CN119551087A - Crawler walking structure and underwater crawler vehicle - Google Patents

Abstract

The application belongs to the field of underwater tracked vehicles, and discloses a tracked walking structure and an underwater tracked vehicle, wherein the tracked walking structure comprises a driving assembly, a flexible belt, tracked teeth and a fastener; the flexible belt is annularly sleeved outside the driving assembly, a plurality of through holes are formed in the flexible belt, a plurality of track teeth are arranged at intervals along the circumferential direction of the flexible belt, each track tooth comprises a meshing part and a convex tooth part, the convex tooth part is provided with a mounting hole corresponding to the through hole, the meshing part penetrates through the flexible belt and is meshed with the driving assembly for transmission, a fastening piece penetrates through the through holes, one end of the fastening piece is fastened and connected with the flexible belt, and the other end of the fastening piece is fastened and connected with the mounting hole so as to connect the track teeth on the flexible belt. The underwater tracked vehicle provided by the application also has the advantages of the tracked running structure.

Description

Crawler travel structure and underwater crawler

Technical Field

The invention belongs to the technical field of underwater tracked vehicles, and particularly relates to a tracked running structure and an underwater tracked vehicle.

Background

The underwater tracked vehicle is used as an efficient underwater operation tool and plays an important role in the fields of ocean engineering, underwater exploration, rescue and salvage and the like. However, in practical applications, underwater tracked vehicles face a number of technical challenges, one of the most significant problems being vehicle sag and insufficient driving force due to the large weight of the vehicle itself, small ground contact area, and small tooth height.

In order to improve the bearing capacity and stability of the underwater tracked vehicle, part of vehicle types adopt ultra-wide and ultra-long track designs. While this design enhances the overall performance of the crawler to some extent, it also presents new problems. The ultra-wide ultra-long tracks further increase the overall weight of the vehicle, exacerbating the risk of the vehicle sagging.

Disclosure of Invention

The embodiment of the application aims to provide a crawler walking structure and an underwater crawler, which are used for solving the technical problems that the weight of an underwater crawler body is large and a crawler is easy to sink in the prior art.

In order to achieve the above purpose, the application adopts the following technical scheme:

provided is a crawler travel structure including:

A drive assembly;

the flexible belt is sleeved outside the driving assembly in an annular manner, and a plurality of through holes are formed in the flexible belt;

the crawler belt comprises a flexible belt, a plurality of crawler belt teeth, a plurality of driving components and a driving component, wherein the crawler belt teeth are arranged at intervals along the circumferential direction of the flexible belt, each crawler belt tooth comprises a meshing part and a convex tooth part, the convex tooth part is positioned on the outer side of the flexible belt, the convex tooth part is provided with a mounting hole corresponding to the through hole, and the meshing part penetrates through the flexible belt and is meshed and transmitted with the driving component;

and the fastener penetrates through the through hole, one end of the fastener is connected with the flexible belt in a fastening way, and the other end of the fastener is connected with the mounting hole in a fastening way.

As a further improvement of the above technical scheme:

optionally, at least two flexible belts spaced from each other are sequentially provided along the extending direction of the track teeth.

Optionally, at least one flexible belt is respectively arranged on two sides of the meshing part along the extending direction of the track teeth.

Optionally, the meshing portion includes meshing piece and the baffle that sets up in pairs along the meshing portion, the baffle is followed the extending direction of track tooth is located the both sides of meshing piece, the meshing piece be used for with drive assembly meshing transmission.

Alternatively, the number of the engaging portions is at least one, and when the number of the engaging portions is greater than one, the engaging portions are arranged at intervals from each other in the extending direction of the track teeth.

Optionally, the flexible belt comprises a steel belt layer located at the core, a tensile layer coated on the outer side of the steel belt layer, and a rubber layer coated on the outer side of the tensile layer.

Optionally, along the driving assembly, the method includes:

A support beam;

A driving member mounted on the support beam;

the driving wheel is in driving connection with the driving piece and meshed with the crawler belt teeth for transmission;

The supporting wheel is arranged on the supporting beam and is positioned above the supporting beam, and the supporting wheel is used for dragging and supporting the upper edge of the flexible belt;

A support wheel mounted on the support beam and located below the support beam, the support wheel being for pressing against a lower edge of the flexible belt;

and the tensioning structure is mounted on the supporting beam and is used for tensioning the flexible belt so as to keep the flexible belt in contact with the driving wheel, the supporting wheel and the supporting wheel.

Optionally, the tensioning structure comprises a telescopic driving piece and a tensioning wheel, wherein the telescopic driving piece is installed on the supporting beam, and the tensioning wheel is connected to the movable end of the telescopic driving piece and is propped against the flexible belt.

The application also provides an underwater tracked vehicle, which comprises a tracked vehicle body and the tracked running structure.

Compared with the prior art, the invention has the beneficial effects that:

The application provides a crawler walking structure which comprises a driving assembly, a flexible belt, crawler teeth and a fastener. The driving component is used as a power component of the crawler belt walking structure and is responsible for providing walking power for the whole system. The flexible belt is sleeved outside the driving assembly in an annular mode. Under the driving action of the driving component, the flexible belt is driven to walk and roll on the ground. Compared with the traditional chain type caterpillar band, the flexible belt has the advantages that the composition structure of the flexible belt is more simplified than that of the chain type caterpillar band, the weight of the whole caterpillar band running structure can be greatly reduced, the collapse degree of the caterpillar band running structure to the ground is effectively reduced, and the trafficability and the protection capability to sensitive ground surfaces are improved. In order to realize the connection of the flexible belt and the track teeth, a plurality of through holes are arranged on the flexible belt. A plurality of track teeth are provided at intervals from each other in the circumferential direction of the flexible belt. Each track tooth includes an engagement portion and a tooth portion. Wherein the convex tooth part is positioned at the outer side of the flexible belt and is used for being contacted with the ground. The convex tooth part is provided with a mounting hole corresponding to the through hole so as to be in butt joint with the through hole. The meshing part penetrates through the flexible belt and is in meshing transmission with the driving assembly, so that when the driving assembly drives, the crawler belt teeth and the flexible belt are driven to move along the driving direction through the meshing of the driving assembly and the meshing part. The fastener is used as a connecting part and penetrates through the through hole. Specifically, one end of the fastener is fastened to the flexible belt and the other end of the fastener is fastened to the mounting hole to attach the track tooth to the flexible belt.

The crawler belt walking structure replaces the traditional chain type crawler belt by combining the flexible belt and the crawler belt teeth, reduces the total weight of the crawler belt walking structure, and realizes the function of stably driving the crawler belt walking structure on the underwater soft substrate.

The application also provides an underwater tracked vehicle, which comprises a tracked vehicle body and the tracked running structure. The underwater tracked vehicle has the advantages of the crawler traveling structure.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the crawler belt running structure of the present application in a front view;

FIG. 2 is a schematic perspective view of the crawler belt running structure of the present application;

FIG. 3 is an exploded view of the crawler belt running structure of the present application;

FIG. 4 is a schematic perspective view of track teeth of the track running structure of the present application;

FIG. 5 is a schematic bottom view of track teeth of the track running structure of the present application;

fig. 6 is a schematic cross-sectional structure of a flexible belt of the crawler belt running structure of the present application.

Wherein, each reference sign in the figure:

1. The device comprises a driving component, 11, a supporting beam, 12, a driving piece, 13, a driving wheel, 14, a supporting wheel, 15, a supporting wheel, 16, a tensioning structure, 161, a telescopic driving piece, 162, a tensioning wheel, 2, a flexible belt, 21, a through hole, 22, a steel belt layer, 23, a tensile layer, 24, a rubber layer, 3, track teeth, 31, a meshing part, 311, a meshing block, 312, a baffle plate, 32, a convex tooth part, 33, a mounting hole, 4 and a fastener.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be 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 be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the scope of the present invention.

As shown in fig. 1 and 2, the present application provides a crawler travel structure including a drive assembly 1, a flexible belt 2, crawler teeth 3, and fasteners 4.

The driving assembly 1 is used as a power assembly of a crawler belt walking structure and is responsible for providing walking power for the whole system. The flexible belt 2 is sleeved outside the driving assembly 1 in a ring shape. Under the driving action of the driving component 1, the flexible belt 2 is driven to walk and roll on the ground. The flexible belt 2 is compared with the traditional chain type caterpillar band, the composition structure of the flexible belt 2 is more simplified than that of the chain type caterpillar band, the advantage of light weight is achieved, the overall weight of the caterpillar band running structure can be greatly reduced, the collapse degree of the caterpillar band running structure to the ground is effectively reduced, and the trafficability and the protection capability to sensitive ground are improved. To achieve the connection of the flexible belt 2 with the track teeth 3, a plurality of through holes 21 are provided in the flexible belt 2. A plurality of track teeth 3 are provided at intervals from each other in the circumferential direction of the flexible belt 2. Each track tooth 3 includes an engagement portion 31 and a tooth portion 32. Wherein the tooth portions 32 are located outside the flexible band 2 for contact with the ground. The tooth portion 32 is provided with a mounting hole 33 corresponding to the through hole 21 so as to be abutted with the through hole 21. The engagement portion 31 penetrates through the flexible belt 2 and is engaged with the driving assembly 1 for transmission, so that when the driving assembly 1 drives, the track teeth 3 and the flexible belt 2 are driven to move along the driving direction by the engagement of the driving assembly 1 and the engagement portion 31. The fastener 4 is inserted into the through hole 21 as a connecting member. 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 attach the track teeth 3 to the flexible belt 2.

The crawler belt walking structure replaces the traditional chain type crawler belt by combining the flexible belt 2 and the crawler belt teeth 3, reduces the total weight of the crawler belt walking structure, and realizes the function of stably driving the crawler belt walking structure on underwater soft substrates.

In one embodiment of the application, as shown in fig. 3, at least two flexible belts 2 are provided spaced apart from each other in succession along the extension of the track teeth 3. It should be noted that, as shown in fig. 3, the extending direction of the track teeth 3 specifically refers to the longitudinal direction of the track teeth 3. The side-by-side arrangement of the plurality of flexible belts 2 enhances the stability and reliability of the crawler running structure. The two flexible belts can bear the load in the walking process, can keep good ground grabbing force and balance even under the condition of complex and changeable terrains, and reduces the risk of walking faults caused by the damage of the single flexible belt. And, by increasing the number of the flexible belts 2, the overall width of the crawler travel structure can be widened, thereby realizing an ultra-wide crawler. The wider crawler belt structure can effectively disperse the pressure applied to the ground during walking, and further lighten the collapse condition of the crawler belt on the ground. In addition, since the flexible belt 2 itself is made of a lightweight high-strength material, the increased number thereof expands the structural size, but the influence on the overall weight is relatively small, and the lightweight advantage of the running structure can be well maintained.

In one embodiment of the present application, besides the number of the flexible belts 2 may be selected according to the actual situation, the width of each flexible belt 2 may also be selected according to the actual situation, so as to adapt to the requirements of different usage scenarios.

In one embodiment of the 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 engagement portion 31 in the direction of extension of the track teeth 3. However, the number of the flexible belts 2 on each side of the engagement portion 31 can be adjusted to be plural according to practical requirements, such as track width, expected load capacity, working environment, etc., so as to form a more stable supporting system.

In one embodiment of the present application, the flexible belts 2 on both sides of the engagement portion 31 are symmetrically arranged, so that the stress on the track teeth 3 is more balanced.

As shown in fig. 4 and 5, in one embodiment of the present application, the engagement portion 31 includes an engagement block 311 and a pair of baffles 312, the baffles 312 being provided on both sides of the engagement block 311 in the extending direction of the track teeth 3. Specifically, the engagement block 311 is for engagement transmission with a drive gear of the drive assembly 1. In order to ensure stability of the meshing transmission, two baffles 312 are symmetrically provided along the extending direction of the track teeth 3 on both sides of the meshing block 311. The baffle 312 can act as a physical barrier to prevent the drive gear from being deflected or dislodged during engagement to enhance the stability and reliability of the transmission.

In one embodiment of the present application, the engagement block 311 and the baffle 312 are of unitary construction. The materials of the engagement block 311 and the shutter 312 are required to ensure that they can withstand the impact force and friction force generated when the driving gear rotates, while maintaining sufficient rigidity and durability. The engagement block 311 and the baffle 312 may be made of stainless steel.

In one embodiment of the present application, the number of the engaging portions 31 is at least one, and when the number of the engaging portions 31 is greater than one, the engaging portions 31 are arranged at intervals along the extending direction of the track teeth 3, and by increasing the number of the engaging portions 31, the track teeth 3 are provided with a plurality of stress points for bearing the driving gear, so that not only the load borne by a single engaging portion 31 is reduced, but also the abrasion and damage risk caused by local stress concentration are effectively reduced.

In one embodiment of the application, as shown in fig. 6, 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.

The steel belt layer 22 serves as a skeleton for the flexible belt 2, providing the necessary strength and rigidity, and also ensuring that the flexible belt 2 remains in a stable form when subjected to heavy pressure. In order to enhance the tensile properties of the flexible strip 2, the outer side of the steel strip layer 22 is coated with a tensile layer 23. The tensile layer 23 may specifically be made of kevlar. The rubber layer 24 has good elasticity and shock absorbing effect, and is capable of absorbing and dispersing shock and vibration from the outside.

In one embodiment of the application, the drive assembly 1 comprises a support beam 11, a drive member 12, a drive wheel 13, a idler wheel 14, a support wheel 15 and a tensioning structure 16. The support beam 11 acts as a support skeleton for the entire drive assembly, not only taking up forces from the components, but also ensuring a stable relative position between the components. On this basis, a drive member 12 is mounted on the support beam 11, which serves as a power source for transmitting energy to the drive wheel 13 by means of a drive connection, driving it in rotation. The driving wheel 13 then acts as a component in direct contact with the track teeth 3 and effecting a meshing transmission. In order to effectively guide the running track of the flexible belt 2, a riding wheel 14 is installed at an upper position of the supporting beam 11, and the tread of the riding wheel contacts with the upper edge of the flexible belt 2 to play a role of supporting the flexible belt 2. The support wheel 15 below the support beam 11 is then pressed against the lower edge of the flexible belt 2. In order to maintain a proper tightness of the flexible belt 2 to ensure a good contact with the transmission parts, the support beam 11 is also provided with tensioning means 16. By means of the adjustment mechanism of the tensioning arrangement 16, an adjustment of the tension of the flexible belt 2 can be achieved, so that the stability and reliability of the drive train are ensured.

In one embodiment of the application, the tensioning arrangement 16 comprises a telescopic drive 161 and a tensioning wheel 162, the telescopic drive 161 being mounted on the support beam 11, the tensioning wheel 162 being connected to the movable end of the telescopic drive 161 and being in abutment with the flexible belt 2. The telescopic driving member 161 may be a hydraulic/pneumatic cylinder, an electric push rod, or the like. The tensioning wheel 162 serves as a member in direct contact with the flexible belt 2. In the working process, the tensioning wheel 162 can be propped against the inner side of the flexible belt 2, and the tensioning degree of the flexible belt 2 is changed by adjusting the telescopic length of the telescopic driving piece 161, so that the flexible belt 2 is ensured to keep a stable contact relationship with the driving wheel 13, the riding wheel 14 and the supporting wheel 15, and the slipping or excessive abrasion phenomenon is avoided.

In one embodiment of the application, the fastener 4 is embodied as a bolt. When the bolts are fastened on the track teeth 3, the bolt heads are pressed against the flexible belt 2, and the bolt shaft portions penetrate through the through holes 21 and are screwed into the mounting holes 33.

The application also provides an underwater tracked vehicle, which comprises a tracked vehicle body and the tracked running structure in the embodiment. Since the underwater crawler has the crawler travel structure in the above embodiment, it also has the advantage of the crawler travel structure in the above embodiment.

Since the underwater crawler has the crawler travel structure in the above embodiment, it also has the advantage of the crawler travel structure in the above embodiment.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (9)

1. A crawler walking structure, characterized by comprising: 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 crawler teeth (3). 3. The crawler walking structure according to claim 2, characterized in that, along the extension direction of the crawler teeth (3), at least one of the flexible belts (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, and when the number of the meshing portions (31) is greater than one, the meshing portions (31) are arranged spaced apart from each other along the extension direction of the crawler 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 is characterized in that the tensioning structure (16) comprises 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). 9. An underwater tracked vehicle, characterized in that it comprises a tracked vehicle body and a tracked walking structure as claimed in any one of claims 1 to 8.