Reconfigurable deformable frame mechanism for deep sea exploration

Abstract

The invention relates to the technical field of deep sea exploration frames, and discloses a reconfigurable deformable frame mechanism for deep sea exploration, which comprises a truss, two first sliding blocks, two side frames, a double-thread screw, a connecting frame, a fixing piece and two stabilizing frames, the two first sliding blocks are slidably connected into the two sliding grooves correspondingly, the two ends, in the same direction, of the two side frames are hinged to the two first sliding blocks correspondingly, the double-thread screw is inserted into the truss in the length extension direction of the truss, the double-thread screw and the truss are rotationally connected, and the double-thread screw penetrates through the two first sliding blocks. The two ends of the connecting frame are hinged to the ends, away from the truss, of the two side frames correspondingly, and the two stabilizing frames are fixedly connected to the sides, away from the side frames, of the two ends of the truss correspondingly. The device is high in structural stability and structural flexibility, the stability of the frame can be guaranteed when the device runs in a complex environment, and a solid foundation is laid for exploration in various areas.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea exploration vehicle frames, and in particular to a reconfigurable and deformable vehicle frame mechanism for deep-sea exploration. Background Art

[0002] China has a vast sea area under its jurisdiction, which is equivalent to one-third of its 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 equipment usually includes a frame, a walking structure, and various detector devices. Its traditional frame chassis structure is usually built with a rectangular steel frame and connected by welding. Its traveling wheels or traveling tracks are installed on the frame. During the exploration process, the wheels are in contact with the seabed and the wheels are driven by the driver to carry the detector along the seabed.

[0004] However, the existing frame shape structure and connection method are relatively fixed, and can only move forward slowly on a specific flat seabed, resulting in limitations in the scope of the exploration area. Specifically, due to the complex seabed environment, the seabed road surface is not only flat, but a large part of the road conditions are complex road conditions such as front and rear bumps, left and right bumps, and many obstacles and protrusions. When the existing frame shape structure is traveling on complex road conditions, the frequent ups and downs of the frame will cause the fatigue strength of the frame itself to decrease, and the welds are prone to cracking, resulting in poor stability of the overall frame. Summary of the invention

[0005] The present invention provides a reconfigurable deformable frame mechanism for deep-sea exploration. The device has strong structural stability and flexibility, can ensure the stability of the frame when driving in complex environments, and lays a solid foundation for exploration in various areas.

[0006] The present invention provides a reconfigurable deformable frame mechanism for deep-sea exploration, comprising: a truss, two first sliders, two side frames, a double-headed screw, a connecting frame, a fixing piece, and two stabilizing frames. Slide grooves are horizontally opened on both sides of the same-direction outer wall of the truss. The two first sliders are respectively slidably connected to the two slide grooves. The two ends of the two side frames in the same direction are respectively hinged to the two first sliders. The double-headed screw is inserted into the truss along the length extension direction of the truss and the two are rotatably connected. The double-headed screw passes through the two first sliders. Two opposite threaded sections of the double-headed screw are respectively threadedly connected to the two first sliders. The two ends of the connecting frame are respectively hinged to the ends of the two side frames away from the truss. One end of the fixing piece is connected to the truss, and the other end is connected to the connecting frame, which is used to limit the deflection of the connecting frame and the side frame. The two stabilizing frames are respectively fixedly connected to the two ends of the truss and to a side away from the side frame. The two ends of the two stabilizing frames away from the truss are close to each other and the ends are fixedly connected.

[0007] Preferably, the side frame includes a telescopic rod, the telescopic rod includes a cylinder and a telescopic column, the cylinder is hinged to the connecting frame, and the telescopic column is hinged to the first sliding block.

[0008] Preferably, the fixing member comprises a fixing rod, one end of which is fixedly connected to the truss, and the other end of which is fixedly connected to the fixing member.

[0009] Preferably, a first opening is vertically provided in the middle of the truss, the fixing member comprises a telescopic cylinder, the telescopic cylinder comprises a fixed end and a telescopic end, the fixed end is connected to the connecting frame, and the end of the telescopic end is rotatably connected to the middle of the double-headed screw through a fixed rotating sleeve.

[0010] Preferably, the connecting frame includes a sliding sleeve and a sliding plate, the sliding sleeve is provided with a sliding groove, the sliding plate is horizontally slidably connected in the sliding groove, the end of the sliding plate placed in the sliding groove is hinged with a sliding block through a hinge shaft, a flange is provided on one side of the opening of the sliding sleeve for preventing the sliding block from falling out, the fixed end is located above the hinge shaft and the two are rotatably connected.

[0011] Preferably, the truss is provided with a second opening in the vertical direction at the end portions where the two slide grooves are close to each other, and the first sliding block that slides to the second opening can flip around the axial direction of the double-headed screw toward the side close to the stabilizing frame, and the upper surfaces of the two stabilizing frames are provided with an inclined third opening in the vertical direction corresponding to the position after the side frames are reversed, and the third opening is used to clamp the barrel of the side frame.

[0012] Preferably, the truss is provided with fourth openings in the vertical direction at the ends of the two slide grooves which are away from each other, and the first sliding block which slides to the fourth opening can flip around the axial direction of the double-headed screw toward the side close to the stabilizing frame.

[0013] Preferably, the inner angles of the triangles formed by the two stabilizing frames and the trusses are all 60°.

[0014] Preferably, after the telescopic end is retracted, the included angles between the center line of the fixed end and the sliding sleeve and the sliding plate are 60° respectively.

[0015] Preferably, outer sides of the two stabilizing frames, two ends of the truss, and outer side walls of the two side frames away from the truss are all connected with moving wheels.

[0016] Compared with the prior art, the present invention has the following beneficial effects: compared with the existing fixed frame, the frame provided by the present invention is Figure 1 and Figure 2 As shown, the structure is provided with a stabilizing frame on a conventional frame structure, and the two stabilizing frames and the truss can form a triangular structure, and cooperate with the wide load-bearing surface on the rear side of the frame, so that it can be suitable for detectors with larger volumes, and performs well on flat roads and roads with moderately uneven strength, and can provide stable support and have a relatively high load-bearing capacity. The two first sliding blocks can slide in the slide groove of the truss through the two first sliding blocks provided, and the two first sliding blocks placed in the slide groove can be driven to slide horizontally in the direction of approaching or moving away from each other during self-rotation through the double-headed screw. Thus, the same end of the two side frames can be tilted toward the side that is close to each other, so as to achieve The structural deformation of the frame is achieved so that the rear half of the frame presents a tripod structure similar to a stabilizer frame. The triangular structure has better stability, thereby increasing the stability of the rear half of the frame. At the same time, the overall structure has a strong load-bearing capacity and can safely carry larger detectors. In summary, the device has strong structural stability and flexibility. Even when driving on complex roads with bumps in the front and back, left and right, and many obstacles and protrusions, the structural fatigue strength is improved due to the stable structure of the frame itself, and it will not be excessively affected by the bumps of complex road conditions, thereby ensuring the stability of the frame when driving in complex environments, laying a solid foundation for exploration in various areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a second embodiment of a reconfigurable deformable frame mechanism for deep-sea exploration in a first state provided by an embodiment of the present invention;

[0018] Figure 2 A schematic structural diagram of a first embodiment of a reconfigurable deformable frame mechanism for deep-sea exploration in a first state provided by an embodiment of the present invention;

[0019] Figure 3 for Figure 1 A partial enlarged view of part A;

[0020] Figure 4 for Figure 1 A partial enlarged view of part B;

[0021] Figure 5 for Figure 1 A partial enlarged view of part C in the middle;

[0022] Figure 6 A schematic diagram of the top-down view of a truss in a reconfigurable deformable frame mechanism for deep-sea exploration provided by an embodiment of the present invention;

[0023] Figure 7 A schematic diagram of the internal structure of a truss in a reconfigurable deformable frame mechanism for deep-sea exploration provided by an embodiment of the present invention, from a top-down perspective;

[0024] Figure 8 A schematic structural diagram of a reconfigurable deformable frame mechanism for deep-sea exploration in a second state provided by an embodiment of the present invention;

[0025] Fig. 9 A schematic structural diagram of a reconfigurable deformable frame mechanism for deep-sea exploration in a third state provided by an embodiment of the present invention;

[0026] Fig.10 A schematic structural diagram of a reconfigurable deformable frame mechanism for deep-sea exploration in a fourth state provided by an embodiment of the present invention;

[0027] Fig.11 A schematic structural diagram of a reconfigurable deformable frame mechanism for deep-sea exploration in a fifth state provided by an embodiment of the present invention;

[0028] Fig.12 A schematic structural diagram of a connecting frame in a reconfigurable deformable frame mechanism for deep-sea exploration provided by an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Truss; 11. Slide groove; 12. First opening; 13. Second opening; 14. Fourth opening; 2. First slider; 3. Side frame; 31. Cylinder; 32. Telescopic column; 4. Double-headed screw; 5. Connecting frame; 51. Sliding sleeve; 511. Sliding groove; 52. Sliding plate; 53. Sliding block; 6. Fixing piece; 61. Fixing rod; 62. Fixed end; 63. Telescopic end; 64. Rotating sleeve; 7. Stabilizing frame; 71. Third opening; 8. Moving wheel. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] refer to Figure 1 , Figure 2 and Figure 8 The present invention provides a reconfigurable deformable frame mechanism for deep-sea exploration, comprising: a truss 1, two first sliders 2, two side frames 3, a double-headed screw 4, a connecting frame 5, a fixing member 6, and two stabilizing frames 7. Slide grooves 11 are horizontally opened on both sides of the same-direction outer wall of the truss 1. The two first sliders 2 are respectively slidably connected in the two slide grooves 11. The two ends of the two side frames 3 in the same direction are respectively hinged to the two first sliders 2. The double-headed screw 4 is inserted into the truss 1 along the length extension direction of the truss 1 and the two are rotatably connected. The double-headed screw 4 passes through the two first sliders 2. The two opposite threaded sections of the double-headed screw 4 are respectively threadedly connected to the two first sliders 2. Figure 4 and Figure 5 As shown, the two ends of the connecting frame 5 are respectively hinged to the ends of the two side frames 3 away from the truss 1, one end of the fixing member 6 is connected to the truss 1, and the other end is connected to the connecting frame 5, which is used to limit the deflection of the connecting frame 5 and the side frame 3, and the two stabilizing frames 7 are respectively fixedly connected to the two ends of the truss 1 and away from the side frame 3, and the two ends of the two stabilizing frames 7 away from the truss 1 are close to each other and the ends are fixedly connected.

[0034] In the above embodiments, compared with the existing fixed frame, the frame provided by the present invention is in the initial configuration as follows: Figure 1 and Figure 2As shown, the structure is provided with a stabilizing frame 7 on a conventional frame structure, and the two stabilizing frames 7 and the truss 1 can form a triangular structure, and cooperate with the wide bearing surface on the rear side of the frame, which can be suitable for detectors with larger volumes, and performs well on flat roads and roads with moderate unevenness, can provide stable support, and has a relatively high bearing capacity. The two first sliders 2 are provided, which can slide in the slide groove 11 of the truss 1, and the double-headed screw 4 is provided, which can drive the two first sliders 2 placed in the slide groove 11 to slide horizontally in the direction of approaching or moving away from each other during self-rotation, so that the same end of the two side frames 3 can be moved toward the side close to each other. The two wheels are tilted closer, thereby achieving structural deformation of the frame, so that the rear half of the frame presents a tripod structure similar to the stabilizer frame 7. The triangular structure has better stability, thereby increasing the stability of the rear half of the frame. At the same time, the overall structure has a strong bearing capacity and can safely carry larger detectors. In summary, the device has strong structural stability and flexibility. Even when driving on complex roads with bumps in the front and back, left and right, and many obstacles and protrusions, the structural fatigue strength is improved under the stable structure of the frame itself, and it will not be excessively affected by the bumps in the complex road conditions, thereby ensuring the stability of the frame when driving in complex environments, laying a solid foundation for exploration in various areas.

[0035] Specifically, the double-headed screw rod 4 can be driven by a dedicated waterproof servo motor connected to the truss 1, and the double-headed screw rod 4 can be driven by the rotating shaft of the motor to rotate forward and reverse.

[0036] Further, the first embodiment refers to Figure 2 The side frame 3 includes a telescopic rod, and the telescopic rod includes a cylinder 31 and a telescopic column 32. Figure 4 As shown, the cylinder 31 is hinged to the connecting frame 5 , the telescopic column 32 is hinged to the first slider 2 , and the fixing member 6 includes a fixing rod 61 , one end of which is fixedly connected to the truss 1 , and the other end of which is fixedly connected to the fixing member 6 .

[0037] In the above embodiments, by limiting the side frame 3 to a telescopic rod structure, the connecting frame 5 can be kept in the same position while still being able to achieve the inclination of the cylinder 31 and the telescopic column 32 and displacement on the truss 1. At the same time, both ends of the fixing rod 61 are fixedly connected, thereby also limiting the left and right swing of the side frame 3 and the connecting frame 5.

[0038] Further, the second embodiment refers to Figure 1 , the side frame 3 includes a telescopic rod, such as Figure 4 and Figure 5As shown, the telescopic rod includes a barrel 31 and a telescopic column 32, the barrel 31 is hinged to the connecting frame 5, the telescopic column 32 is hinged to the first slider 2, a first opening 12 is vertically provided in the middle of the truss 1, the fixing member 6 includes a telescopic cylinder, the telescopic cylinder includes a fixed end 62 and a telescopic end 63, the fixed end 62 is connected to the connecting frame 5, and the end of the telescopic end 63 is rotatably connected to the middle of the double-headed screw 4 through a fixed rotating sleeve 64.

[0039] In the above embodiments, by limiting the side frame 3 to be a telescopic rod structure and the fixing member 6 to be a telescopic cylinder structure that can be telescopic and has a driving effect, the telescopic end 63 can be extended and retracted. Compared with the first embodiment, on the basis of limiting the left and right swing of the side frame 3 and the connecting frame 5, the side frame 3 can be contracted and the connecting frame 5 can be close to the truss 1, thereby reducing the volume, so that the telescopic column 32 can be further extended into the cylinder 31, thereby improving the structural strength.

[0040] Further, refer to Figure 8 , Fig. 9 and Fig.12 The connecting frame 5 includes a sliding sleeve 51 and a sliding plate 52. The sliding sleeve 51 is provided with a sliding groove 511. The sliding plate 52 is horizontally slidably connected in the sliding groove 511. The end of the sliding plate 52 placed in the sliding groove 511 is hinged with a sliding block 53 through a hinge shaft. A flange is provided on one side of the opening of the sliding sleeve 51 for preventing the sliding block 53 from falling out. The fixed end 62 is located above the hinge shaft and the two are rotatably connected.

[0041] In the above embodiment, the connecting frame 5 is defined to include a sliding sleeve 51 and a sliding plate 52, and a sliding groove 511 is provided on the sliding sleeve 51. The sliding plate 52 is horizontally slidably connected in the sliding groove 511, so that the sliding plate 52 and the sliding sleeve 51 can be in a mutually sliding relationship, and the sliding block 53 provided can slide in the sliding sleeve 51 along with the sliding plate 52, and the sliding block 53 is in a hinged relationship with the end of the sliding plate 52. When the sliding block 53 slides to the outermost end of the sliding sleeve 51, it is restricted by limiting components such as flanges, and the sliding plate 52 will extend out of the sliding sleeve 51. At this time, the hinge shaft between the two is also placed outside the sliding sleeve 51, so that the sliding plate 52 can rotate around the hinge shaft. When the telescopic end 63 of the telescopic cylinder is contracted, under the action of the barrel 31 and the telescopic column 32 of the telescopic rod, as shown in FIG. Fig. 9 As shown, multiple triangular structures are formed, and multiple triangular structures are added on the basis of the deformation of the frame, thereby enhancing the bearing capacity and stability of the frame, and can also be effectively applied to uneven terrain conditions.

[0042] Further, refer to Figure 3 , Figure 6 and Figure 7The truss 1 is provided with a second opening 13 in the vertical direction at the ends of the two slide grooves 11 close to each other. The first slider 2 sliding to the second opening 13 can be turned around the axial direction of the double-headed screw 4 toward the side close to the stabilizing frame 7, such as Fig.10 As shown, the upper surfaces of the two stabilizing frames 7 are provided with inclined third openings 71 in the vertical direction corresponding to the positions of the side frames 3 after being reversed. The third openings 71 are used for clamping the cylinder 31 of the side frames 3 .

[0043] In the above embodiments, by setting the second opening 13, it can be achieved that when the two first sliders 2 are transported to the position of the second opening 13, the side frame 3, the connecting frame 5 and the fixing member 6 can be driven by the two first sliders 2 to flip toward the side close to the stabilizing frame 7, and after being clamped with the cylinder 31 through the third opening 71, a pentagonal structure composed of two triangular stabilizing structures is formed. This frame structure not only maintains a high bearing capacity, but also further enhances the stability of the frame itself when it is moving.

[0044] Further, refer to Fig.11 The truss 1 is provided with fourth openings 14 in the vertical direction at the ends of the two slide grooves 11 that are away from each other. The first slider 2 that slides to the fourth opening 14 can flip around the axial direction of the double-headed screw 4 toward the side close to the stabilizing frame 7.

[0045] In the above embodiment, fourth openings 14 are vertically opened at the ends of the truss 1 that are located away from each other at the two slide grooves 11. The first slider 2 that slides to the fourth opening 14 can flip around the axial direction of the double-headed screw 4 toward the side close to the stabilizing frame 7, and the two first sliders 2 can drive the rectangular connecting frame 5 and the side frame 3 structure to flip around the double-headed screw 4 toward the side of the stabilizing frame 7, thereby forming a fifth vehicle body state, which not only has a larger vehicle body structure and load-bearing area but also has better stability.

[0046] Further, refer to Fig. 9 The inner angles of the triangles formed by the two stabilizing frames 7 and the truss 1 are all 60°. After the telescopic end 63 is retracted, the angles between the center line of the fixed end 62 and the sliding sleeve 51 and the sliding plate 52 are 60° respectively.

[0047] In the above embodiments, by limiting the shape to an isosceles triangle, the overall stability of the structure can be improved.

[0048] Further, refer to Figure 1 The outer sides of the two stabilizing frames 7 , the two ends of the truss 1 , and the outer side walls of the two side frames 3 away from the truss 1 are all connected with moving wheels 8 .

[0049] In the above embodiments, one or more moving wheels 8 are provided at least on each stabilizing frame 7, truss 1 and side frame 3. The specific structure of the moving wheel 8 is not further limited by the present invention, and it can be a commonly used and conventional obstacle-crossing wheel.

[0050] In summary, the deformable frame of the present invention can be adaptively deformed according to the requirements of different road conditions, and provides a variety of stable structural states to improve stability when driving on different complex road conditions.

[0051] 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 reconfigurable deformable frame mechanism for deep-sea exploration, characterized in that: include: The truss (1) has horizontally opened slide grooves (11) on both sides of the outer wall in the same direction; Two first sliding blocks (2) are slidably connected to the two sliding grooves (11) respectively; Two side frames (3), two ends in the same direction are respectively hinged to the two first sliding blocks (2); A double-headed screw (4) is inserted into the truss (1) along the length extension direction of the truss (1) and the two are rotatably connected, the double-headed screw (4) passes through the two first sliders (2), and the two opposite threaded sections of the double-headed screw (4) are respectively threadedly connected to the two first sliders (2); A connecting frame (5), two ends of which are respectively hinged to the ends of the two side frames (3) away from the truss (1); A fixing member (6), one end of which is connected to the truss (1) and the other end of which is connected to the connecting frame (5), and is used to limit the deflection of the connecting frame (5) and the side frame (3); The two stabilizing frames (7) are respectively fixedly connected to the two ends of the truss (1) and away from the side frame (3); the two ends of the two stabilizing frames (7) away from the truss (1) are close to each other and the ends are fixedly connected.

2. A reconfigurable deformable frame mechanism for deep sea exploration as claimed in claim 1, characterized in that: The side frame (3) comprises a telescopic rod, and the telescopic rod comprises a cylinder (31) and a telescopic column (32). The cylinder (31) is hinged to the connecting frame (5), and the telescopic column (32) is hinged to the first sliding block (2).

3. A reconfigurable deformable frame mechanism for deep sea exploration as claimed in claim 2, characterized in that: The fixing member (6) comprises a fixing rod (61), one end of which is fixedly connected to the truss (1), and the other end of which is fixedly connected to the fixing member (6).

4. A reconfigurable deformable frame mechanism for deep sea exploration as claimed in claim 2, characterized in that: A first opening (12) is vertically provided in the middle of the truss (1); the fixing member (6) comprises a telescopic cylinder, the telescopic cylinder comprises a fixed end (62) and a telescopic end (63); the fixed end (62) is connected to the connecting frame (5); the end of the telescopic end (63) is rotatably connected to the middle of the double-headed screw (4) via a fixed rotating sleeve (64).

5. A reconfigurable deformable frame mechanism for deep sea exploration as claimed in claim 4, characterized in that: The connecting frame (5) comprises a sliding sleeve (51) and a sliding plate (52), wherein the sliding sleeve (51) is provided with a sliding groove (511), the sliding plate (52) is horizontally slidably connected in the sliding groove (511), the end of the sliding plate (52) placed in the sliding groove (511) is hinged with a sliding block (53) via a hinge shaft, a flange for preventing the sliding block (53) from falling out is provided on one side of the opening of the sliding sleeve (51), and the fixed end (62) is located above the hinge shaft and the two are rotatably connected.

6. A reconfigurable deformable frame mechanism for deep sea exploration as claimed in claim 5, characterized in that: The truss (1) is provided with a second opening (13) in the vertical direction at the end portions where the two slide grooves (11) are close to each other. The first sliding block (2) that slides to the second opening (13) can be flipped around the axial direction of the double-headed screw (4) toward the side close to the stabilizing frame (7). The upper surfaces of the two stabilizing frames (7) are provided with inclined third openings (71) in the vertical direction corresponding to the position after the side frames (3) are reversed. The third opening (71) is used to clamp the barrel (31) of the side frame (3).

7. A reconfigurable deformable frame mechanism for deep sea exploration as claimed in claim 6, characterized in that: The truss (1) is provided with a fourth opening (14) in the vertical direction at the ends of the two slide grooves (11) that are away from each other, and the first sliding block (2) that slides to the fourth opening (14) can flip around the axial direction of the double-headed screw (4) toward a side close to the stabilizing frame (7).

8. The reconfigurable deformable frame mechanism for deep sea exploration according to claim 1, characterized in that: The inner side angles of the triangle formed by the two stabilizing frames (7) and the truss (1) are all 60 degrees.

9. The reconfigurable deformable frame mechanism for deep sea exploration according to claim 5, characterized in that: After the telescopic end (63) is retracted, the included angles between the center line of the fixed end (62) and the sliding sleeve (51) and the sliding plate (52) are 60° respectively.

10. The reconfigurable deformable frame mechanism for deep sea exploration according to claim 1, characterized in that: The outer sides of the two stabilizing frames (7), the two ends of the truss (1) and the outer side walls of the two side frames (3) away from the truss (1) are all connected with moving wheels (8).

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