The invention discloses a crawler walking mechanism, and particularly relates to a crawler walking mechanism of an underwater culture net cage netting cleaning robot and the robot, the crawler walking mechanism comprises a crawler chain ring formed by connecting crawler plates in pairs through crawler pins, and claws are hinged to the shaft parts of the crawler plates of the crawler chain ring. A directional baffle is installed in a track chain ring, a T-shaped groove is formed in the directional baffle, and the directional baffle and the face, making contact with the net face, of the track chain ring extend in the same direction. Wherein in the moving process of the track chain ring, the sliding block part of the hook claw is inserted into the T-shaped groove of the directional baffle, the hook claw part of the hook claw is limited to be always perpendicular to the face, making contact with the net face, of the track chain ring, and the hook claw part hooks the net and moves synchronously with the track chain ring. The technical problem that the netting cleaning robot achieves net grabbing walking is solved, and the netting can be continuously and efficiently cleaned on the premise that it is still ensured that the cleaning robot normally walks under the conditions of limit deformation inclination angle and the like of the netting.
本发明公开了一种履带行走机构,特别是一种水下养殖网箱网衣清洗机器人的履带行走机构,及机器人,所述履带行走机构包括各履带板通过履带销两两相互连接构成的履带链环,在履带链环的履带板轴部上铰接钩爪,在履带链环内安装定向挡板,所述定向挡板上设有T型槽,并与履带链环上与网面接触的一面同方向延伸;其中,在履带链环运动过程中通过钩爪的滑块部插入至定向挡板的T型槽,限制钩爪的钩爪部始终垂直于履带链环上与网面接触的一面,钩爪部勾住网衣并与履带链环同步运动。其解决了“网衣清洗机器人实现抓网行走”的技术问题,即使网衣极限形变倾角等情况仍确保清洗机器人正常行走的前提下继续高效地清洗网衣。
Crawler walking mechanism of underwater culture net cage netting cleaning robot and robot
水下养殖网箱网衣清洗机器人的履带行走机构,及机器人
2024-10-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B08B Reinigen allgemein , CLEANING IN GENERAL / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
Underwater intelligent cleaning robot for deepwater cage culture
European Patent Office | 2023
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