Multi-configuration axle of deep sea exploration vehicle

Abstract

The invention relates to the technical field of axle mechanisms, and discloses a deep sea exploration vehicle multi-configuration axle which comprises a middle axle, two side axles, two main shafts, two first balls, two rolling devices and two hydraulic cylinders. The two side bridges are connected to the two ends of the middle bridge respectively, the bottoms of the side bridges are hinged to the middle bridge through hinges, the two main shafts are horizontally connected to the ends, away from the middle bridge, of the two side bridges respectively, the two first balls are connected with the ends of the two main shafts in a spherical hinge mode respectively, and the two rolling devices are connected to the sides, away from the main shafts, of the two first balls respectively. The rolling device comprises two clamping sleeves and a second ball body, the two clamping sleeves are in a semi-arc shape, openings of the two clamping sleeves are opposite, the two clamping sleeves are fixedly connected with the first ball body, the second ball body is embedded between the two clamping sleeves in a rolling mode, and the two fixing parts are hinged to the two sides of the bottom of the middle axle respectively. According to the structure, the exploration equipment can quickly pass through a relatively narrow water area or a water area with a certain height of convex obstacles through deformation of the axle.

Description

Technical Field

[0001] The invention relates to the technical field of axle mechanisms, and in particular to a multi-configuration axle for a deep-sea exploration vehicle. Background Art

[0002] China has a vast sea area under its jurisdiction, which is equivalent to one-third of our country's land area. In addition, there are many islands in the sea area. Coordinating and promoting the protection and development of marine resources is a major trend for future development. Therefore, seabed environmental exploration and resource development are particularly important. Seabed exploration equipment is an important tool for deep-sea research and is of great significance for exploring marine resources, studying the marine environment and ensuring maritime safety.

[0003] Existing seabed exploration vehicles usually include a vehicle body, a bridge walking structure and an exploration structure, which can realize in-depth exploration of the seabed. For example, the track device and use method of a seabed crawler vehicle with the publication number of CN202211547146.9, in which the bridge walking structure for exploration walking adopts a crawler structure, and relies on the crawler structure to achieve smooth progress while enhancing grip. For example, the energy-saving and environmentally friendly seabed resource survey equipment disclosed in the publication number of CN202211356534.9, as an exploration vehicle for exploration, adopts a traditional wheel structure to achieve the effect of underwater walking.

[0004] Due to the complexity of the seabed, there are not only flat seabed roads, but also rugged seabed roads in some sea areas. In some areas, the feasible passages are relatively narrow, and there are bumps in some areas. However, the walking structure of existing deep-sea exploration vehicles is mostly a crawler-type or wheel-structured walking axle. The overall structure is fixed and cannot be adaptively deformed according to the complex environment. Even smaller roadblocks or not too narrow areas may cause the vehicle to be unable to move forward or get stuck, which not only affects the efficiency of the exploration work, but also greatly limits the exploration vehicle's exploration of areas with more complex environments. Summary of the invention

[0005] The present invention provides a multi-configuration vehicle bridge for a deep-sea exploration vehicle. The structure can enable the exploration equipment to quickly pass through relatively narrow waters or waters with raised obstacles of a certain height through the deformation of the vehicle bridge.

[0006] The present invention provides a multi-configuration vehicle bridge for a deep-sea exploration vehicle, comprising: a middle bridge, two side bridges, two main shafts, two first spheres, two rolling devices, and two hydraulic cylinders; the two side bridges are respectively connected to the two ends of the middle bridge, the bottom of the side bridge is hinged to the middle bridge through a hinge, the two main shafts are respectively horizontally connected to the ends of the two side bridges away from the middle bridge, the two first spheres are respectively ball-jointed to the ends of the two main shafts, the two rolling devices are respectively connected to the sides of the two first spheres away from the main shafts, the rolling device comprises two jackets and a second sphere, the two jackets are semi-arc-shaped and have openings facing each other, the two jackets are both fixedly connected to the first spheres, the second sphere is embedded and rolls between the two jackets, the side of the second sphere away from the first sphere is exposed, the two hydraulic cylinders are both arranged at the bottom of the middle bridge, the hydraulic cylinders comprise a fixed part and a telescopic part, the two fixed parts are respectively hinged to the two sides of the bottom of the middle bridge, and the telescopic part is hinged to the adjacent side bridges.

[0007] Preferably, the end of the side bridge away from the middle bridge is connected to a guide rail, the main shaft is slidably connected to the guide rail through a sliding shell, the main shaft is fixedly connected to the sliding shell, the end of the guide rail away from the side bridge is connected to a support rod, the other end of the support rod is connected to the side bridge, so that the guide rail, the side bridge and the support rod form a triangular structure, a plurality of first pin holes are opened on one side of the guide rail, and the sliding shell is slidably connected to a first pin that is plugged into the first pin hole.

[0008] Preferably, the guide rail includes a first rail and a second rail, the first rail is fixedly connected to an end of the side bridge, the second rail is longer than the first rail, and the second rail is hinged to the side bridge. When the second rail contacts the first rail, the second rail is perpendicular to the side bridge, and when the side bridge is parallel to the middle bridge, the sliding shell slides vertically upward to slide into the second rail, and the end of the second rail away from the first rail is hinged to the support rod, and the other end of the support rod is hingedly connected to a rotating member, and the bottom of the rotating member is rotatably connected to an I-shaped first sliding block, and a first sliding groove is opened on a side of the side bridge close to the first sliding block, and the first sliding block is slidably connected to the side bridge, and a side of the side bridge close to the middle bridge and on both sides of the first sliding groove are fixedly connected with a limiting block, the spacing between the two limiting blocks is greater than the width dimension of the exposed part on the first sliding block and smaller than the length dimension of the first sliding block, and a parallel and identical second sliding groove is opened at the upper end of the middle bridge close to the first sliding groove.

[0009] Preferably, a third sliding groove is provided through the length side wall of the side bridge, a sliding plate is slidably connected in the third sliding groove, both ends of the sliding plate extend out of the side bridge, and the ends are hinged with a first connecting rod, the end of the first connecting rod is connected to the second connecting rod, the first end of the second connecting rod is hinged with a hinge block, a second pin is fixedly connected to a side of the hinge block close to the side bridge, a second pin hole is provided on a side of the middle bridge adjacent to the hinge block, and a third pin hole is provided on a side of the side bridge adjacent to the hinge block.

[0010] Preferably, the side bridge is located in the first slide groove and is slidably connected to a second slider having the same size and shape as the first slider. The two ends of the second slider extending out of the first slide groove are respectively hinged to a third connecting rod, and the other end of the third connecting rod is hinged to the second end of the second connecting rod adjacent to the same side.

[0011] Preferably, a hinge ball is fixedly connected to the end of the main shaft, a semi-arc-shaped cavity is opened at the position of the first sphere corresponding to the hinge ball, the hinge ball is placed in the cavity, and the cavity covers at least half of the total surface area of ​​the hinge ball.

[0012] Preferably, the first sphere is arranged on a plane side away from the side bridge, the jacket is fixedly connected to the plane side of the first sphere through a connecting plate, the second sphere is clamped between the two jackets, and the second sphere rolls freely between the two jackets.

[0013] Preferably, two adjacent jackets on the same side are connected by an arc-shaped reinforcement sleeve plate at one side close to the first sphere, and the inner curvature of the reinforcement sleeve plate matches the outer curvature of the second sphere.

[0014] Preferably, the outer surface of the first sphere is inlaid with a plurality of freely rolling balls.

[0015] Compared with the prior art, the beneficial effect of the present invention is that when it is necessary to cross a water area with a relatively narrow gap or there is a raised obstacle that is higher than the radius of the first sphere and lower than the sum of the heights of the first sphere and the side bridge, the device can directly control the side bridge to slowly rotate downward by retracting the telescopic part in the hydraulic cylinder, so that the angle between the middle bridge and the side bridge is 90°. In this process, the distance between the two first spheres is shortened and the height of the exploration equipment is raised. At this time, the first sphere used for walking is no longer the main moving part for walking. At this time, the second sphere in the jacket, with its exposed arc surface away from the side bridge, will contact the seabed surface and serve as the main moving part. At the same time, the first spheres located on both sides of the middle bridge move upward. It is more prominent outside, and at this time it mainly serves as an anti-collision function during the forward movement, so as to avoid the collision of the overall exploration equipment with obstacles on both sides and affect the stability when encountering an uneven seabed in a narrow gap. The first sphere is set with a spherical structure as a moving part, which can not only achieve line contact with the seabed road surface to reduce the contact area, but also adopts a ball joint method, which can adaptively rotate on a road surface that is more difficult to walk on. This structure can realize the exploration equipment through a relatively narrow or raised obstacle water area with a certain height through the deformation of the axle, and can also adaptively move to the uneven road surface, which can avoid the occurrence of jamming and locking of moving parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the main perspective structure of a multi-configuration axle of a deep-sea exploration vehicle after the side axle is rotated, provided by an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the structure of a multi-configuration axle for a deep-sea exploration vehicle provided by an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of the structure of a multi-configuration axle of a deep-sea exploration vehicle after the side axle is rotated according to an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of the structure of a multi-configuration axle of a deep-sea exploration vehicle in a moving state of a first sphere provided by an embodiment of the present invention;

[0020] Figure 5 A schematic diagram of the structure of a multi-configuration axle of a deep-sea exploration vehicle provided by an embodiment of the present invention in a state where the overall structure is contracted;

[0021] Figure 6 A schematic diagram of the internal structure of a first sphere of a multi-configuration axle for a deep-sea exploration vehicle provided by an embodiment of the present invention;

[0022] Figure 7 for Figure 3 A partial enlarged view of part A.

[0023] Description of reference numerals:

[0024] 1. Middle bridge; 1001. Second slide groove; 1002. Second pin hole; 2. Side bridge; 2001. First slide groove; 2002. Third slide groove; 2003. Third pin hole; 3. Hinge; 4. Main shaft; 5. First sphere; 51. Concave cavity; 6. Rolling device; 61. Jacket; 62. Second sphere; 7. Hydraulic cylinder; 8. Guide rail; 81. First track; 82. Second track; 821. First pin hole; 9. Support rod; 10. First latch; 11. Sliding shell; 12. Rotating part; 13. First slider; 14. Limit block; 15. Sliding plate; 16. First connecting rod; 17. Second connecting rod; 18. Articulated block; 20. Second slider; 21. Third connecting rod; 22. Articulated ball; 23. Reinforcement sleeve; 24. Ball. DETAILED DESCRIPTION

[0025] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0026] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the technical solutions of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] refer to Figure 1 , Figure 2 and Figure 3 The present invention provides a multi-configuration vehicle bridge for a deep-sea exploration vehicle, comprising: a middle bridge 1, two side bridges 2, two main shafts 4, two first spheres 5, two rolling devices 6, and two hydraulic cylinders 7; the two side bridges 2 are respectively connected to the two ends of the middle bridge 1, the bottom of the side bridge 2 is hinged to the middle bridge 1 through a hinge 3, the two main shafts 4 are respectively horizontally connected to the ends of the two side bridges 2 away from the middle bridge 1, the two first spheres 5 are respectively connected to the ends of the two main shafts 4 by ball joints, and the two rolling devices 6 are respectively connected to the two first spheres. 5 is on the side away from the main shaft 4, the rolling device 6 includes two jackets 61 and a second sphere 62, the two jackets 61 are semi-arc-shaped and have openings facing each other, the two jackets 61 are fixedly connected to the first sphere 5, the second sphere 62 is embedded and rolled between the two jackets 61, and the side of the second sphere 62 away from the first sphere 5 is exposed, and the two hydraulic cylinders 7 are both arranged at the bottom of the middle bridge 1. The hydraulic cylinder 7 includes a fixed part and a telescopic part. The two fixed parts are respectively hinged to the two sides of the bottom of the middle bridge 1, and the telescopic part is hinged to the adjacent side bridge 2.

[0028] In the above embodiments, when it is necessary to cross a water area with a relatively narrow gap or there is a raised obstacle that is higher than the radius of the first sphere 5 and lower than the sum of the heights of the first sphere 5 and the side bridge 2, the device can directly control the side bridge 2 to slowly rotate downward by retracting the telescopic part in the hydraulic cylinder 7, so that the angle between the middle bridge 1 and the side bridge 2 is 90°. In this process, the distance between the two first spheres 5 is shortened and the height of the exploration equipment is raised. At this time, the first sphere 5 used for walking is no longer used as the main moving component for walking. At this time, the second sphere 62 in the jacket 61, with its exposed arc surface away from the side bridge 2, will contact the seabed surface and serve as the main moving component. At the same time, the first sphere 5 located on both sides of the middle bridge 1 is more protruding outward. At this time, it mainly serves as an anti-collision function during the forward movement to avoid the overall exploration equipment colliding with obstacles on both sides and affecting the stability when encountering an uneven seabed surface in a narrow gap.

[0029] Further, refer to Figure 2The end of the side bridge 2 away from the middle bridge 1 is connected to the guide rail 8, the main shaft 4 is slidably connected to the guide rail 8 through a sliding shell 11, the main shaft 4 is fixedly connected to the sliding shell 11, the end of the guide rail 8 away from the side bridge 2 is connected to the support rod 9, the other end of the support rod 9 is connected to the side bridge 2, so that the guide rail 8, the side bridge 2 and the support rod 9 form a triangular structure, a plurality of first pin holes 821 are opened on one side of the guide rail 8, and the sliding shell 11 is slidably connected to the first pin 10 plugged into the first pin hole 821.

[0030] In the above embodiments, the device rotates the side bridge 2 downward to extend the guide rail 8 horizontally, and controls the sliding shell 11 to slide outward along the guide rail 8 to increase the distance between the two first spheres 5 to be slightly larger than the width of the exploration vehicle, so as to enhance the stability during movement. The first embodiment is that the guide rail 8 is directly welded and fixed to the side bridge 2.

[0031] Further, refer to Figure 2 , Figure 3 and Figure 5 The second embodiment of the guide rail 8 can be a movable connection, which can be adjusted to improve adaptability. Specifically, the guide rail 8 includes a first rail 81 and a second rail 82. The first rail 81 is fixedly connected to the end of the side bridge 2, wherein at least one first pin hole 821 is distributed on the first rail 81, and the length of the second rail 82 is longer than the length of the first rail 81. The second rail 82 is hinged to the side bridge 2. When the second rail 82 contacts the first rail 81, the second rail 82 is perpendicular to the side bridge 2, and the side bridge 2 is parallel to the middle bridge 1, the sliding housing 11 slides vertically upward to slide into the second rail 82, and the end of the second rail 82 away from the first rail 81 is hinged to the support rod 9, and the support rod 9 The other end is hinged with a rotating member 12, and the bottom of the rotating member 12 is rotatably connected to a first I-shaped slider 13, and a first slide groove 2001 is provided on the side of the side bridge 2 close to the first slider 13, and the length extension direction of the first slide groove 2001 is the same as the length extension direction of the side bridge 2, and the first slider 13 is slidably connected to the side bridge 2, and the side bridge 2 is close to the middle bridge 1 and is fixedly connected with a limiting block 14 on both sides of the first slide groove 2001, and the spacing between the two limiting blocks 14 is larger than the width dimension of the exposed part of the first slider 13 and smaller than the length dimension of the first slider 13, and a parallel and identical second slide groove 1001 is provided at the upper end of the middle bridge 1 close to the first slide groove 2001.

[0032] In the above embodiments, when the length side of the first slider 13 is in engagement with the two limit blocks 14, the guide rail 8, the side bridge 2 and the support rod 9 form a stable triangular structure. When encountering a narrower area, the first slider 13 is controlled to rotate so that the width side of the first slider 13 extends toward the sliding direction of the first slide groove 2001. At this time, since the spacing between the two limit blocks 14 is larger than the width dimension of the exposed part of the first slider 13 and smaller than the length dimension of the first slider 13, the first slider 13 can directly pass through the two limit blocks 14 and continue to slide into the second slide groove 1001 through the first slide groove 2001, so as to realize the second track 82 moving closer to the side bridge 2 to provide a smaller spacing, thereby passing through a relatively narrower channel.

[0033] Further, refer to Figure 3 , Figure 5 and Figure 7 A third slide groove 2002 is provided through the length side wall of the side bridge 2, and a sliding plate 15 is slidably connected in the third slide groove 2002. Both ends of the sliding plate 15 extend out of the side bridge 2, and the ends are hinged with a first connecting rod 16. The end of the first connecting rod 16 is connected to the second connecting rod 17. The first end of the second connecting rod 17 is hinged with a hinge block 18. A second pin is fixedly connected to the side of the hinge block 18 close to the side bridge 2. A second pin hole 1002 is provided on the side of the middle bridge 1 adjacent to the hinge block 18, and a third pin hole 2003 is provided on the side of the side bridge 2 adjacent to the hinge block 18.

[0034] In the above embodiments, the third sliding groove 2002 is set to facilitate the sliding plate 15 to slide toward the side close to the middle bridge 1, thereby driving the two first connecting rods 16 to open. By fixing the second pin to the side of the hinge block 18 close to the side bridge 2, a second pin hole 1002 is provided on the side of the middle bridge 1 adjacent to the hinge block 18, and a third pin hole 2003 is provided on the side of the side bridge 2 adjacent to the hinge block 18. When the side bridge 2 rotates, the second pin of the hinge block 18 can be connected with the third pin hole 2003 of the side bridge 2 to fix the position of the hinge block 18 without interfering with the rotation of the side bridge 2. When the side bridge 2 does not rotate, in addition to the support of the support rod 9 and the guide rail 8, the second pin can be connected to the second pin hole 1002 of the middle bridge 1, and the first connecting rod 16 and the second connecting rod 17 can be unfolded to improve the overall stability.

[0035] Further, refer to Figure 2 and Figure 3 The side bridge 2 is located in the first slide groove 2001 and is slidably connected to the second slider 20 of the same size and shape as the first slider 13. The two ends of the second slider 20 extending out of the first slide groove 2001 are respectively hinged to the third connecting rod 21, and the other end of the third connecting rod 21 is hinged to the second end of the second connecting rod 17 adjacent to the same side.

[0036] In the above embodiments, the second slider 20 is arranged to slide horizontally along the first slide groove 2001, and the two third connecting rods 21 and the second connecting rod 17 can be expanded outward during the sliding process. When the hinge block 18 is connected to the middle bridge 1, the stability can be further improved, and the vehicle can travel stably on uneven roads.

[0037] Further, refer to Figure 6 The end of the main shaft 4 is fixedly connected with a hinge ball 22, and the first sphere 5 has a semi-arc-shaped cavity 51 at the position corresponding to the hinge ball 22. The hinge ball 22 is placed in the cavity 51, and the cavity 51 at least covers half of the total surface area of ​​the hinge ball 22.

[0038] Further, refer to Figure 1 , Figure 2 and Figure 4 The first sphere 5 is arranged on a plane on one side away from the side bridge 2, the jacket 61 is fixedly connected to the plane side of the first sphere 5 through a connecting plate, the second sphere 62 is clamped between the two jackets 61, and the second sphere 62 rolls freely between the two jackets 61.

[0039] Further, refer to Figure 1 The two adjacent jackets 61 on the same side are connected by an arc-shaped reinforcing sleeve 23 on one side close to the first sphere 5 , and the inner curvature of the reinforcing sleeve 23 matches the outer curvature of the second sphere 62 .

[0040] In the above embodiments, the reinforcement sleeve 23 can further enhance the supporting force of the second sphere 62 when it contacts the seabed.

[0041] Further, refer to Figure 1 The outer surface of the first sphere 5 is inlaid with a plurality of freely rolling balls 24.

[0042] In the above embodiments, the embedded balls 24 can facilitate the rotation of the side bridge 2 and the first sphere 5 to rotate accordingly. The balls 24 close to the seabed can assist the rolling, thereby facilitating the rotation of the side bridge 2 and reducing the friction between the first sphere 5 and the seabed.

[0043] 1. This device can be adaptively converted between multiple configurations according to different work requirements. It has strong adaptability and can be flexibly transformed according to different terrain conditions, providing strong support for the movement of deep-sea exploration vehicles.

[0044] 2. When crossing a water area with a relatively narrow gap or when there is a raised obstacle that is higher than the radius of the first sphere 5 and lower than the sum of the heights of the first sphere 5 and the side bridge 2, the device rotates the side bridge 2 downward to extend the guide rail 8 horizontally, and controls the sliding shell 11 to slide outward along the guide rail 8 to increase the distance between the two first spheres 5 to be slightly larger than the width of the exploration vehicle, so as to enhance the stability during movement. At the same time, a triangular configuration is formed with the support rod 9 and other structures, which can greatly improve the stability and load-bearing capacity of the vehicle bridge mechanism, avoid deviation during the support process of the guide rail 8, and enable the deep-sea exploration vehicle to move smoothly on rugged roads.

[0045] 3. When the spacing is narrower, the device can also control the second track 82 and the support rod 9 to rotate upward. At this time, the first sphere 5 is reset to the first track 81, and the distance between the two support rods 9 is temporarily shortened to cross the waters with narrower spacing, so that the overall width is further narrowed, so that it can flexibly pass through the waters with narrow gaps.

[0046] 4. When the vehicle bridge moves to the seabed of a wide but relatively rugged water area, there is no need to jump over obstacles at this time, so the side bridge 2 can be rotated upward to keep it parallel and close to the middle bridge 1. At this time, the width of the overall structure is greater than the width of the exploration equipment, thereby improving the stability during movement. In order to avoid the hydraulic cylinder 7 having a relatively single bearing force, the first slider 13 can be controlled to rotate so that its width is aligned with the part between the two limit blocks 14, and then the first slider 13 is controlled to drive the support rod 9 and the second track 82 to move toward the side close to the middle bridge 1, and the first slider 13 slides into the second slide groove 1001 of the middle bridge 1. At this time, the structure of the support rod 9 and the second track 82 is used to limit the relative rotation of the side bridge 2 and the middle bridge 1, and the auxiliary hydraulic cylinder 7 further improves the stability during movement.

[0047] 5. When the side bridge 2 and the middle bridge 1 are kept parallel and close to each other, the deep-sea exploration vehicle can also move smoothly in low caves.

[0048] The above disclosures are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A multi-configuration axle for a deep-sea exploration vehicle. It is characterized in that include: Middle Bridge (1); two side bridges (2); The side bridges (2) are respectively connected to the two ends of the middle bridge (1), and the bottom of the side bridges (2) is hinged to the middle bridge (1) via hinges (3); Two main shafts (4) are respectively horizontally connected to the ends of the two side bridges (2) away from the middle bridge (1); Two first spheres (5) are respectively connected to the ends of the two main shafts (4) by means of ball joints; Two rolling devices (6) are respectively connected to the two first spheres (5) on the side away from the main shaft (4), the rolling devices (6) comprising two jackets (61) and a second sphere (62), the two jackets (61) are semi-arc-shaped and have openings facing each other, the two jackets (61) are both fixedly connected to the first sphere (5), the second sphere (62) is embedded and rolled between the two jackets (61), and the side of the second sphere (62) away from the first sphere (5) is exposed; Two hydraulic cylinders (7) are both arranged at the bottom of the middle bridge (1). The hydraulic cylinders (7) include a fixed part and a telescopic part. The two fixed parts are respectively hinged to the two sides of the bottom of the middle bridge (1), and the telescopic part is hinged to the adjacent side bridge (2).

2. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 1, It is characterized in that The end of the side bridge (2) away from the middle bridge (1) is connected to a guide rail (8), the main shaft (4) is slidably connected to the guide rail (8) through a sliding housing (11), the main shaft (4) is fixedly connected to the sliding housing (11), the end of the guide rail (8) away from the side bridge (2) is connected to a support rod (9), the other end of the support rod (9) is connected to the side bridge (2), so that the guide rail (8), the side bridge (2) and the support rod (9) form a triangular structure, a plurality of first pin holes (821) are opened on one side of the guide rail (8), and the sliding housing (11) is slidably connected to a first pin (10) plugged into the first pin hole (821).

3. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 2, It is characterized in that The guide rail (8) comprises a first rail (81) and a second rail (82), wherein the first rail (81) is fixedly connected to the end of the side bridge (2), the second rail (82) is longer than the first rail (81), and the second rail (82) is hinged to the side bridge (2). When the second rail (82) contacts the first rail (81), the second rail (82) is perpendicular to the side bridge (2), and when the side bridge (2) is parallel to the middle bridge (1), the sliding housing (11) slides vertically upward to slide into the second rail (82), and the end of the second rail (82) away from the first rail (81) is hinged to the support rod (9), and the other end of the support rod (9) A rotating member (12) is hingedly connected, and the bottom of the rotating member (12) is rotatably connected to an I-shaped first sliding block (13); a first sliding groove (2001) is provided on a side of the side bridge (2) close to the first sliding block (13); the first sliding block (13) is slidably connected to the side bridge (2); a side of the side bridge (2) close to the middle bridge (1) and located on both sides of the first sliding groove (2001) are fixedly connected with limiting blocks (14); the spacing between the two limiting blocks (14) is greater than the width dimension of the exposed part on the first sliding block (13) and smaller than the length dimension of the first sliding block (13); and a parallel and identical second sliding groove (1001) is provided at the upper end of the middle bridge (1) close to the first sliding groove (2001).

4. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 3, It is characterized in that A third slide groove (2002) is provided through the length side wall of the side bridge (2), and a sliding plate (15) is slidably connected in the third slide groove (2002). Both ends of the sliding plate (15) extend out of the side bridge (2), and both ends are hinged with a first connecting rod (16). The end of the first connecting rod (16) is connected to a second connecting rod (17), and the first end of the second connecting rod (17) is hinged with a hinge block (18). A second latch is fixedly connected to a side of the hinge block (18) close to the side bridge (2), a second pin hole (1002) is provided on a side of the middle bridge (1) adjacent to the hinge block (18), and a third pin hole (2003) is provided on a side of the side bridge (2) adjacent to the hinge block (18).

5. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 4, It is characterized in that The side bridge (2) is located in the first sliding groove (2001) and is slidably connected to a second sliding block (20) having the same size and shape as the first sliding block (13); the two ends of the second sliding block (20) extending out of the first sliding groove (2001) are respectively hinged to a third connecting rod (21); the other end of the third connecting rod (21) is hinged to the second end of the second connecting rod (17) adjacent to the same side.

6. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 1, It is characterized in that A hinge ball (22) is fixedly connected to the end of the main shaft (4); a semi-arc-shaped cavity (51) is provided on the first sphere (5) at a position corresponding to the hinge ball (22); the hinge ball (22) is placed in the cavity (51); and the cavity (51) covers at least half of the total surface area of ​​the hinge ball (22).

7. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 1, It is characterized in that The first sphere (5) is arranged on a plane side away from the side bridge (2); the jacket (61) is fixedly connected to the plane side of the first sphere (5) via a connecting plate; the second sphere (62) is clamped between the two jackets (61); and the second sphere (62) rolls freely between the two jackets (61).

8. A multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 7, It is characterized in that The two adjacent jackets (61) on the same side are connected by an arc-shaped reinforcing sleeve (23) at one side close to the first sphere (5), and the inner curvature of the reinforcing sleeve (23) matches the outer curvature of the second sphere (62).

9. The multi-configuration axle for a deep-sea exploration vehicle as claimed in claim 1, It is characterized in that The outer surface of the first spherical body (5) is inlaid with a plurality of freely rolling balls (24).

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