CN114074750A - Small-sized ROV for underwater hole opening - Google Patents
Small-sized ROV for underwater hole opening Download PDFInfo
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- CN114074750A CN114074750A CN202010807863.5A CN202010807863A CN114074750A CN 114074750 A CN114074750 A CN 114074750A CN 202010807863 A CN202010807863 A CN 202010807863A CN 114074750 A CN114074750 A CN 114074750A
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- 238000005553 drilling Methods 0.000 claims abstract description 86
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 230000005291 magnetic effect Effects 0.000 claims abstract description 16
- 238000001179 sorption measurement Methods 0.000 claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 238000007667 floating Methods 0.000 claims description 17
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims description 3
- 230000005415 magnetization Effects 0.000 claims 2
- 238000005070 sampling Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 239000003973 paint Substances 0.000 description 7
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- 230000000694 effects Effects 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000011835 investigation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
- B63B45/02—Arrangements or adaptations of signalling or lighting devices the devices being intended to illuminate the way ahead or other areas of environments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B69/00—Equipment for shipping not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of underwater operation devices, in particular to a small ROV for underwater hole opening, which comprises a main frame, wherein a lifting head is arranged at one side of the main frame, which is provided with an upper buoyancy plate, and an underwater drilling mechanism, an underwater magnetic adsorption device, an illuminating device and a camera device are arranged at one side of the main frame, which is provided with a lower buoyancy plate; a plurality of vertical thrusters and a plurality of horizontal thrusters are arranged in the main frame, the included angle between each vertical thruster and the vertical axis of the main frame is 5-20 degrees, and the included angle between each horizontal thruster and the horizontal axis of the main frame is 45 degrees; an electric holder and a main control cabin are arranged on the side surface of the main frame, and an illuminating device and a camera device are arranged on the electric holder. The invention solves the problems of larger ROV volume and inflexible operation of underwater drilling in the prior art. The small ROV is provided with an underwater small drilling machine and can perform underwater drilling and sampling; meanwhile, the ROV has the advantages of good maneuverability, flexible operation, good current-resistant capability and the like.
Description
Technical Field
The invention relates to the technical field of underwater operation devices, in particular to a small ROV for underwater hole opening.
Background
ROV, Remote Operated unmanned Vehicle (Remote Operated Vehicle). The ROVs have various functions, are used for executing different tasks and are widely applied to various fields such as army, coast guard, maritime affairs, customs, nuclear power, water and electricity, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.
In recent years, our country has paid more and more attention to the development of the marine field, and our marine trade is also increasing year by year. However, as more and more equipment is used for marine navigation, collision accidents among ships are increased, and ship sinking accidents are increased, so that paint of a sunken ship body needs to be sampled. In consideration of the inoperability of scraping paint underwater, a method for obtaining a sunken ship hull steel plate by underwater drilling and cutting can be generally adopted to obtain sunken ship own paint and possible external paint attached paint near a break, and then theoretical analysis technology is used for comparing the sunken ship own paint or the suspected external paint of a suspected ship. At present, the underwater investigation work is often completed by divers, but the underwater condition is more complicated, the implementation difficulty is higher, the cost is high, and the working environment of the divers is easy to cause danger, so that the research and development of a small ROV for underwater hole opening has important practical significance.
Patent No. CN 104354843 provides a miniature salvage drilling device and method for a marine oil tanker matching with an ROV, and proposes a miniature salvage drilling device and method for a marine oil tanker, but the drilling needs to match with an independent ROV to perform underwater operation (two devices perform underwater operation in coordination), which makes the system operation of the underwater drilling device very complicated. Meanwhile, the ROV is provided with the device, so that the maneuvering performance of the ROV is greatly influenced, and only simple actions can be completed underwater, so that the underwater drilling device can only perform simple drilling work, and the underwater drilling work of a ship body with large radian and large inclination angle is difficult to complete. This drilling equipment under water has adopted hydraulic drive's drilling mode in principle, needs the body ROV to provide hydraulic power for it on the one hand, has also increased the risk of revealing under water simultaneously.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a small ROV for underwater boring, which solves the problems of the prior art that the ROV for underwater boring is bulky and inflexible to operate. The small ROV for opening the hole underwater can communicate with the mother ship on the water surface through the umbilical cable, and the mother ship on the water surface controls the underwater ROV to execute response action. The small-sized ROV carries an underwater small-sized drilling machine, can drill and sample underwater, and has the advantages of good maneuverability, flexible operation, larger anti-current capability and the like.
To achieve the above and other related objects, the present invention provides a small ROV for underwater boring, the small ROV including an ROV mechanism and an underwater boring mechanism;
the ROV mechanism comprises a main frame, an upper floating plate and a lower floating plate are mounted on the main frame, a lifting head is mounted on one side, where the upper floating plate is mounted, of the main frame, and an underwater drilling mechanism, an underwater magnetic adsorption device, an illuminating device and a camera device are mounted on one side, where the lower floating plate is mounted, of the main frame; the underwater magnetic adsorption device comprises a plurality of underwater electromagnets;
a plurality of vertical thrusters are arranged in the main frame, and the included angle between each vertical thruster and the vertical axis of the main frame is 5-20 degrees;
a plurality of horizontal thrusters are arranged in the main frame, and the included angle between each horizontal thruster and the horizontal axis of the main frame is 45 degrees;
an electric holder is arranged on the side surface of the main frame, and the lighting device and the camera device are arranged on the electric holder;
the main control cabin is arranged in the main frame and is electrically connected with the horizontal propeller, the vertical propeller, the electric holder, the lighting device and the camera device.
The small ROV integrates remote control unmanned diving and underwater drilling, and simultaneously adopts a plurality of vertical propellers and horizontal propellers in the design, and the vertical propellers and the vertical axis of the main frame form a certain included angle, and the horizontal propellers and the horizontal axis of the main frame form an included angle of 45 degrees, so that the small ROV has better underwater posture adjustment flexibility, can realize vertical advance and drilling at any angle, and greatly improves the application range of the small ROV in underwater sunken ship drilling; in addition, through installing buoyancy plate and buoyancy plate down on the main frame for small-size ROV has less heavy center of buoyancy design, very big increase this ROV's maneuverability, make this small-size ROV have better underwater attitude adjustment flexibility. The underwater drilling mechanism is arranged on the main structure of the ROV, the underwater drilling mechanism can realize the function of underwater drilling, and the structure and the control system of the underwater drilling mechanism are simple, so that the operation reliability of the small-sized ROV is improved. The lighting device and the camera device are convenient for underwater observation. The underwater magnetic adsorption device is mainly used for tightly adsorbing an underwater steel plate and the underwater drilling mechanism performs underwater operation.
The lifting head of the small ROV can communicate with the surface mother ship through the umbilical cable, and the surface mother ship controls the small ROV to execute response action. The small-sized ROV is provided with an underwater small-sized drilling machine (underwater drilling mechanism) for underwater drilling and sampling, and has the advantages of good maneuverability, flexible operation, larger current resistance and the like. The maximum operation water depth of the small ROV can reach 1000 meters, the small ROV can operate under 4-level sea conditions and 4-section flow velocity, the maximum thickness of the drilling steel plate is 30mm, and the small ROV has good maneuverability and flexibility.
The upper buoyancy plate and the lower buoyancy plate are both made of buoyancy materials, so that the small ROV has a small gravity center-of-gravity offset, the small ROV has good underwater posture adjustment flexibility, and vertical advancing and drilling can be realized.
In an embodiment of the present invention, the underwater drilling mechanism includes an ROV mount connected to the main frame; the ROV mounting seat is connected with a drilling machine mounting seat; the drilling machine mounting seat is provided with a slide rail, the slide rail is connected with the cutting motor through a slide block, and the slide block is connected with the feeding motor through a screw rod; the cutting motor is in transmission connection with the drill cutter, and a displacement sensor is mounted on the cutting motor; the cutting motor, the feeding motor and the displacement sensor are all electrically connected with the main control cabin.
The feed motor drives the screw rod and the sliding block to move up and down along the sliding rail, and the cutting motor drives the drill to realize a rotating function (a forward and reverse rotating function), so that the structure and the control system are simpler, and the reliability of the underwater drilling mechanism is also improved. The displacement sensor is mainly used for measuring the cutting stroke of the drill cutter, and adopts an oil-filled pressure compensation structural form. The drilling machine mounting seat mainly passes through the slider through the bolt, installs the cutting motor on the slider to make the cutting motor install on the drilling machine mounting seat. The drilling machine mounting seat and the ROV mounting seat are also connected through bolts. The underwater drilling mechanism is installed at the central position of the bottom of the small ROV through the ROV installation seat, and the underwater drilling mechanism is observed and adjusted in position through the illuminating device and the camera device during underwater cutting.
In an embodiment of the present invention, the drill is a ferromagnetic drill, and a diameter of a drill hole of the ferromagnetic drill is 20-60 mm. The strong magnetized drill bit has stronger magnetism, so that the strong magnetized drill bit can adsorb a steel plate to be drilled through.
In an embodiment of the present invention, a strong magnet is installed inside the drill, and a diameter of a drill hole of the drill is 20-60 mm. The powerful magnet is arranged in the drill bit and can adsorb a steel plate to be drilled through, and the functions of the drill bit and the strengthening magnet are similar to those of the strong magnetized drill bit.
In an embodiment of the present invention, the cutting motor and the feeding motor are both dc brushless motors, and an underwater speed reducer is installed in the dc brushless motors, and the underwater speed reducer is a planetary speed reducer or a worm gear speed reducer. The underwater drilling mechanism adopts a structure of a direct current brushless motor (a feeding motor and a cutting motor) and an underwater speed reducer, the feeding motor drives a screw rod and a sliding block to move up and down along a sliding rail, and the cutting motor drives a drill to realize a rotating function (a forward and reverse rotating function), so that the structure and a control system are simpler, and the reliability of the underwater drilling mechanism is also improved. The underwater speed reducer adopts an oil-filled pressure compensation structural form.
In an embodiment of the present invention, the vertical thruster and the horizontal thruster each include an underwater oil-filled motor, and the underwater oil-filled motor is electrically connected to the main control cabin; the underwater oil-filled motor is a permanent magnet motor, a direct current brushless motor or an induction motor.
The vertical propeller and the horizontal propeller both comprise underwater oil-filled motors, the underwater oil-filled motors drive the vertical propeller and the horizontal propeller to move, vertical advance and drilling at any angle can be realized, and the application range of the small ROV in underwater sunken ship drilling is greatly improved.
In an embodiment of the present invention, the ROV mechanism further includes a guard device, and the guard device is installed outside the main frame. The protective device is arranged at the bottom of the side face of the main frame and around the vertical propeller, and plays a protective role in the whole ROV mechanism.
In an embodiment of the present invention, the number of the vertical thrusters and the number of the horizontal thrusters are four, and an included angle between the vertical thrusters and a vertical axis of the main frame is 15 °.
Eight propellers (four horizontal propellers and four vertical propellers) are adopted in the design, and a small gravity center design is adopted, so that the maneuvering performance of the ROV is greatly improved, the ROV has good underwater posture adjustment, and vertical advance and drilling at any angle can be realized. The vertical thrusters are installed at four corners of the top of the main frame, and two adjacent vertical thrusters are symmetrically distributed in the main frame.
In an embodiment of the present invention, the underwater magnetic adsorption device includes three underwater electromagnets distributed in a triangle, and an underwater drilling mechanism is installed at a geometric center of the triangle. Each underwater electromagnet adopts an oil-filled pressure compensation structural form, and has an axial rotation stopping function.
In an embodiment of the present invention, the underwater magnetic adsorption device includes four underwater electromagnets distributed in a rectangular shape, and an underwater drilling mechanism is installed at a geometric center of the rectangular shape. Each underwater electromagnet adopts an oil-filled pressure compensation structural form, and has an axial rotation stopping function.
As described above, a small ROV for underwater boring of the present invention has the following advantageous effects:
1. the small ROV integrates remote control unmanned diving and underwater drilling, and simultaneously adopts a plurality of vertical propellers and horizontal propellers in the design, and the vertical propellers and the vertical axis of the main frame form a certain included angle, and the horizontal propellers and the horizontal axis of the main frame form an included angle of 45 degrees, so that the small ROV has better underwater posture adjustment flexibility, can realize vertical advance and drilling at any angle, and greatly improves the application range of the small ROV in underwater sunken ship drilling; in addition, through installing buoyancy plate and buoyancy plate down on the main frame for small-size ROV has less heavy center of buoyancy design, very big increase this ROV's maneuverability, make this small-size ROV have better underwater attitude adjustment flexibility. The underwater drilling mechanism is arranged on the main structure of the ROV, the underwater drilling mechanism can realize the function of underwater drilling, and the structure and the control system of the underwater drilling mechanism are simple, so that the operation reliability of the small-sized ROV is improved. The lighting device and the camera device are convenient for underwater observation. The underwater magnetic adsorption device is mainly used for tightly adsorbing an underwater steel plate and the underwater drilling mechanism performs underwater operation.
2. The lifting head of the small ROV can communicate with the surface mother ship through the umbilical cable, and the surface mother ship controls the small ROV to execute response action. The small-sized ROV is provided with an underwater small-sized drilling machine (underwater drilling mechanism) for underwater drilling and sampling, and has the advantages of good maneuverability, flexible operation, larger current resistance and the like. The maximum operation water depth of the small ROV can reach 1000 meters, the small ROV can operate under 4-level sea conditions and 4-section flow velocity, the maximum thickness of the drilling steel plate is 30mm, and the small ROV has good maneuverability and flexibility.
Drawings
Fig. 1 is a perspective view of a small ROV for underwater boring according to an embodiment of the present invention.
Figure 2 shows a side view of a small ROV for use in an underwater opening in an embodiment of the present invention.
Fig. 3 is a bottom view of a small ROV for underwater boring according to embodiment 1 of the present invention.
Fig. 4 is a perspective view of a underwater drilling mechanism in a small ROV for underwater hole opening according to an embodiment of the present invention.
Fig. 5 is a schematic view of the inside of a small ROV for underwater boring according to embodiment 2 of the present invention.
Description of the element reference numerals
1-a main frame; 2-upper floating plate; 3-lower buoyancy plate; 4-lifting the hoisting head; 5-a lighting device; 6-a camera device; 7-a guard; 8-underwater electromagnet; 9-vertical thruster; 10-a horizontal thruster; 11-an electric pan-tilt; 12-a main control cabin; 13-underwater oil-filled motor; 14-underwater drilling mechanism, 1401-ROV mounting base, 1402-drilling machine mounting base, 1403-sliding rail, 1404-cutting motor, 1405-sliding block, 1406-feeding motor, 1407-screw rod, 1408-drilling knife, 1409-displacement sensor and 1410-underwater speed reducer; 15-strong magnet.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 5. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Example 1
Referring to fig. 1 to 4, the present invention provides a small ROV for underwater boring, which includes an ROV mechanism and an underwater drilling mechanism 14;
the ROV mechanism comprises a main frame 1, an upper floating plate 2 and a lower floating plate 3 are mounted on the main frame 1, a lifting head 4 is mounted on one side, where the upper floating plate 2 is mounted, of the main frame 1, an underwater drilling mechanism 14, an underwater magnetic adsorption device, an illuminating device 5 and a camera device 6 are mounted on one side, where the lower floating plate 3 is mounted, of the main frame 1, and a protection device 7 is mounted on the outer side of the main frame 1; four vertical thrusters 9 are installed in the main frame 1, and the included angle between each vertical thruster 9 and the vertical axis of the main frame 1 is 10 degrees; four horizontal thrusters 10 are installed in the main frame 1, and the included angle between each horizontal thruster 10 and the horizontal axis of the main frame 1 is 45 degrees; an electric pan-tilt 11 is installed on the side surface of the main frame 1, and the lighting device 5 and the camera device 6 are installed on the electric pan-tilt 11; a main control cabin 12 is arranged in the main frame 1, and the main control cabin 12 is electrically connected with the electric pan-tilt 11, the lighting device 5 and the camera device 6; the vertical thruster 9 and the horizontal thruster 10 both comprise an underwater oil-filled motor 13, and the underwater oil-filled motor 13 is electrically connected with the main control cabin 12; the underwater oil-filled motor 13 is a permanent magnet motor; the underwater magnetic adsorption device comprises three underwater electromagnets 8 distributed in a triangular shape, and an underwater drilling mechanism 14 is arranged at the geometric center of the triangle;
the underwater drilling mechanism 14 comprises an ROV mounting seat 1401, and the ROV mounting seat 1401 is connected with the main frame 1; the ROV mounting seat 1401 is connected with a drilling machine mounting seat 1402; a slide rail 1403 is mounted on the drilling machine mounting seat 1402, the slide rail 1403 is connected with the cutting motor 1404 through a slide block 1405, and the slide block 1405 is connected with the feeding motor 1406 through a screw bar 1407; the cutting motor 1404 is in transmission connection with a drill knife 1408, and a displacement sensor 1409 is mounted on the cutting motor 1404; the cutting motor 1404, the feeding motor 1406 and the displacement sensor 1409 are all electrically connected with the main control cabin 12; the drill bit 1408 is a strong magnetizing drill bit, and the diameter of a drill hole of the strong magnetizing drill bit is 20-60 mm; the cutting motor 1404 and the feeding motor 1406 are both direct current brushless motors, an underwater speed reducer 1410 is installed in each direct current brushless motor, and the underwater speed reducer 1410 is a planetary speed reducer.
Working process of small ROV: the hoisting head 4 of the small ROV can communicate with the mother ship on the water surface through an umbilical cable, so that a signal of the mother ship on the water surface is transmitted to the main control cabin 12, and the mother ship on the water surface controls the small ROV to execute response action. The working process specifically comprises a moving process and a drilling process.
The motion process is as follows: the main control cabin 12 controls the working states of the vertical propeller 9 and the horizontal propeller 10, and the vertical propeller 9 is powered by an underwater oil-filled motor 13 in the vertical propeller 9 so as to drive the small ROV to move up and down. The horizontal thruster 10 is powered by an underwater oil-filled motor 13 inside, so as to drive the small ROV to steer flexibly. During the movement of the small ROV, the position is observed and adjusted by the illumination device 5 and the camera device 6.
Drilling: the underwater magnetic adsorption device tightly adsorbs an underwater steel plate, the main control cabin 12 controls the working states of the cutting motor 1404 and the feeding motor 1406, the feeding motor 1406 drives the screw 1407 and the slider 1405 to move up and down along the slide rail 1403, and the cutting motor 1404 drives the drill 1408 to realize rotary drilling. During drilling, the angle and position of the small ROV are observed and adjusted by the lighting device 5 and the camera device 6.
Example 2
Referring to fig. 1, 2, 4 and 5, the present invention provides a small ROV for underwater boring, which includes an ROV mechanism and an underwater drilling mechanism 14;
the ROV mechanism comprises a main frame 1, an upper floating plate 2 and a lower floating plate 3 are mounted on the main frame 1, a lifting head 4 is mounted on one side, where the upper floating plate 2 is mounted, of the main frame 1, an underwater drilling mechanism 14, an underwater magnetic adsorption device, an illuminating device 5 and a camera device 6 are mounted on one side, where the lower floating plate 3 is mounted, of the main frame 1, and a protection device 7 is mounted on the outer side of the main frame 1; four vertical thrusters 9 are installed in the main frame 1, and the included angle between each vertical thruster 9 and the vertical axis of the main frame 1 is 15 degrees; four horizontal thrusters 10 are installed in the main frame 1, and the included angle between each horizontal thruster 10 and the horizontal axis of the main frame 1 is 45 degrees; an electric pan-tilt 11 is installed on the side surface of the main frame 1, and the lighting device 5 and the camera device 6 are installed on the electric pan-tilt 11; a main control cabin 12 is arranged in the main frame 1, and the main control cabin 12 is electrically connected with the electric pan-tilt 11, the lighting device 5 and the camera device 6; the vertical thruster 9 and the horizontal thruster 10 both comprise an underwater oil-filled motor 13, and the underwater oil-filled motor 13 is electrically connected with the main control cabin 12; the underwater oil-filled motor 13 is an induction motor; the underwater magnetic adsorption device comprises four underwater electromagnets 8 which are distributed in a rectangular shape, and an underwater drilling mechanism 14 is arranged at the geometric center of the rectangle;
the underwater drilling mechanism 14 comprises an ROV mounting seat 1401, and the ROV mounting seat 1401 is connected with the main frame 1; the ROV mounting seat 1401 is connected with a drilling machine mounting seat 1402; a slide rail 1403 is mounted on the drilling machine mounting seat 1402, the slide rail 1403 is connected with the cutting motor 1404 through a slide block 1405, and the slide block 1405 is connected with the feeding motor 1406 through a screw bar 1407; the cutting motor 1404 is in transmission connection with a drill knife 1408, and a displacement sensor 1409 is mounted on the cutting motor 1404; the cutting motor 1404, the feeding motor 1406 and the displacement sensor 1409 are all electrically connected with the main control cabin 12; a powerful magnet 15 is arranged inside the drill 1408, and the diameter of a drill hole of the drill 1408 is 20-60 mm; the cutting motor 1404 and the feeding motor 1406 are both direct current brushless motors, an underwater speed reducer 1410 is installed in each direct current brushless motor, and the underwater speed reducer 1410 is a turbine worm speed reducer.
The working procedure was the same as in example 1.
In conclusion, the small-sized ROV provided by the invention is provided with the underwater small-sized drilling machine, can perform underwater drilling and sampling, and has the advantages of good maneuverability, flexibility in operation, larger flow resistance and the like. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A compact ROV for underwater boring, the compact ROV comprising an ROV mechanism and an underwater boring mechanism;
the ROV mechanism comprises a main frame, an upper floating plate and a lower floating plate are mounted on the main frame, a lifting head is mounted on one side, where the upper floating plate is mounted, of the main frame, and an underwater drilling mechanism, an underwater magnetic adsorption device, an illuminating device and a camera device are mounted on one side, where the lower floating plate is mounted, of the main frame; the underwater magnetic adsorption device comprises a plurality of underwater electromagnets;
a plurality of vertical thrusters are arranged in the main frame, and the included angle between each vertical thruster and the vertical axis of the main frame is 5-20 degrees;
a plurality of horizontal thrusters are arranged in the main frame, and the included angle between each horizontal thruster and the horizontal axis of the main frame is 45 degrees;
an electric holder is arranged on the side surface of the main frame, and the lighting device and the camera device are arranged on the electric holder;
the main control cabin is arranged in the main frame and is electrically connected with the horizontal propeller, the vertical propeller, the electric holder, the lighting device and the camera device.
2. A compact ROV for underwater opening as claimed in claim 1 wherein: the underwater drilling mechanism comprises an ROV mounting seat, and the ROV mounting seat is connected with the main frame; the ROV mounting seat is connected with a drilling machine mounting seat; the drilling machine mounting seat is provided with a slide rail, the slide rail is connected with the cutting motor through a slide block, and the slide block is connected with the feeding motor through a screw rod; the cutting motor is in transmission connection with the drill cutter, and a displacement sensor is mounted on the cutting motor; the cutting motor, the feeding motor and the displacement sensor are all electrically connected with the main control cabin.
3. A compact ROV for underwater opening as claimed in claim 2 wherein: the drill bit is a strong magnetization drill bit, and the diameter of a drill hole of the strong magnetization drill bit is 20-60 mm.
4. A compact ROV for underwater opening as claimed in claim 2 wherein: the inside of drill cutter is installed with powerful magnet, the drilling diameter of drill cutter is 20 ~ 60 mm.
5. A compact ROV for underwater opening as claimed in claim 2 wherein: the cutting motor and the feeding motor are both direct current brushless motors, an underwater speed reducer is installed in the direct current brushless motors, and the underwater speed reducer is a planetary speed reducer or a worm gear speed reducer.
6. A compact ROV for underwater opening according to claim 1 or 2, wherein: the vertical propeller and the horizontal propeller both comprise underwater oil-filled motors, and the underwater oil-filled motors are electrically connected with the main control cabin; the underwater oil-filled motor is a permanent magnet motor, a direct current brushless motor or an induction motor.
7. A compact ROV for underwater opening according to claim 1 or 2, wherein: the ROV mechanism further comprises a guard mounted on the outside of the main frame.
8. A compact ROV for underwater opening according to claim 1 or 2, wherein: the number of the vertical thrusters and the number of the horizontal thrusters are four, and the included angle between the vertical thrusters and the vertical axis of the main frame is 15 degrees.
9. A compact ROV for underwater opening according to claim 1 or 2, wherein: the underwater magnetic adsorption device comprises three underwater electromagnets which are distributed in a triangular shape, and an underwater drilling mechanism is arranged at the geometric center of the triangle.
10. A compact ROV for underwater opening according to claim 1 or 2, wherein: the underwater magnetic adsorption device comprises four underwater electromagnets which are distributed in a rectangular shape, and an underwater drilling mechanism is arranged at the geometric center of the rectangle.
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| CN202010807863.5A CN114074750A (en) | 2020-08-12 | 2020-08-12 | Small-sized ROV for underwater hole opening |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010807863.5A CN114074750A (en) | 2020-08-12 | 2020-08-12 | Small-sized ROV for underwater hole opening |
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