Crawler walking structure and underwater crawler

Abstract

The invention belongs to the field of underwater crawler vehicles, and discloses a crawler walking structure and an underwater crawler vehicle, the crawler walking structure comprises a driving assembly, a flexible belt, crawler teeth and a fastener; the flexible belt is annularly arranged on the outer side of the driving assembly in a sleeving mode, a plurality of through holes are formed in the flexible belt, and a plurality of crawler teeth are arranged in the circumferential direction of the flexible belt at intervals; each crawler tooth comprises a meshing part and a convex tooth part; a through hole is formed in the flexible belt, a mounting hole corresponding to the through hole is formed in the convex tooth part, the meshing part penetrates through the flexible belt and is in meshing transmission with the driving assembly, the fastener penetrates through the through hole, one end of the fastener is connected with the flexible belt in a fastened mode, and the other end of the fastener is connected with the mounting hole in a fastened mode so that the crawler belt teeth can be connected to the flexible belt. The underwater crawler provided by the invention also has the advantages of the crawler walking structure.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater crawler vehicles, and more specifically, relates to a crawler walking structure and an underwater crawler vehicle. Background Art

[0002] As an efficient underwater working tool, underwater crawler vehicles play an important role in marine engineering, underwater exploration, rescue and salvage. However, in practical applications, underwater crawler vehicles face many technical challenges, one of the most significant problems is the vehicle sinking and insufficient driving force due to factors such as the vehicle's heavy weight, small ground contact area and small grouser height.

[0003] In order to improve the carrying capacity and stability of underwater tracked vehicles, some models adopt an extra-wide and extra-long track design. Although this design has enhanced the overall performance of the tracked vehicle to a certain extent, it has also brought new problems. The extra-wide and extra-long track further increases the overall weight of the vehicle and increases the risk of the vehicle sinking. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a track walking structure and an underwater tracked vehicle to solve the technical problems existing in the prior art that the underwater tracked vehicle has a heavy body and the track is easy to sink.

[0005] To achieve the above purpose, the technical solution adopted in this application is: A crawler walking structure is provided, comprising: Drive components; A flexible belt is annularly sleeved on the outside of the driving assembly, and a plurality of through holes are provided on the flexible belt; Grousers are provided in plurality along the circumference of the flexible belt at intervals from each other, each of the grousers comprises a meshing portion and a convex tooth portion, the convex tooth portion is located on the outer side of the flexible belt, and the convex tooth portion is provided with a mounting hole corresponding to the through hole, the meshing portion passes through the flexible belt, and meshes with the driving assembly for transmission; A fastener passes through the through hole, one end of the fastener is fastened to the flexible belt, and the other end of the fastener is fastened to the mounting hole.

[0006] As a further improvement of the above technical solution: Optionally, at least two flexible belts spaced apart from each other are sequentially provided along the extension direction of the track teeth.

[0007] Optionally, along the extension direction of the track teeth, at least one flexible belt is respectively provided on both sides of the meshing portion.

[0008] Optionally, the meshing portion includes a meshing block and baffles arranged in pairs, the baffles are arranged on both sides of the meshing block along the extension direction of the track teeth, and the meshing block is used for meshing and transmitting with the driving assembly.

[0009] Optionally, the number of the meshing portions is at least one, and when the number of the meshing portions is greater than one, the meshing portions are arranged spaced apart from each other along the extension direction of the track teeth.

[0010] Optionally, the flexible belt includes a steel belt layer located at the core, a tensile layer coated on the outside of the steel belt layer, and a rubber layer coated on the outside of the tensile layer.

[0011] Optionally, the driving assembly includes: Support beams; A driving member, mounted on the supporting beam; A driving wheel, drivingly connected to the driving member and meshing with the track teeth for transmission; A support roller is installed on the support beam and is located above the support beam, and the support roller is used to drag the upper edge of the flexible belt; A supporting wheel, mounted on the supporting beam and located below the supporting beam, the supporting wheel being used to press against the lower edge of the flexible belt; A tensioning structure is installed on the supporting beam, and is used to tension the flexible belt so that the flexible belt keeps in contact with the driving wheel, the belt-supporting wheel and the supporting wheel.

[0012] Optionally, the tensioning structure includes a telescopic driving member and a tensioning wheel, the telescopic driving member is installed on the supporting beam, and the tensioning wheel is connected to the movable end of the telescopic driving member and abuts against the flexible belt.

[0013] The present application also provides an underwater tracked vehicle, comprising a tracked vehicle body and the above-mentioned tracked walking structure.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The crawler walking structure provided by the present application includes a driving assembly, a flexible belt, a track tooth and a fastener. The driving assembly is a power assembly of the crawler walking structure and is responsible for providing walking power for the entire system. The flexible belt is annularly sleeved on the outside of the driving assembly. Under the driving action of the driving assembly, the flexible belt is driven to walk and roll on the ground. Compared with the traditional chain-type crawler, the flexible belt has a more streamlined structure than the chain-type crawler, and has a more lightweight advantage, which can greatly reduce the overall weight of the crawler walking structure, thereby effectively reducing the degree of depression of the crawler walking structure on the ground, improving the passability and protection of sensitive surfaces. In order to achieve the connection between the flexible belt and the track teeth, a plurality of through holes are provided on the flexible belt. A plurality of track teeth are provided at intervals along the circumferential direction of the flexible belt. Each track tooth includes a meshing portion and a convex tooth portion. Among them, the convex tooth portion is located on the outside of the flexible belt for contacting the ground. The convex tooth portion is provided with a mounting hole corresponding to the through hole so as to dock with the through hole. The meshing portion penetrates the flexible belt and meshes with the driving assembly for transmission, so that when the driving assembly is driven, the meshing of the driving assembly and the meshing portion drives the track teeth and the flexible belt to move along the driving direction. The fastener is a connecting component that penetrates the through hole. Specifically, one end of the fastener is tightly connected to the flexible belt, and the other end of the fastener is tightly connected to the mounting hole to connect the track teeth to the flexible belt.

[0015] The crawler walking structure of the present application replaces the traditional chain crawler by combining a flexible belt with track teeth, thereby reducing the overall weight of the crawler walking structure and achieving the function of the crawler walking structure to travel steadily on soft and sparse bottom underwater.

[0016] The present application also provides an underwater crawler vehicle, comprising a crawler vehicle body and the crawler walking structure. Since the underwater crawler vehicle has the crawler walking structure, it also has the advantages of the crawler walking structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the main structure of the crawler walking structure of the present application; Figure 2 It is a three-dimensional structural schematic diagram of the crawler walking structure of the present application; Figure 3 It is a schematic diagram of the exploded structure of the crawler walking structure of the present application; Figure 4It is a three-dimensional structural schematic diagram of the crawler teeth of the crawler walking structure of the present application; Figure 5 It is a schematic diagram of the structure of the crawler teeth of the crawler walking structure of the present application from a bottom up view; Figure 6 It is a schematic diagram of the cross-sectional structure of the flexible belt of the crawler walking structure of the present application.

[0019] Among them, the reference numerals in the figure are: 1. Driving assembly; 11. Supporting beam; 12. Driving member; 13. Driving wheel; 14. Supporting roller; 15. Supporting wheel; 16. Tensioning structure; 161. Telescopic driving member; 162. Tensioning wheel; 2. Flexible belt; 21. Through hole; 22. Steel belt layer; 23. Tensile layer; 24. Rubber layer; 3. Track teeth; 31. Meshing part; 311. Meshing block; 312. Baffle; 32. Protruding tooth part; 33. Mounting hole; 4. Fastener. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 should not be understood as a limitation on the present application.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] Unless otherwise defined, all professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0025] like Figure 1 and Figure 2 As shown, the present application provides a crawler walking structure, including a driving assembly 1, a flexible belt 2, crawler teeth 3 and a fastener 4.

[0026] Among them, the driving assembly 1 is a power assembly of the crawler walking structure, which is responsible for providing walking power for the entire system. The flexible belt 2 is annularly sleeved on the outside of the driving assembly 1. Under the driving action of the driving assembly 1, the flexible belt 2 is driven to walk and roll on the ground. Compared with the traditional chain-type crawler, the flexible belt 2 has a more streamlined structure than the chain-type crawler, and has a lighter weight advantage, which can greatly reduce the overall weight of the crawler walking structure, thereby effectively reducing the degree of depression of the crawler walking structure on the ground, and improving the passability and protection of sensitive surfaces. In order to achieve the connection between the flexible belt 2 and the track teeth 3, a plurality of through holes 21 are provided on the flexible belt 2. Along the circumferential direction of the flexible belt 2, a plurality of track teeth 3 are provided at intervals from each other. Each track tooth 3 includes a meshing portion 31 and a convex tooth portion 32. Among them, the convex tooth portion 32 is located on the outside of the flexible belt 2 for contacting the ground. The convex tooth portion 32 is provided with a mounting hole 33 corresponding to the through hole 21 so as to dock with the through hole 21. The meshing portion 31 penetrates the flexible belt 2 and meshes with the driving assembly 1 for transmission, so that when the driving assembly 1 is driven, the meshing of the driving assembly 1 with the meshing portion 31 drives the track teeth 3 and the flexible belt 2 to move along the driving direction. The fastener 4 is a connecting component that penetrates the through hole 21. Specifically, one end of the fastener 4 is fastened to the flexible belt 2, and the other end of the fastener 4 is fastened to the mounting hole 33 to connect the track teeth 3 to the flexible belt 2.

[0027] The crawler walking structure of the present application replaces the traditional chain crawler by combining the flexible belt 2 with the crawler teeth 3, thereby reducing the overall weight of the crawler walking structure and realizing the function of the crawler walking structure to travel stably on the soft and sparse bottom underwater.

[0028] like Figure 3 As shown, in one embodiment of the present application, at least two flexible belts 2 spaced apart from each other are sequentially arranged along the extension direction of the track teeth 3. It should be explained that Figure 3As shown in , the extension direction of the track teeth 3 specifically refers to the long side direction of the track teeth 3. The parallel arrangement of multiple flexible belts 2 enhances the stability and reliability of the crawler walking structure. They can jointly bear the load during walking, and even under complex and changeable terrain conditions, they can maintain good grip and balance, reducing the risk of walking failure caused by damage to a single flexible belt. In addition, by increasing the number of flexible belts 2, the overall width of the crawler walking structure can be widened, thereby realizing an ultra-wide crawler. The wider crawler structure can effectively disperse the pressure applied to the ground during walking, further reducing the depression of the crawler on the ground. In addition, since the flexible belt 2 itself is made of lightweight and high-strength material, although the increased number expands the structural size, the impact on the overall weight is relatively small, which can better maintain the lightweight advantage of the walking structure.

[0029] In one embodiment of the present application, in addition to the number of flexible belts 2 being selected according to actual conditions, the width of each flexible belt 2 can also be selected according to actual conditions to meet the needs of different usage scenarios.

[0030] In one embodiment of the present application, in order to provide sufficient support for the track teeth 3, at least one flexible belt 2 is provided on each side of the meshing portion 31 along the extension direction of the track teeth 3. However, according to actual needs, such as track width, expected load, and working environment, the number of flexible belts 2 on each side of the meshing portion 31 can be adjusted to multiple to form a more stable support system.

[0031] In one embodiment of the present application, the flexible belts 2 on both sides of the meshing portion 31 are symmetrically arranged to make the force on the track teeth 3 more balanced.

[0032] like Figure 4 and Figure 5 As shown, in one embodiment of the present application, the meshing portion 31 includes a meshing block 311 and baffles 312 arranged in pairs, and the baffles 312 are arranged on both sides of the meshing block 311 along the extension direction of the track teeth 3. Specifically, the meshing block 311 is used for meshing transmission with the driving gear of the drive assembly 1. In order to ensure the stability of the meshing transmission, two baffles 312 are symmetrically arranged on both sides of the meshing block 311 along the extension direction of the track teeth 3. The baffles 312 can serve as a physical barrier to prevent the driving gear from deviating or falling out during the meshing process, so as to enhance the stability and reliability of the transmission.

[0033] In one embodiment of the present application, the meshing block 311 and the baffle plate 312 are an integrated structure. The material of the meshing block 311 and the baffle plate 312 must ensure that they can withstand the impact force and friction force generated by the driving gear when rotating, while maintaining sufficient rigidity and durability. The meshing block 311 and the baffle plate 312 can be made of stainless steel.

[0034] In one embodiment of the present application, the number of meshing portions 31 is at least one. When the number of meshing portions 31 is greater than one, the meshing portions 31 are arranged at intervals from each other along the extension direction of the track teeth 3. By increasing the number of meshing portions 31, the track teeth 3 have multiple force points from the driving gear, which not only reduces the load on a single meshing portion 31, but also effectively reduces the risk of wear and damage caused by local stress concentration.

[0035] like Figure 6 As shown, in one embodiment of the present application, the flexible belt 2 includes a steel belt layer 22 at the core, a tensile layer 23 coated on the outside of the steel belt layer 22 , and a rubber layer 24 coated on the outside of the tensile layer 23 .

[0036] The steel belt layer 22 serves as the skeleton of the flexible belt 2, providing the necessary strength and rigidity, and also ensuring that the flexible belt 2 can maintain a stable shape when bearing heavy pressure. In order to enhance the tensile performance of the flexible belt 2, a tensile layer 23 is coated on the outer side of the steel belt layer 22. The tensile layer 23 can specifically be made of Kevlar fiber. The rubber layer 24 has good elasticity and shock absorption effect, and can absorb and disperse external impact and vibration.

[0037] In one embodiment of the present application, the driving assembly 1 includes a supporting beam 11, a driving member 12, a driving wheel 13, a belt support roller 14, a supporting wheel 15 and a tensioning structure 16. The supporting beam 11, as the supporting skeleton of the entire driving assembly, not only bears the forces from various components, but also ensures the relative position stability between the various components. On this basis, the driving member 12 is installed on the supporting beam 11. It serves as a power source and transmits energy to the driving wheel 13 through a driving connection to drive it to rotate. The driving wheel 13 is a component that directly contacts with the track teeth 3 and realizes meshing transmission. In order to effectively guide the running track of the flexible belt 2, the belt support roller 14 is installed above the supporting beam 11, and its wheel surface contacts the upper edge of the flexible belt 2, playing the role of supporting the flexible belt 2. The supporting wheel 15 located below the supporting beam 11 presses against the lower edge of the flexible belt 2. In order to maintain the appropriate tension of the flexible belt 2 to ensure good contact between it and various transmission components, a tensioning structure 16 is also installed on the supporting beam 11. Through the adjustment mechanism of the tensioning structure 16, the tension of the flexible belt 2 can be adjusted, thereby ensuring the stability and reliability of the transmission system.

[0038] In one embodiment of the present application, the tensioning structure 16 includes a telescopic driving member 161 and a tensioning wheel 162. The telescopic driving member 161 is installed on the supporting beam 11, and the tensioning wheel 162 is connected to the movable end of the telescopic driving member 161 and abuts against the flexible belt 2. Specifically, the telescopic driving member 161 can be a hydraulic / pneumatic cylinder, an electric push rod, etc. The tensioning wheel 162 serves as a component that is in direct contact with the flexible belt 2. During operation, the tensioning wheel 162 can be pressed against the inner side of the flexible belt 2, and the tensioning degree of the flexible belt 2 can be changed by adjusting the telescopic length of the telescopic driving member 161, thereby ensuring that the flexible belt 2 maintains a stable contact relationship with the driving wheel 13, the belt support roller 14 and the supporting wheel 15 to avoid slipping or excessive wear.

[0039] In one embodiment of the present application, the fastener 4 is specifically a bolt. When the bolt is fastened to the track teeth 3, the bolt head is pressed against the flexible belt 2, the bolt shank passes through the through hole 21, and is threadedly connected to the mounting hole 33.

[0040] The present application also provides an underwater crawler vehicle, comprising a crawler vehicle body and the crawler walking structure in the above embodiment. Since the underwater crawler vehicle has the crawler walking structure in the above embodiment, it also has the advantages of the crawler walking structure in the above embodiment.

[0041] Since the underwater crawler vehicle has the crawler walking structure in the above embodiment, it also has the advantages of the crawler walking structure in the above embodiment.

[0042] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A crawler walking structure, characterized in that: include: Drive assembly (1); A flexible belt (2) is annularly sleeved on the outside of the driving component (1), and a plurality of through holes (21) are provided on the flexible belt (2); A plurality of track teeth (3) are provided at intervals along the circumference of the flexible belt (2), each of the track teeth (3) comprising a meshing portion (31) and a convex tooth portion (32), the convex tooth portion (32) being located outside the flexible belt (2), and a mounting hole (33) corresponding to the through hole (21) being provided on the convex tooth portion (32), the meshing portion (31) passing through the flexible belt (2) and meshing with the drive assembly (1) for transmission; A fastener (4) passes through the through hole (21), one end of the fastener (4) is fastened to the flexible belt (2), and the other end of the fastener (4) is fastened to the mounting hole (33).

2. The crawler walking structure according to claim 1, characterized in that: At least two of the flexible belts (2) spaced apart from each other are sequentially arranged along the extension direction of the track teeth (3).

3. The crawler walking structure according to claim 2, characterized in that: Along the extension direction of the track teeth (3), at least one flexible belt (2) is respectively provided on both sides of the meshing portion (31).

4. The crawler walking structure according to any one of claims 1 to 3, characterized in that: The meshing portion (31) comprises a meshing block (311) and baffles (312) arranged in pairs, wherein the baffles (312) are arranged on both sides of the meshing block (311) along the extension direction of the track teeth (3), and the meshing block (311) is used for meshing transmission with the driving assembly (1).

5. The crawler walking structure according to any one of claims 1 to 3, characterized in that: The number of the meshing portions (31) is at least one. When the number of the meshing portions (31) is greater than one, the meshing portions (31) are arranged at intervals from one another along the extension direction of the track teeth (3).

6. The crawler walking structure according to any one of claims 1 to 3, characterized in that: The flexible belt (2) comprises a steel belt layer (22) located at the core, a tensile layer (23) coated on the outside of the steel belt layer (22), and a rubber layer (24) coated on the outside of the tensile layer (23).

7. The crawler walking structure according to any one of claims 1 to 3, characterized in that: The driving assembly (1) comprises: Support beam (11); A driving member (12) mounted on the supporting beam (11); A driving wheel (13) is connected to the driving member (12) and meshes with the track teeth (3); A belt-supporting wheel (14) is mounted on the supporting beam (11) and is located above the supporting beam (11), the belt-supporting wheel (14) being used to drag the upper edge of the flexible belt (2); A supporting wheel (15) is mounted on the supporting beam (11) and is located below the supporting beam (11), the supporting wheel (15) being used to press against the lower edge of the flexible belt (2); A tensioning structure (16) is installed on the support beam (11), and the tensioning structure (16) is used to tension the flexible belt (2) so that the flexible belt (2) maintains contact with the driving wheel (13), the belt support wheel (14) and the support wheel (15).

8. The crawler walking structure according to claim 7, characterized in that: The tensioning structure (16) comprises a telescopic driving member (161) and a tensioning wheel (162); the telescopic driving member (161) is mounted on the supporting beam (11); the tensioning wheel (162) is connected to the movable end of the telescopic driving member (161) and abuts against the flexible belt (2).

9. An underwater tracked vehicle, characterized in that: It comprises a crawler vehicle body and a crawler walking structure as described in any one of claims 1 to 8.

Images