CN110254713B - Transformer Inspection Robot Fish - Google Patents
Transformer Inspection Robot Fish Download PDFInfo
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- CN110254713B CN110254713B CN201910450328.6A CN201910450328A CN110254713B CN 110254713 B CN110254713 B CN 110254713B CN 201910450328 A CN201910450328 A CN 201910450328A CN 110254713 B CN110254713 B CN 110254713B
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- housing
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- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 241000251468 Actinopterygii Species 0.000 claims abstract description 24
- 210000004712 air sac Anatomy 0.000 claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 26
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 10
- 230000009182 swimming Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 description 18
- 230000001276 controlling effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000009421 internal insulation Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Studio Devices (AREA)
Abstract
本发明提供一种变压器巡检机器鱼，该变压器巡检机器鱼包括：壳体；动力推进装置，成对的所述动力推进装置安装于所述壳体的两侧，并提供驱动所述壳体前进或者转向的推进力；鱼鳔装置，所述鱼鳔装置安装于所述壳体内并具有利用浮力驱动力带动所述壳体上升或者下降的浮力驱动元件；鱼鳍装置，所述鱼鳍装置布置于所述壳体的上方和下方，每个所述鱼鳍装置包括设置于同一转轴两端的成对鳍片对，并且成对的所述鳍片对具有在外力作用下随所述转轴绕所述转轴的轴线同步旋转，以使得所述壳体上升或者下降的路径偏转；视觉系统，所述视觉系统位于所述壳体内，所述视觉系统包括摄像装置，所述摄像装置具有在外力作用下绕所述壳体的轴线周向移动的自由度。
The invention provides a transformer inspection robot fish. The transformer inspection robot fish includes: a casing; The propulsion force of the body to advance or turn; the swim bladder device, the swim bladder device is installed in the casing and has a buoyancy driving element that uses the buoyancy driving force to drive the casing to rise or fall; fin device, the fin device is arranged Above and below the casing, each of the fin devices includes a pair of fins disposed at both ends of the same rotating shaft, and the paired pairs of fins have the ability to move around the rotating shaft under the action of an external force. The axis of the rotating shaft rotates synchronously to deflect the upward or downward path of the casing; a vision system, the vision system is located in the casing, and the vision system includes a camera device, the camera device has a function under the action of an external force The freedom to move circumferentially about the axis of the housing.
Description
Technical Field
The invention relates to the technical field of transformer inspection, in particular to a robot fish for transformer inspection.
Background
The transformer is one of the most critical pivotal devices in the power system, and a large amount of data indicate that the main cause of failure of the electrical device is deterioration of the internal insulation performance thereof, and most faults of the electrical device are insulation faults. At present, people carry out on-line monitoring on partial discharge of electrical equipment, can not well combine the change of various characteristic quantities of partial discharge signals with the severity of generated insulation faults, and can not reliably judge the defect type, the defect position and the defect severity in a transformer through the partial discharge signals.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a transformer inspection robot fish, comprising:
a housing;
the power propulsion devices are arranged on two sides of the shell in pairs and provide propulsion force for driving the shell to advance or turn;
the swimming bladder device is arranged in the shell and is provided with a buoyancy driving element which drives the shell to ascend or descend by utilizing buoyancy driving force;
the fin devices are arranged above and below the shell in pairs, each fin device comprises a pair of fins arranged at two ends of the same rotating shaft, and the fin pairs synchronously rotate around the axis of the rotating shaft along the rotating shaft under the action of external force so as to deflect the ascending or descending path of the shell;
the visual system is located in the shell and comprises a camera device, and the camera device has the degree of freedom which moves around the axis of the shell in the circumferential direction under the action of external force.
Optionally, the power propulsion device comprises a power device arranged on the side surface of the shell in the same direction and a propeller arranged on the power device.
Optionally, the buoyancy driving element comprises a cylinder providing a transformer oil accommodating space and communicating with transformer oil in the transformer, and a piston mounted on the cylinder and sliding back and forth along an inner wall surface of the cylinder under the action of lifting force to change the transformer oil capacity in the cylinder.
Optionally, the swim bladder device further comprises a power lifting device;
the power lifting device is in transmission connection with a piston rod of the piston and applies the lifting force to the piston rod along the axial direction of the piston rod.
Optionally, the powered lifting device comprises:
the lifting motor is arranged at the top of the oil cylinder;
the lifting speed reducer is mounted at the output end of the lifting motor;
the transmission gear is arranged at the output end of the lifting speed reducer;
the lifting gear is in meshing transmission with the transmission gear, and a threaded hole in threaded fit with the piston rod is formed in the lifting gear.
Optionally, the fin apparatus further comprises:
the fin mounting seats are fixed at the top end and the bottom end of the shell;
the dynamic deflection device is arranged on the fin mounting seat and is in transmission connection with the rotating shaft;
wherein, the pivot is rotationally installed in the fin mount pad.
Optionally, the dynamic deflection apparatus comprises:
the deflection power motor is mounted on the fin mounting seat;
the deflection speed reducer is mounted at the output end of the deflection power motor;
the driving gear is arranged at the output end of the deflection speed reducer;
and the driven gear is arranged on the rotating shaft and is in meshed transmission connection with the driving gear.
Optionally, the vision system further comprises:
the slide rail is fixed on the inner wall surface of the shell;
the sliding ring is sleeved on the sliding rail, and the camera shooting device is arranged on the sliding ring and rotates around the sliding rail together with the sliding ring under the action of the power sliding device.
Optionally, the powered slide apparatus comprises:
the sliding power motor is mounted on the sliding rail;
the sliding speed reducer is mounted at the output end of the sliding power motor;
the elastic wheel is installed at the output end of the sliding speed reducer and is in friction transmission connection with the sliding ring.
Optionally, a control device is arranged in the housing, and the control device is used for driving the power propulsion device, the swim bladder device, the fin device and the vision system.
According to the technical scheme, the power propulsion device of the transformer inspection robot fish provides forward and steering propulsion, the swim bladder device provides buoyancy driving force for driving the shell to ascend or descend, the fin pairs in the fin devices can deflect around the rotating shaft and are matched with the swim bladder device to realize unpowered gliding of the shell, the vision system can perform circumferential shooting on the shell inside the transformer, and the working state inside the transformer is obtained under the condition that the internal environment of the transformer is not changed.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1 is a schematic diagram of a transformer inspection robot fish according to an embodiment of the invention.
Fig. 2 is an enlarged view of a portion of fig. 1.
Fig. 3 is a schematic diagram of the transformer inspection robot fish with a part of the shell removed according to the embodiment of the invention.
Fig. 4 is a schematic view of a swim bladder device according to an embodiment of the present invention.
FIG. 5 is a schematic view of a vision system according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a control device according to an embodiment of the invention.
Fig. 7 is a schematic diagram of the internal connection of the control device according to the embodiment of the present invention.
Wherein:
1 casing
11 upper shell, 111 upper lug and 112 extending edge
12 lower shell, 121 lower lug
13 counterweight block
2 power propulsion device, 21 power device, 22 propeller and 23 power encoder
3 swimming bladder device
31 buoyant driver element
311 oil cylinder, 312 piston, 313 piston rod and 314 sealing ring
32 power lifting device
321 lifting motor, 322 lifting speed reducer, 323 transmission gear, 324 lifting gear and 325 lifting encoder
33 displacement sensor
34 connecting plate
4 fin device
41 fin pairs, 42 rotating shafts and 43 fin mounting seats
44 power deflection device
441 deflection power motor, 442 deflection speed reducer, 443 driving gear, 444 driven gear and 445 deflection encoder
5 Vision System, 51 imaging device
52 slide rail and 521 connecting column
53 slip ring, 531 cylinder, 532 pallet
54 power sliding device
541 sliding power motor, 542 sliding speed reducer, 543 elastic wheel, 544 sliding encoder
6 control device
61 motor drive and control module, 62 sensor acquisition module, 63 pose detection module, 64 wireless transmission module, 65 power supply module and 66 mounting disc
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.
For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.
In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc. Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
In order to solve the technical problem that the internal fault of the transformer is difficult to detect in the prior art, the embodiment of the invention provides the transformer inspection robot fish, the transformer inspection robot fish is used for inspection of the interior of the transformer, and the transformer inspection robot fish is in a transformer oil environment when in use.
As shown in fig. 1, the transformer inspection robot fish in the embodiment of the present invention includes: the device comprises a shell 1, a power propulsion device 2, a swim bladder device 3, a fin device 4, a vision system 5 and a control device 6.
The shell 1 can be a split spherical structure, and specifically, the shell 1 can comprise an upper shell 11 and a lower shell 12 which are oppositely arranged and hermetically spliced. As shown in fig. 2, the periphery of the edge of the upper shell 11 may be provided with a plurality of uniformly distributed upper lugs 111, the periphery of the edge of the lower shell 12 may be provided with a plurality of uniformly distributed lower lugs 121, bolt holes are formed in the upper lugs 111 and the lower lugs 121, bolts are installed in the bolt holes and fastened through nuts, and the fastening connection between the upper shell 11 and the lower shell 12 is realized.
The butt joint splicing positions of the upper shell 11 and the lower shell 12 are provided with sealing rings, so that the internal sealing of the shell 1 is ensured, and the transformer oil in the transformer is prevented from entering the shell 1 to influence the normal use of internal parts.
The power propulsion devices 2 are arranged on two sides of the shell 1 in pairs, provide propulsion force for driving the shell 1 to advance or turn, it will be appreciated that the power propulsion means 2 provides a propulsion force, which may propel the housing 1 forward, because the power propulsion devices 2 are arranged in pairs, when the propulsion forces provided by the power propulsion devices 2 on both sides are the same, the housing 1 is advanced linearly, and when the propulsive force of one of the power propulsion devices 2 is decreased or increased, that is, when the two power propulsion devices 2 provide different propulsion forces, the forces on the two sides of the housing 1 will be unbalanced, the housing 1 will deflect, the deflection can realize the turning of the shell 1, and according to the turning direction and the turning radius of the shell 1, the respective propulsion values provided by the two power propulsion devices 2 can be set respectively, and steering can be realized without setting a steering device.
As shown in fig. 3, the swim bladder device 3 is installed in the housing 1, and the swim bladder device 3 includes a buoyancy driving element 31 for driving the housing 1 to ascend or descend by buoyancy driving force.
When the casing 1 is placed still in the transformer oil, the casing 1 is subjected to static buoyancy corresponding to the static position, in the example of the present invention, the buoyancy driving element 31 may be a bottom fixed in the casing 1, the buoyancy driving element 31 is communicated with the transformer oil in the transformer through the bottom of the casing 1, and the buoyancy driving force here includes that the buoyancy driving element 31 is subjected to jacking buoyancy greater than the static buoyancy due to the discharge of the transformer oil and settlement buoyancy less than the static buoyancy due to the suction of the transformer oil.
When the buoyancy driving element 31 discharges the transformer oil, the buoyancy driving element 31 applies a downward thrust to the discharged transformer oil, and since the buoyancy driving element 31 is subjected to an upward reaction force, the common action force of the standing buoyancy and the upward reaction force, which is the jacking buoyancy, is applied to the housing 1 at this time, and the jacking buoyancy is greater than the standing buoyancy, the position of the housing 1 rises and is in an unpowered state in the rising process.
When the buoyancy driving element 31 sucks in the transformer oil, the buoyancy driving element 31 applies an upward suction force to the sucked transformer oil, and since the buoyancy driving element 31 receives a downward reaction force, the housing 1 receives a common action force of the standing buoyancy and the downward reaction force at this time, namely, a settling buoyancy, and the settling buoyancy is smaller than the standing buoyancy, the position of the housing 1 is lowered, and the housing is in an unpowered state in the lowering process.
In another alternative example, the buoyancy driving element 31 may be a top fixed in the casing 1, and the buoyancy driving element 31 is communicated with the transformer oil in the transformer through the top of the casing 1, where the buoyancy driving force includes that the buoyancy driving element 31 receives a sinking buoyancy less than the static buoyancy by discharging the transformer oil and a jacking buoyancy more than the static buoyancy by sucking the transformer oil.
When the buoyancy driving element 31 discharges the transformer oil, the buoyancy driving element 31 applies an upward thrust to the discharged transformer oil, and since the buoyancy driving element 31 is subjected to a downward reaction force, the housing 1 is subjected to a common action force of the standing buoyancy and the downward reaction force, that is, a settling buoyancy, and the settling buoyancy is smaller than the standing buoyancy, the position of the housing 1 is lowered, and the housing is in an unpowered state in the lowering process.
When the buoyancy driving element 31 sucks the transformer oil, the buoyancy driving element 31 applies downward suction to the sucked transformer oil, and because the buoyancy driving element 31 receives upward reaction force, the shell 1 receives common action force of standing buoyancy and upward reaction force, namely jacking buoyancy, and the jacking buoyancy is larger than the standing buoyancy, the position of the shell 1 rises and is in an unpowered state in the rising process.
The fin devices 4 are arranged above and below the housing 1 in pairs, each fin device 4 includes a rotating shaft 42 and a pair of fin pairs 41 provided at both ends of the same rotating shaft 42, and the fin pairs 41 have a function of rotating synchronously with the rotating shaft 42 around the axis of the rotating shaft 42 under an external force so that a path along which the housing 1 ascends or descends is deflected, and the housing 1 is in an unpowered gliding state along with the path deflection.
In a normal state, the fin pair 41 is in a horizontal state, the balance of the housing 1 is maintained, when the buoyancy driving element 31 receives buoyancy driving force through discharging or sucking transformer oil and drives the housing 1 to ascend or descend, the housing 1 is in an unpowered ascending or descending process, and when the fin pair 41 rotates along with the rotating shaft 42, the posture of the fin pair 41 relative to the housing 1 changes, so that the advancing direction of the housing 1 is changed, the deflection of a path when the housing 1 ascends or descends is realized, and the unpowered gliding of the housing 1 is realized.
The vision system 5 is located in the housing 1, and the vision system 5 comprises an image pickup device 51, the image pickup device 51 has a degree of freedom of circumferential movement around the axis of the housing 1 under the action of external force, the image pickup device 51 can realize circumferential rotation of 360 degrees around the axis of the housing 1, so that circumferential image pickup of the housing 1 is realized, the working state inside the transformer is obtained, and the internal insulation state is detected under the condition that the working state inside the transformer is not influenced.
The power propulsion device 2 of the transformer inspection robot fish provides forward and steering propulsion, the swim bladder device 3 provides buoyancy driving force for driving the shell 1 to ascend or descend, the fin pairs 41 in the fin device 4 can deflect around the rotating shaft and are matched with the swim bladder device 3 to realize unpowered gliding of the shell 1, the vision system 5 can take pictures of the shell 1 in the transformer in the circumferential direction, and the working state in the transformer is obtained under the condition that the internal environment of the transformer is not changed.
The diameter of the shell 1 of the robot fish is patrolled and examined by the transformer can be not more than 6cm, and the transformer is small in size, easy to enter the transformer, small in occupied space, easy to turn to and move in the transformer, free of change of the internal environment of the transformer and convenient to detect the inside of the transformer.
This casing 1 is spherical, and spherical structure does not have edges and corners on the one hand, can not destroy other parts of transformer inside, and on the other hand, spherical structure all directions atress is balanced in the liquid environment of transformer oil, easily turns to, if set up to other shapes then be unfavorable for turning to and unpowered gliding.
The power propulsion device 2 can comprise a power device 21 and a propeller 22, wherein the power device 21 is arranged on the side surface of the shell 1 in the same direction, the propeller 22 is arranged on the power device 21, the power device 21 provides source power, the power device 21 can be an oil-proof motor, the propeller 22 is arranged at the output end of the power device 21, the propeller 22 is driven by the power device 21 to operate, the propeller 22 can be a propeller, blades of the propeller rotate, the rotating power of the oil-proof motor is converted into propelling force, and the shell 1 is pushed to advance or turn.
The oil-proof motor can be fixedly mounted on the lower support lug 121 in a sticking manner, when the rotation power of the oil-proof motors on the two sides of the shell 1 is the same, the propellers provide the same propelling force, the direction of the propelling force is parallel to the tangential direction of the shell 1, and the shell 1 is pushed to advance; when the rotation power of the oil-proof motors on the two sides is different, the propeller connected with the oil-proof motor with high rotation power provides large recommended force, the other side provides small propelling force, the two sides of the shell 1 are subjected to tangential force with different sizes, and the two torques with different sizes and opposite directions are applied to the two sides of the shell 1 due to the different tangential force, and the shell 1 rotates to realize steering as a superposition result of the two torques. The rotating power of the two oil-proof motors can be actually regulated and controlled, and the turning radius and the rotating angle of the shell 1 are changed.
As shown in fig. 4, the buoyancy driving element 31 of the swimbladder device 3 may include a cylinder 311 providing a transformer oil accommodating space and communicating with transformer oil in the transformer, and a piston 312 installed at the cylinder 311 and reciprocally sliding along an inner wall surface of the cylinder 311 under a lifting force to change a transformer oil capacity in the cylinder 311.
The cylinder 311 may be cylindrical, the bottom of the cylinder may be fixed to the bottom of the housing 1, and the bottom edge of the cylinder 311 is sealed with the housing 1; the bottom plate of the oil cylinder 311 is provided with a through hole, and similarly, the corresponding position of the shell 1 is also provided with a through hole, the communication between the oil cylinder 311 and the transformer oil is realized through the two through holes corresponding to the positions, and the transformer oil is sucked into or discharged out of the oil cylinder 311 through the through holes.
The piston 312 is mounted on the inner wall surface of the oil cylinder 311 along the axial direction of the oil cylinder 311, a groove is formed in the side wall of the piston 312, the sealing ring 314 is mounted in the groove, the oil cylinder 311 is isolated into two accommodating spaces by the piston 312 and the sealing ring 314, wherein the space at the upper part of the piston 312 is empty, the space at the lower part of the piston 312 accommodates transformer oil, the height of the space at the lower part of the piston 312 is increased or decreased along with the reciprocating sliding of the piston 312 along the inner wall of the oil cylinder 311, the volume of the transformer oil accommodated in the oil cylinder 311 is changed, and the floating driving force applied to.
The swim bladder device 3 may further comprise a power lifting device 32. The power lifting device 32 is in transmission connection with the piston rod 313 of the piston 312, and applies a lifting force to the piston rod 313 along the axial direction of the piston rod 313, and the lifting force drives the piston 312 to slide back and forth along the wall surface direction of the oil cylinder 311.
The power lift device 32 may specifically include: a lifting motor 321, a lifting speed reducer 322, a transmission gear 323 and a lifting gear 324.
The lifting motor 321 and the lifting speed reducer 322 are located at the top of the oil cylinder 311, the lifting speed reducer 322 is installed at the output end of the lifting motor 321, the transmission gear 323 is installed at the output end of the lifting speed reducer 322, the lifting gear 324 is in meshing transmission with the transmission gear 323, the transmission gear 323 drives the lifting gear 324 to rotate, a threaded hole in threaded fit with the piston rod 313 is formed in the lifting gear 324 in the axial direction, lifting force in the axial direction of the piston rod 313 is applied to the piston rod 313 through threaded fit while the lifting gear 324 rotates, and the piston rod 313 is driven to slide back and forth.
The swim bladder device 3 may further include a displacement sensor 33, the displacement sensor 33 is fixed to the connection plate 34, the connection plate 34 is fixed to the top of the oil cylinder 311, the displacement sensor 33 measures the displacement of the piston rod 313, the displacement of the piston rod 313 is the displacement of the piston 312 sliding in a reciprocating manner, the variation of the transformer oil in the oil cylinder 311 can be obtained by combining the diameter of the oil cylinder 311, and then the buoyancy driving force applied to the housing 1 due to the change of the transformer oil amount is obtained, similarly, the sliding displacement of the piston rod 313 can be adjusted by controlling the rotation power of the lifting motor 321, the floating driving force applied to the housing 1 can be accurately set by controlling the sliding displacement amount of the piston rod 313, and the moving distance of the housing 1 in.
The displacement sensor 33 may be a linear displacement sensor, and a sliding probe of the linear displacement sensor is fixedly connected to the top end of the piston rod 313, and the piston rod 313 drives the sliding probe to move, so as to measure the sliding displacement of the piston rod 313 in real time.
As can be seen in fig. 3, the fin device 4 further comprises a fin mounting 43 and a dynamic deflection device 44.
Two fin mounting seats 43 are fixed to the top and bottom ends of the housing 1, respectively, the fin mounting seats 43 providing a mounting space and a mounting point for the power deflecting means 44, and the rotary shaft 42 is rotatably mounted to the fin mounting seats 43. The top and bottom portions of the housing 1 may be recessed inwardly of the housing 1 to form a mounting plane to which the fin mount 43 is mounted.
The power deflection device 44 is mounted on the fin mounting seat 43 and is in transmission connection with the rotating shaft 42, the power deflection device 44 drives the rotating shaft 42 to rotate relative to the fin mounting seat 43, and the rotating shaft 42 and the fin pair 41 rotate synchronously, so that unpowered gliding of the shell 1 is realized.
The dynamic deflection unit 44 may include: a yaw power motor 441, a yaw speed reducer 442, a drive gear 443, and a driven gear 444.
The deflection power motor 441 is mounted on the fin mounting seat 43, the deflection speed reducer 442 is mounted on the output end of the deflection power motor 441, and the driving gear 443 is mounted on the output end of the deflection speed reducer 442; the driven gear 444 is fixedly installed on the rotating shaft 42, the driven gear 444 is in meshing transmission connection with the driving gear 443, the driving gear 443 is driven to rotate by the deflection power motor 441, the driving gear 443 drives the driven gear 444 and the rotating shaft 42 to synchronously rotate, and the fin pair 41 synchronously rotates due to the rotation of the rotating shaft 42, so that the angle deflection is realized.
This power motor 441 that deflects can install the encoder, and the encoder can real-time detection power motor 441's turned angle, can accurately drive the fin to 41 deflection preset angle through the turned angle of control power motor 441 that deflects, realizes the control to the deflection direction when casing 1 glides.
As shown in fig. 5, the vision system 5 may further include a slide rail 52 and a slide ring 53.
The slide rail 52 is fixed on the inner wall surface of the housing 1, specifically, the slide rail 52 is fixed on the top of the housing 1, the upper surface of the slide rail 52 is provided with a connecting column 521, the top end of the connecting column 521 is fixed on the inner wall surface of the housing 1, or the inner wall of the housing 1 is provided with a horizontal connecting plate, and the top end of the connecting column 521 is connected to the horizontal connecting plate. The slide rail 52 is circular and has a circumferential slide on its outer wall.
The sliding ring 53 is sleeved on the sliding rail 52, specifically, the sliding ring 53 may be installed on a circumferential slideway of the sliding rail 52, the sliding ring 53 can circumferentially slide relative to the sliding rail 52 under the action of a driving force provided by the sliding device 54, the sliding ring 53 is fixedly installed with the camera device 51, and the sliding ring 53 can drive the camera device 51 to circumferentially slide relative to the sliding rail 52, so as to realize circumferential camera shooting of the camera device 51.
The sliding power motor 541 is mounted on the upper surface of the slide rail 52, the sliding speed reducer 542 is mounted on the output end of the sliding power motor 541, the elastic wheel 543 is mounted on the output end of the sliding speed reducer 542, the sliding power motor 541 is connected with the sliding elastic wheel 543 through transmission to rotate, the elastic wheel 543 is connected with the slide ring 53 through friction transmission, the elastic wheel 543 drives the slide ring 53 to rotate through friction force with the slide ring 53, and the slide ring 53 drives the camera 51 to rotate circumferentially.
The elastic wheel 543 has elasticity, and the elastic wheel 543 is in frictional contact with the slip ring 53, so that the elastic wheel 543 is elastically deformed to increase the frictional force between the elastic wheel 543 and the slip ring 53. The sliding ring 53 comprises a cylinder 531 sleeved outside the sliding rail 52 and a tray 532 arranged at the bottom end of the cylinder 531, the sliding rail 52 is arranged in the cylinder and placed on the tray 532, and the side wall surface of the tray 532 is in friction contact with the elastic wheel 543. The elastic wheel 543 may be made of rubber, and may be elastically deformed to increase a friction force between the rubber and the tray 532.
The camera 51 rotates around the inner circumference of the housing 1 to shoot images, and the housing 1 is provided with a transparent part for the camera 51 to avoid the shooting view angle, so as to ensure the complete shooting of the camera 51, and the transparent part can be located on the upper housing 11. Alternatively, the housing 1 may be a transparent housing, i.e. the entire housing 1 is transparent.
A control device 6 is arranged in the shell 1, and the control device 6 is used for driving the power propulsion device 2, the swim bladder device 3, the fin device 4 and the vision system 5.
In one example, the lower housing 12 of the housing 1 is provided with a weight 13, the weight 13 ensuring that the housing 1 remains upright and is less prone to toppling even during gliding.
The control device 6 is used for driving the power propulsion device 2, the swim bladder device 3, the fin device 4 and the vision system 5.
Specifically, as shown in fig. 6 and 7, the control device 6 may include a mounting plate 66, and a motor driving and controlling module 61, a sensor acquiring module 62, a posture detecting module 63, a wireless transmitting module 64, and a power supply module 65 mounted to the mounting plate 66.
The edge of the upper case 11 of the case 1 has an extended edge 112 extending toward the inside of the case 1, and the mounting plate 66 is overlapped on the extended edge 112 and mechanically connected to the extended edge 112 by a bolt.
The motor driving and controlling module 61, the sensor collecting module 62 and the pose detecting module 63 are all connected with the wireless transmission module 64, and the wireless transmission module 64 transmits the control information and the collected information of the three modules to the external equipment.
The motor driving and controlling module 61 drives and controls the remote rotation of the power unit 21, the lifting motor 321, the yaw power motor 441 and the slide power motor 541.
Further, the power device 21 is provided with a power encoder 23 for measuring the angular displacement and angular velocity of the output end of the power device 21, the lifting motor 321 is provided with a lifting encoder 325 for measuring the angular displacement and angular velocity of the output end of the lifting motor 321, the yaw power motor 441 is provided with a yaw encoder 445 for measuring the angular displacement and angular velocity of the output end of the yaw power motor 441, and the slide power motor 541 is provided with a slide encoder 544 for measuring the angular displacement and angular velocity of the output end of the slide power motor 541.
The power encoder 23, the lifting encoder 325, the deflection encoder 445, the sliding encoder 544 and the displacement sensor 33 are all connected with the sensor acquisition module 62, and the sensor acquisition module 62 acquires signal data of the corresponding encoder and sensor and transmits the signal data to the wireless transmission module 64.
The power module 65 is used for supplying power to the electric devices of the whole system.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein can be combined as a whole to form other embodiments as would be understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications such as combinations, divisions or repetitions of the features without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
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