Seabed multifunctional freely-adjustable crawler belt

Abstract

The invention belongs to ocean engineering, and discloses a seabed multifunctional freely-adjustable crawler belt which comprises a main frame, at least one pair of telescopic oil cylinders, at least one pair of outer supporting legs, at least one pair of inner supporting legs, at least one connecting rod, at least one overturning oil cylinder and at least one overturning oil cylinder connecting weldment. Wherein the main frame is hinged with the telescopic oil cylinder, the outer supporting leg and the inner supporting leg through pin shafts; the connecting rod is provided with at least three reamed holes which are respectively connected with the crawler belt assembly, the outer supporting leg and the inner supporting leg through bolts; the overturning oil cylinder is mounted on the crawler beam through the overturning oil cylinder connecting weldment and is connected with the connecting rod through the bolt; according to the invention, flexible adjustment of the crawler belt in multiple directions is realized. Particularly, due to the synergistic effect of the telescopic oil cylinder and the overturning oil cylinder, the width and height of the crawler belt can be adjusted under different terrain conditions, obstacles can be overcome through the rotating action, meanwhile, the equipment can better adapt to the complex and changeable seabed environment, and the operation efficiency and safety are improved.

Description

Technical Field

[0001] The invention relates to marine engineering, and in particular to a multifunctional free-adjustable submarine crawler. Background Art

[0002] With the increasing number of marine resource development activities, the requirements for submarine equipment are also getting higher and higher. Especially in complex submarine environments, equipment must not only be able to withstand extreme conditions such as high pressure, high salinity and low temperature, but also have strong mobility and adaptability. Traditional submarine equipment is often limited by its fixed structure and single function, and it seems powerless when facing the changing submarine terrain.

[0003] The deep-sea cable laying equipment is mainly crawler-type. Based on the presence of slopes, high and low slopes, single V-shaped slopes, double V-shaped slopes, and rocks on the seabed, the submarine crawler plates are mainly made of non-metallic materials. Compared with land steel plate crawler plates, the rigidity is weaker, the strength is lower, and the shape is wider and longer. The crawler plates will break when passing through the above sections. Most cables are laid on the seabed and the trajectory is determined and difficult to change. When encountering the above working conditions, they cannot be avoided and can only continue to operate. Most domestic and foreign cable laying equipment will not only damage the crawler plates when encountering small slopes and steep slopes. If they force through, the cost is high, the whole machine is in an unbalanced state and is unsafe, and the jet knife cannot go down vertically and can only spray the groove on the vertical slope, which greatly reduces the construction quality. When encountering high and low slopes, V-shaped slopes, single V-shaped slopes, and rocky working conditions, they can only be avoided by lifting them by the mother ship, which is difficult to operate and this section cannot be constructed.

[0004] At present, the foreign osbit is the closest to this mechanism, but the osbit four-link is on the outside of the crawler, making the overall equipment wider, which is extremely inconvenient during container transportation, port transfer, and mother ship lifting. It requires a specific large-tonnage mother ship to complete, and has poor adaptability. Most domestic and foreign cable burying equipment will force driving when encountering small slopes and steep slopes. This process will damage many track plates and is costly. When encountering high and low slopes, V-shaped slopes, and rock conditions, they can only be avoided by lifting them by the mother ship, which is difficult to operate and delays the construction period. This patent can effectively avoid the above problems, has a strong ability to adapt to various working conditions, and installs the four-link on the inside of the crawler so that the width of the whole machine can be controlled, which is convenient for container transportation, port transfer, and ordinary mother ship lifting. This mechanism can effectively solve the above problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a submarine multifunctional freely adjustable crawler, which aims to solve the problems that traditional submarine equipment has poor maneuverability and adaptability in complex submarine environments with large undulations or rock obstacles, and existing equipment is prone to lose balance in uneven terrain, affecting the quality and safety of operations. Submarine resource exploitation operations require high equipment precision, especially the water jet process needs to ensure that the water flows vertically downward, and large submarine equipment is bulky, heavy, and difficult to carry during transportation and lifting.

[0006] In order to achieve the above-mentioned invention object, the first aspect of the present invention provides a submarine multifunctional free-adjustable crawler, comprising a main frame, at least one pair of telescopic cylinders, at least one pair of outer legs, at least one pair of inner legs, at least one connecting rod, at least one tilting cylinder and at least one tilting cylinder connecting weldment, wherein the main frame is hinged with the telescopic cylinder, the outer legs and the inner legs through a pin shaft;

[0007] The connecting rod has at least three reaming holes, which are respectively connected to the crawler assembly, the outer leg and the inner leg through latches;

[0008] The tilting oil cylinder is installed on the crawler beam through a tilting oil cylinder connecting weldment and is connected to the connecting rod through a latch.

[0009] Furthermore, the telescopic cylinder and the tilting cylinder can realize independent or coordinated actions to adjust the track posture to adapt to different seabed terrain conditions;

[0010] Furthermore, the crawler assembly changes its posture by adjusting the positions of the telescopic cylinder and the tilting cylinder to ensure smooth operation on a slope or a V-shaped ramp;

[0011] Furthermore, the connecting rod has three hinged holes, which are respectively used to form an articulated structure with the track assembly, the outer leg and the inner leg, so as to provide multi-directional freedom of movement;

[0012] Furthermore, the tilting cylinder drives the crawler assembly to rotate around the hinge point of the connecting rod to overcome obstacles and maintain the stability of the crawler;

[0013] Furthermore, the main frame and the connected parts are hingedly arranged, so that the mechanism can save space during transportation and hoisting, and improve operational flexibility;

[0014] Furthermore, by adjusting the position of the telescopic oil cylinder on one side, the whole machine can be deflected left and right to ensure that the water jet is always directed vertically downward, thus ensuring the construction quality;

[0015] Furthermore, by adjusting the position of the tilting cylinder, the crawler assembly can be used to maintain balance on uneven ground and adapt to high and low slope conditions;

[0016] Furthermore, while keeping the position of the tilting cylinder unchanged, the position of the telescopic cylinder is adjusted to make the crawler assembly adapt to the V-shaped ramp working condition;

[0017] Furthermore, one end of the connecting rod is provided with a hinge hole for connecting to the track assembly, and the hinge hole is connected to the track assembly via a reinforced pin shaft, and the reinforced pin shaft is used to enhance the connection strength and structural stability.

[0018] Beneficial effects:

[0019] The multifunctional free-adjustable submarine crawler of the present invention is derived based on the content of the exclusive right 1 to obtain beneficial effects.

[0020] 1. The invention realizes flexible adjustment of the crawler in multiple directions through the articulated structure between the main frame and the telescopic cylinder, the outer legs and the inner legs. In particular, the synergy between the telescopic cylinder and the flip cylinder enables the crawler to not only adjust the width and height under different terrain conditions, but also overcome obstacles through rotation. This structural setting enables the equipment to better adapt to the complex and changeable seabed environment, and improves operating efficiency and safety.

[0021] 2. The main frame, outer legs and inner legs of the present invention are made of high-strength alloy materials, which not only enhances the pressure resistance and corrosion resistance of the entire equipment, but also ensures its durability under high-pressure environments. In addition, by adjusting the position of the single-sided telescopic cylinder, the left and right deflection of the entire machine is achieved, ensuring that the spray water flow always remains vertically downward, thereby ensuring the quality of construction. When the crawler moves to uneven terrain, the hydraulic control system automatically adjusts the telescopic cylinder to maintain the overall horizontal state of the crawler, further improving the stability of the equipment.

[0022] 3. When the submarine multifunctional free-adjustable crawler of the present invention is operating on a slope or a V-shaped ramp, the position of the crawler assembly can be adjusted by adjusting the position of the telescopic cylinder and the flip cylinder to ensure the smooth passage of the equipment. Such a structural setting not only reduces the time of equipment stagnation due to terrain changes, but also greatly reduces the potential risks caused by equipment instability.

[0023] 4. The present invention adopts an articulated structure, so that the main frame and related parts can be folded when necessary, reducing the occupied space and improving the flexibility of operation. This is especially important for application scenarios that require frequent movement of the operation site. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a submarine multifunctional freely adjustable crawler according to an embodiment of the present invention;

[0025] Figure 2It is a side view structural schematic diagram of a submarine multifunctional freely adjustable crawler according to an embodiment of the present invention;

[0026] Figure 3 This is a structural state diagram of a submarine multifunctional freely adjustable crawler passing through a slope working condition according to an embodiment of the present invention;

[0027] Figure 4 This is a structural state diagram of a submarine multifunctional freely adjustable crawler passing through a single V-shaped slope working condition according to an embodiment of the present invention;

[0028] Figure 5 This is a structural state diagram of a submarine multifunctional free-adjustable crawler passing through high and low slope working conditions according to an embodiment of the present invention;

[0029] Figure 6 The present invention is a state diagram of a submarine multifunctional free-adjustable crawler avoiding rock structure in front of the crawler according to an embodiment of the present invention.

[0030] in:

[0031] 1-main frame; 2-telescopic cylinder; 3-outer legs; 4-inner legs; 5-connecting rod; 6-tilt cylinder; 7-tilt cylinder connecting weldment; 8-track assembly.

[0032] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] Reference Figure 1-Figure 6 The present invention provides a submarine multifunctional freely adjustable crawler in an embodiment, comprising:

[0038] The main frame 1 is used to carry all other components. The main frame 1 is hinged with the telescopic cylinder 2, the outer legs 3, and the inner legs 4 through the pin shaft to achieve flexible adjustment in multiple directions. The main frame 1 is made of high-strength alloy material to ensure its durability and corrosion resistance in complex submarine environments.

[0039] The telescopic cylinder 2 is used to adjust the width and height of the crawler track, and the telescopic action is achieved through hydraulic power. The telescopic cylinder 2 adopts a high-performance hydraulic system and can work stably under high pressure. The telescopic cylinder 2 is hinged to the main frame 1, and its length can be adjusted as needed to adapt to different seabed terrains.

[0040] The outer leg 3 is installed outside the main frame 1 to expand the support surface of the crawler track and improve stability. The outer leg 3 is also made of high-strength alloy material to enhance its compressive strength and corrosion resistance. The inner leg 4 is installed inside the main frame 1 and is used in conjunction with the outer leg 3 to support the crawler track structure. The connecting rod 5 has at least three hinge holes, which are respectively connected to the crawler track assembly 8, the outer leg 3 and the inner leg 4 by pins to form an articulated structure, providing multi-directional freedom of movement. The connecting rod 5 is made of high-strength steel to ensure its structural strength and durability in complex environments.

[0041] The tilting oil cylinder 6 is used to drive the crawler assembly 8 to rotate around the hinge point of the connecting rod 5 to overcome obstacles and maintain the stability of the crawler. The tilting oil cylinder 6 also adopts a high-performance hydraulic system and can work stably under high-pressure environment.

[0042] The tilting oil cylinder connection weldment 7 is used to fix the tilting oil cylinder 6 on the crawler beam and connect it with the connecting rod 5 through a latch to achieve the tilting action. The tilting oil cylinder connection weldment 7 is welded to ensure the stability and reliability of the connection.

[0043] The main frame 1 is hinged to the telescopic cylinder 2 through a pin, so that the telescopic cylinder 2 can be extended and retracted as needed to adjust the height and width of the crawler track. The outer legs 3 and the inner legs 4 are also hinged to the main frame 1 through a pin, and can be expanded or retracted outward or inward as needed to adapt to different working conditions.

[0044] One end of the connecting rod 5 is provided with a hinge hole, which is connected to the crawler assembly 8 through a reinforced pin shaft to enhance the connection strength and structural stability.

[0045] The turning cylinder 6 is installed on the crawler beam through the turning cylinder connecting weldment 7, and is connected to the connecting rod 5 through a latch to achieve the turning action.

[0046] This embodiment realizes the coordinated action of the telescopic cylinder 2 and the tilting cylinder 6. By controlling the telescopic and tilting actions of the telescopic cylinder 2 and the tilting cylinder 6, the track posture can be adjusted to adapt to different terrains. For example, on a slope or a V-shaped ramp, by adjusting the position of the telescopic cylinder 2, the track assembly 8 can be changed to ensure smooth operation of the track.

[0047] This embodiment realizes the posture adjustment of the crawler assembly 8. The crawler assembly 8 changes its posture by adjusting the positions of the telescopic cylinder 2 and the tilting cylinder 6 to ensure smooth operation on a slope or a V-shaped ramp. The tilting cylinder 6 drives the crawler assembly 8 to rotate around the hinge point of the connecting rod 5 to overcome obstacles and maintain the stability of the crawler.

[0048] Optionally, the main frame 1 and the connected parts are hingedly arranged, so that the mechanism can save space during transportation and lifting and improve operational flexibility.

[0049] Optionally, by adjusting the position of the single-sided telescopic cylinder 2, the whole machine can be deflected to the left and right to ensure that the spray water flow is always vertically downward, thereby ensuring the construction quality.

[0050] Optionally, by adjusting the position of the tilt cylinder 6, the track assembly 8 can be kept balanced on uneven ground to adapt to high and low slope conditions. V-shaped ramp conditions: While keeping the position of the tilt cylinder 6 unchanged, the track assembly 8 can be adapted to V-shaped ramp conditions by adjusting the position of the telescopic cylinder 2.

[0051] In practical applications, it is assumed that the crawler is in a complex seabed environment with large undulations and obstacles such as rocks. At this time, the width and center of gravity height of the crawler can be changed by adjusting the positions of the telescopic cylinder 2 and the flip cylinder 6 to avoid obstacles while maintaining the stability and operational flexibility of the crawler. For example, when the crawler encounters a slope, the height of the crawler assembly 8 can be adjusted by the telescopic cylinder 2, and its angle can be adjusted by the flip cylinder 6 to ensure that the crawler passes smoothly.

[0052] Description: When the crawler tracks travel over uneven terrain, the telescopic cylinder 2 can be extended or shortened through the hydraulic control system. When one side of the crawler tracks encounters higher terrain, the telescopic cylinder 2 on the corresponding side will shorten, while the telescopic cylinder 2 on the other side will extend to keep the crawler tracks horizontal as a whole. When the crawler tracks encounter obstacles such as rocks that need to be crossed, the flip cylinder 6 drives the crawler track assembly 8 to rotate around the hinge point of the connecting rod 5 to cross the obstacle. The action of the flip cylinder 6 can not only help the crawler tracks to cross obstacles, but also maintain the stability of the crawler tracks on slopes or V-shaped ramps. When the crawler tracks enter a slope or V-shaped ramp, the posture of the crawler track assembly 8 can be changed by adjusting the positions of the telescopic cylinder 2 and the flip cylinder 6. For example, on a slope, the height of the crawler track assembly 8 is adjusted by the telescopic cylinder 2, and its angle is adjusted by the flip cylinder 6 to ensure the smooth operation of the crawler tracks on the slope.

[0053] In some cases, in order to ensure that the water jet is always vertically downward to ensure the construction quality, the position of the telescopic cylinder 2 on one side can be adjusted to achieve the left and right deflection of the whole machine. For example, when the terrain on one side is higher, the telescopic cylinder 2 on that side is shortened, and the telescopic cylinder 2 on the other side is extended, so as to achieve the left and right deflection of the whole machine. When the crawler needs to maintain balance on the uneven ground, the inclination angle of the crawler assembly 8 can be adjusted by adjusting the position of the flip cylinder 6. In this way, even if the ground is uneven, the crawler can maintain a stable state and adapt to the high and low slope conditions. Under the V-shaped ramp working condition, by keeping the position of the flip cylinder 6 unchanged and adjusting the position of the telescopic cylinder 2, the crawler assembly 8 can adapt to the V-shaped ramp. The telescopic action of the telescopic cylinder 2 can adjust the height of the crawler assembly 8, thereby ensuring the smooth operation of the crawler on the V-shaped ramp.

[0054] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A submarine multifunctional freely adjustable crawler, characterized in that: The invention comprises a main frame (1), at least one pair of telescopic oil cylinders (2), at least one pair of outer legs (3), at least one pair of inner legs (4), at least one connecting rod (5), at least one tilting oil cylinder (6) and at least one tilting oil cylinder connecting weldment (7), wherein the main frame (1) is hingedly connected to the telescopic oil cylinder (2), the outer legs (3) and the inner legs (4) via a pin shaft; The connecting rod (5) has at least three reaming holes, which are respectively connected to the crawler assembly (8), the outer leg (3) and the inner leg (4) through latches; The tilting oil cylinder (6) is installed on the crawler beam via a tilting oil cylinder connecting weldment (7) and is connected to the connecting rod (5) via a latch.

2. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: The telescopic oil cylinder (2) and the tilting oil cylinder (6) can realize independent or coordinated actions, and are used to adjust the track posture to adapt to different seabed terrain conditions.

3. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: The crawler assembly (8) changes its posture by adjusting the positions of the telescopic cylinder (2) and the tilting cylinder (6), so as to be used for smooth operation on a slope or a V-shaped ramp.

4. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: The connecting rod (5) has three hinged holes, which are respectively used to form an articulated structure with the crawler assembly (8), the outer leg (3) and the inner leg (4), so as to provide multi-directional freedom of movement.

5. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: The tilting oil cylinder (6) drives the crawler track assembly (8) to rotate around the hinge point of the connecting rod (5) to overcome obstacles and maintain the stability of the crawler track.

6. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: The main frame (1) and the connected parts are hingedly arranged, so that the mechanism can save space during transportation and hoisting.

7. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: By adjusting the position of the telescopic oil cylinder (2) on one side, the whole machine can be deflected to the left and right to ensure that the spray water flow is always directed vertically downward.

8. The submarine multifunctional freely adjustable crawler according to claim 1 is characterized in that: By adjusting the position of the tilting oil cylinder (6), the crawler assembly (8) can be kept balanced on uneven ground and adapt to high and low slope working conditions.

9. The submarine multifunctional freely adjustable crawler according to claim 1, characterized in that: While keeping the position of the tilting oil cylinder (6) unchanged, the position of the telescopic oil cylinder (2) is adjusted so that the crawler assembly (8) can adapt to the V-shaped ramp working condition.

10. The submarine multifunctional freely adjustable crawler according to claim 1, characterized in that: One end of the connecting rod (5) is provided with a hinge hole for connecting to the crawler track assembly (8), and the hinge hole is connected to the crawler track assembly (8) via a reinforced pin shaft.

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