Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism

Abstract

The invention discloses a self-adaptive sea bottom complex terrain compound wheel type traveling mechanism which comprises an articulated frame and a compound gear train which is arranged at both sides of the frame and is provided with an independent driving system. The compound gear train comprises a front connecting plate, a back connecting plate and a front wheel, a middle wheel and a back wheel which are arranged on the front connecting plate and back connecting plate and are provided with the independent driving system; chain wheels exist among the front wheel, the middle wheel and the back wheel; the chain wheels transfer the power by chains; and the front connecting plate and the back connecting plate are articulated with a hydro-cylinder and the frame. The traveling mechanism adopts the active control mode for barrier crossing, can cross steps and bosses with the diameter larger than that of the tyre by two times, can stride a ditch less than the distance between the front wheel and the back wheel in the wheel train, can be adaptive to the high-low fluctuant road surface, causes the tyre and the road surface to be continuously contacted, furthest obtains the adhesive force of the road surface, effectively increases the dynamic performance and working efficiency in the sea bottom complex road condition. The traveling mechanism is simple and compact, has high efficient and flexible movement, low cost, wide adaptation range, good stability and high reliability.

Description

technical field [0001] The invention belongs to the field of mechanical manufacturing, and relates to a composite wheel-type walking mechanism adaptive to the complex topography of the seabed, which can be used in a deep-sea resource mining system and an ore collection system under harsh conditions. Background technique [0002] At present, the walking modes that adapt to various terrains mainly include wheeled, crawler, leg-footed and mixed, each of which has different terrain movement characteristics; [0003] 1. The wheeled walking mode is characterized by high efficiency and high flexibility. Combined with the design of the suspension and tires, it can obtain high passing performance and anti-rollover ability. The lunar rover schemes of various countries are all the first to promote the wheeled design. And in the military field, wheeled solutions have gradually become the main platform for battlefield transportation in various countries. The cost and maintenance cost of...

AI Technical Summary

Problems solved by technology

[0004] 2. The crawler walking mode is an expansion of the wheel-type mobile mechanism. It has a small grounding specific pressure, strong passing performance and cross-country mobility, and has good traction and adhesion performance. It is suitable for walking on soft ground and uneven ground. It adapts to terrain conditions. The method is destructive and consumes a lot of energy

It has good energy consumption characteristics when walking on rough and soft ground, but the structure is complex and difficult to control, especially the movement of the center of gravity and stability of walking

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