The present application has the advantages of compact and reasonable structure, and the use of the steering mechanism greatly facilitates and facilitates the walking device to walk freely on the deep-sea seabed, especially when stuck in the seabed mud, the walking device can effectively free itself, and the walking device can smoothly turn in place on the seabed, so that the walking device can be used smoothly and smoothly on the deep-sea seabed;

[0024] In the present application, when the walking device is stuck in the mud, the steering mechanism is triggered to act on the corresponding track module, so that each track module simultaneously rotates in the same direction relative to the vehicle body by the same angle, and then the track module is driven, so that the position rubbed by the track module during driving is different from the position during being stuck, that is, the track module is not repeatedly rubbed on the same ground to escape from the stuck position, thereby realizing self-rescue.

[0025] In the present application, the steering mechanism drives the corresponding track module to turn relative to the vehicle body, which greatly reduces the lateral speed generated by the vehicle turning relative to the ground, thereby effectively reducing the sliding friction between the vehicle and the seabed mud, thereby reducing the disturbance to the seabed mud to prevent the walking device from being stuck in the mud, especially suitable for the walking device to turn in place underwater, effectively ensuring the smooth and free walking of the walking device underwater. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The figure is a structural schematic view of the walking device of the present application.

[0027] Figure 2 The figure is a structural schematic view of the walking device of the present application. Figure 1 The figure is a partial enlarged view of A in the figure.

[0028] Figure 3 The figure is a structural schematic view of the steering mechanism of the present application.

[0029] Figure 4 This is a schematic diagram of the walking device of the present invention when it is getting out of trouble.

[0030] Figure 5 This is a schematic diagram of the walking device of the present invention when it turns in place.

[0031] Figure 6 This is a schematic diagram showing the speed breakdown when the steering mechanism of the present invention is not working and is in a stationary steering state.

[0032] Figure 7 This is a schematic diagram showing the velocity breakdown of the steering mechanism of the present invention in the stationary steering state.

[0033] Figure 8 This is a schematic diagram showing the velocity breakdown of a single track module in a stationary turning state according to the present invention.

[0034] Figure 9 This is a schematic diagram of the steering mechanism of the walking device of the present invention.

[0035] The components are: 1. Vehicle body; 2. Steering mechanism; 3. Connecting seat; 4. Track module; 5. Track motor; 21. Steering cylinder; 22. Connecting rod; 23. Articulated shaft. Detailed Implementation

[0036] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0037] like Figure 1 As shown in this embodiment, a method for using the track steering mechanism of a deep-sea walking device is described. The walking device includes a vehicle body 1, and track modules 4 are installed on the front left, rear left, front right, and rear right of the vehicle body 1. A steering mechanism 2 is installed between each track module 4 and the vehicle body 1. The steering mechanism 2 causes the corresponding track module 4 to rotate in the horizontal plane relative to the vehicle body 1.

[0038] The usage methods include two aspects: self-extrication when the walking device is walking on the seabed and turning in place.

[0039] The method for extricating oneself from a predicament is as follows:

[0040] When the walking device becomes stuck in the soft mud on the seabed and cannot move forward, the steering mechanism 2 activates, causing each set of track modules 4 to rotate relative to the vehicle body 1 in the horizontal plane until the track modules 4 are parallel to each other and each set of track modules 4 forms the same angle with the forward and backward directions. Figure 4 As shown, each group of track modules 4 drives in the same direction and rubs against the new contact position on the seabed to enable the walking device to get out of trouble.

[0041] In the embodiment, when the walking device is trapped in mud, the steering mechanism 2 triggers the corresponding track module 4 to move, so that each track module 4 simultaneously rotates the same angle relative to the vehicle body 1 in the same direction, and then the track module 4 is driven respectively, so that the position of the track module 4 rubbing during driving is different from the position of the track module 4 rubbing when trapped, that is, the track module 4 is released from the trapped position by avoiding rubbing the same ground, thereby realizing self-release.

[0042] In the embodiment, the track in the circumferential direction of the single track module 4 is driven in the circumferential direction under the driving of the corresponding track motor 5, and the simultaneous driving of the four track modules 4 facilitates the walking device to walk relative to the ground.

[0043] Further, the single track module 4 is provided with a track speed sensor, and the track speed sensor is used to measure the driving speed of the track in the corresponding track module 4; the electronic cabin of the vehicle body 1 is provided with an inertial navigation system, which collects the walking speed of the walking device in real time; the real-time driving speed and the walking speed are obtained to timely judge and know the real-time walking condition of the walking device.

[0044] Specifically, during the walking process of the walking device, the driving speed of the corresponding track module 4 is measured in real time by the track speed sensor, and the walking speed of the walking device is collected in real time by the inertial navigation system; when the walking speed collected by the inertial navigation system is 0 and the driving speed collected by the four track speed sensors is not 0, it is judged that the walking device is trapped in soft mud, and the release instruction is triggered by the controller.

[0045] Of course, in other cases where the walking speed and the driving speed are inconsistent, such as the driving speed of the four track modules 4 is greater than the walking speed of the vehicle, but the walking speed is not 0 at this time, it can be judged that the walking device is in the situation of slipping at this time, but still in the process of advancing, and the release instruction does not need to be triggered.

[0046] When the driving speed of the four track modules 4 is the same as the walking speed of the vehicle, it means that the walking condition of the walking device on the seabed is good, and there is no situation of slipping or being trapped.

[0047] In one of the embodiments, for example Figure 4 As shown, when releasing, each group of track modules 4 is synchronously rotated by the same angle in the horizontal plane relative to the vehicle body 1 in the clockwise direction under the driving of the respective steering mechanism 2, or can be synchronously rotated by the same angle in the counterclockwise direction, so that the track module 4 avoids the rubbing position with the ground when trapped, and then each group of track modules 4 is synchronously driven forward to realize the release.

[0048] In the embodiment, in combination with the steering mechanism 2, the method for the walking device to turn on the seabed is:

[0049] When the walking device needs to turn in place, the turning mechanism 2 works, so that each group of track modules 4 is turned in the horizontal plane relative to the vehicle body 1, until each group of track modules 4 is located on the four sides of the same rhombus structure with the vehicle body 1 as the center, and each group of track modules 4 forms the same included angle with the front-rear direction, as shown in Figure 5 ; the two groups of track modules 4 on the same side of the vehicle body 1 are driven in the same direction, and the track modules 4 on both sides of the vehicle body 1 are driven in opposite directions, so as to realize the turning of the walking device in place.

[0050] In this embodiment, by driving the corresponding track module 4 to turn relative to the vehicle body 1 through the turning mechanism 2, the lateral speed generated by the vehicle when turning is greatly reduced, thereby effectively reducing the sliding friction with the soft mud on the seabed due to the lateral speed, and thus reducing the disturbance to the seabed mud to prevent the walking device from being trapped in the mud. It is especially suitable for the walking device to turn in place underwater, and effectively ensures the smooth and free walking of the walking device underwater.

[0051] Further, as shown in Figure 6 and Figure 7 , the center of gravity of the walking device on the vehicle body 1 is set as point O, the center of rotation when the corresponding track module 4 is driven to rotate by the turning mechanism 2 is set as point A, and the center of the longitudinal section of the single group of track modules 4 is set as point B; as shown in Figure 7 , after the single group of track modules 4 is turned, the corresponding point B is located on the same straight line as points O and A.

[0052] Specifically, the lateral distance between the center of gravity O and the center of rotation A is set as L4, the longitudinal distance is set as L1, the distance between the center of rotation A and the track module 4 is set as L2, and the longitudinal length of the single group of track modules 4 is set as L3;

[0053] As shown in Figure 6 , when the turning mechanism 2 of the walking device does not work, that is, when the walking device is not configured with the turning mechanism 2, the contact point B R between the rear end of a certain track module 4 and the ground is taken as an example, the driving speed V0 of the track module 4 will generate a lateral component speed V 02 in the lateral direction, and another component speed V 01 is the effective speed for assisting the actual turning of the walking device; specifically as follows:

[0054] The included angle θ0 between the line connecting the center of gravity O of the walking device and the point B R and the lateral direction is formed, and θ0 is the included angle between the driving speed direction of the track module 4 and the turning direction of the walking device; when the track module 4 maintains the front-rear driving posture, L2 is in the lateral direction, and the included angle θ0 is obtained as follows:

[0055]

[0056] The lateral component velocity V 02 is:

[0057]

[0058] Similarly, the contact point B F between the front end of the track module 4 and the ground will also generate a corresponding lateral component velocity, which will cause the front end or the rear end of the track module 4 to generate a sliding friction on the seabed mud, V 02 The greater the V 02 , the greater the disturbance to the seabed mud, which will cause the track to sink into the seabed mud and lose the ability to move.

[0059] As Figure 7 shown, when the steering mechanism 2 of the walking device is working, it drives the track module 4 to rotate in the horizontal plane relative to the vehicle body 1 until the point B is located on the same straight line as the points O and A; at this time, the lateral component velocity at the contact point B R between the rear end of the track module 4 and the ground is:

[0060]

[0061]

[0062]

[0063] θ1 is the angle between the transmission velocity of the track module 4 at the rear end and the steering velocity of the walking device, V R2 is the lateral component of the transmission velocity of the track module 4 at the rear end.

[0064] As Figure 8 shown, it is the lateral component velocity at the contact point B F between the front end of the track module 4 and the ground in this state.

[0065] When the steering mechanism 2 drives the track module 4 to rotate in the horizontal plane relative to the vehicle body 1 and makes the point B located on the same straight line as the points O and A, the angles between the transmission velocities of the track module 4 at the front end and the rear end and the steering velocity of the walking device are equal, and the minimum value of the two maximum values of the angles at the front end and the rear end in this case makes the lateral sliding velocity composed of the lateral component minimum, especially lower than the lateral component when the conventional track vehicle turns, effectively reducing the lateral sliding velocity generated in the original turning motion, so that the walking device has the ability to turn in place.

[0066] Of course, the steering mechanism 2 in the present embodiment, especially when turning in place, can also be used in combination with the existing differential method according to the actual situation to achieve steering together.

[0067] In one of the embodiments, as shown in Figure 9 When the walking device needs to slightly change its advancing direction, the use of the steering mechanism 2 can also be combined, so that the two groups of track modules 4 in front deflect towards the direction to be changed, so that the walking device can turn while advancing.

[0068] Further, when turning in place, the two groups of track modules 4 in front of the vehicle body 1 are driven in opposite directions by the steering mechanism 2, so that the front parts of the two groups of track modules 4 are close to each other in a retracted state; similarly, the rear parts of the two groups of track modules 4 on the rear side of the vehicle body 1 are close to each other, as shown in Figure 5 The four groups of track modules 4 are in a diamond-shaped layout state as a whole.

[0069] Further, when turning in place, the track modules 4 on the left side of the vehicle body 1 are all driven forward, and the track modules 4 on the right side of the vehicle body 1 are all driven backward in reverse, so that the walking device as a whole turns in place to the right;

[0070] Of course, according to actual conditions, the track modules 4 on the left side of the vehicle body 1 can also be driven backward in reverse, and the track modules 4 on the right side of the vehicle body 1 can be driven forward in forward direction, so that the walking device as a whole turns in place to the left; all can realize the action of turning in place.

[0071] In Figure 1 and Figure 2 The embodiments shown, the front and rear parts of the vehicle body 1 on both sides are respectively provided with a connecting seat 3, and a steering mechanism 2 is installed between a single connecting seat 3 and a corresponding track module 4; the corresponding steering mechanisms 2 of the two groups of track modules 4 on the same side of the vehicle body 1 are respectively arranged on the opposite sides of the connecting seat 3.

[0072] Of course, in actual conditions, a lifting mechanism is also provided between the connecting seat 3 and the vehicle body 1, so as to facilitate the adjustment of the height of the track module 4 relative to the vehicle body 1 through the lifting mechanism.

[0073] Further, as shown in Figure 2 and Figure 3 The structure of the steering mechanism 2 is: a steering oil cylinder 21 is rotatably installed at the tail of the connecting seat 3, the output end of the steering oil cylinder 21 is rotatably connected with one end of a connecting rod 22, and the other end of the connecting rod 22 is rotatably connected with the connecting seat 3 through a hinge shaft 23; the end part of the connecting rod 22 on which the hinge shaft 23 is installed is fixedly installed with a track support in the corresponding track module 4.

[0074] In this embodiment, the working of the steering oil cylinder 21, i.e. the extension or retraction of the output end, pushes or pulls one end of the connecting rod 22, so that the connecting rod 22 rotates relative to the hinge shaft 23, thereby driving the track module 4 to rotate synchronously, achieving the steering adjustment in the horizontal plane relative to the vehicle body 1.

[0075] The application greatly helps and facilitates the walking device to walk freely on the deep-sea seabed, especially when it is stuck in the seabed soft mud, it can effectively free itself, and can smoothly turn in place while reducing the impact on the bearing capacity of the seabed soil, so that the walking device can be used smoothly and smoothly on the deep-sea seabed.

[0076] The above description is an explanation of the application, not a limitation of the application, the scope defined by the application is referred to the claims, within the protection scope of the application, any form of modification can be made.

Claims

1. A method for using a track steering mechanism of a deep-sea walking device, characterized in that: The walking device comprises a vehicle body (1), and track modules (4) are mounted on the left front, left rear, right front and right rear of the vehicle body (1); a steering mechanism (2) is mounted between each single track module (4) and the vehicle body (1), and the steering mechanism (2) promotes the corresponding track module (4) to rotate in a horizontal plane relative to the vehicle body (1); The use method comprises: When the walking device is trapped in the soft mud on the seabed and cannot continue to walk forward, the steering mechanism (2) works, so that each group of track modules (4) rotates in a horizontal plane relative to the vehicle body (1) respectively, until each group of track modules (4) is parallel to each other, and each group of track modules (4) forms the same included angle with the front-rear direction; each group of track modules (4) is driven in the same direction, and is rubbed with the new contact position on the seabed, so that the walking device is released from the trap; When the walking device needs to turn around in place, the steering mechanism (2) works, so that each group of track modules (4) rotates in a horizontal plane relative to the vehicle body (1) respectively, until each group of track modules (4) is located on the four sides of the same rhombus structure with the vehicle body (1) as the center, and each group of track modules (4) forms the same included angle with the front-rear direction; two groups of track modules (4) on the same side of the vehicle body (1) are driven in the same direction, and the track modules (4) on the two sides of the vehicle body (1) are driven in opposite directions, so that the walking device turns around in place.

2. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: The track of each single track module (4) is driven in a circumferential direction under the driving of the corresponding track motor (5).

3. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: Each single track module (4) is provided with a track speed sensor, and the track speed sensor is used for measuring the driving speed of the track in the corresponding track module (4); an inertial navigation system is arranged in an electronic cabin of the vehicle body (1), and the walking speed of the walking device is collected in real time through the inertial navigation system.

4. The method of using a track steering mechanism for a deep sea walking device of claim 3, wherein: During the walking process of the walking device, the driving speed of the corresponding track module (4) is measured in real time by the track speed sensor, and the walking speed of the walking device is collected in real time by the inertial navigation system; when the walking speed collected by the inertial navigation system is 0 and the driving speeds collected by the four track speed sensors are all not 0, it is judged that the walking device is trapped in the soft mud, and a release instruction is triggered by the controller.

5. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: During the release, each group of track modules (4) is synchronously rotated by the same angle clockwise or counterclockwise in a horizontal plane relative to the vehicle body (1) under the driving of the corresponding steering mechanism (2), and then each group of track modules (4) is synchronously driven forward.

6. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: During the turning around in place, two groups of track modules (4) in front of the vehicle body (1) are driven in opposite directions under the driving of the corresponding steering mechanism (2), so that the front parts of the two groups of track modules (4) are close to each other in a retracted state; similarly, the rear parts of two groups of track modules (4) behind the vehicle body (1) are close to each other in a retracted state.

7. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: The center of gravity of the walking device on the vehicle body (1) is set as point O, the center of rotation when the steering mechanism (2) drives the corresponding track module (4) to rotate is set as point A, and the center of the longitudinal section of each single track module (4) is set as point B; during the turning around in place, after the single track module (4) is turned, the corresponding point B is located on the same straight line as points O and A.

8. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: When turning in place, the track modules (4) on the left side of the vehicle body (1) are all driven forward, and the track modules (4) on the right side of the vehicle body (1) are all driven backward, so that the whole walking device turns right in place.

9. The method of using a track steering mechanism for a deep sea walking device of claim 1, wherein: The front and rear parts of the two sides of the vehicle body (1) are respectively provided with link seats (3), and a steering mechanism (2) is arranged between each link seat (3) and the corresponding track module (4); the steering mechanisms (2) corresponding to the two groups of track modules (4) on the same side of the vehicle body (1) are respectively arranged on the opposite sides of the link seats (3).

10. The method of claim 9, wherein: The steering mechanism (2) comprises a steering oil cylinder (21) rotatably installed at the tail part of the link seat (3), the output end of the steering oil cylinder (21) is rotatably connected with one end of a connecting rod (22), and the other end of the connecting rod (22) is rotatably connected with the link seat (3) through a hinge shaft (23); the end part of the connecting rod (22) where the hinge shaft (23) is arranged is fixedly installed with a track support in the corresponding track module (4).

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