CN208882086U - A kind of full electric drive operation type ROV platform of big depth - Google Patents
A kind of full electric drive operation type ROV platform of big depth Download PDFInfo
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- CN208882086U CN208882086U CN201821452947.6U CN201821452947U CN208882086U CN 208882086 U CN208882086 U CN 208882086U CN 201821452947 U CN201821452947 U CN 201821452947U CN 208882086 U CN208882086 U CN 208882086U
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Abstract
The utility model discloses a kind of big full electric drive operation type ROV platforms of depth, it include: main frame structure, and the Powerpush Unit, PTZ camera, high-definition camera, dimming LED (Light Emitting Diode), functional machinery arm I, laser imaging apparatus, LED light, functional machinery arm II, hydraulic power unit cabin, driving unit pressure-resistant cabin, master control pressure-resistant cabin, buoyant means, conventional DRAM and the focusing video camera that are fixed in the main frame structure；Main frame structure includes: main frame load-bearing longitudinal tubule (L tubule), main frame erecting by overhang, apparatus mounting plate, pedestal security bar, stiffener plate, main frame square groove, main frame center bearing bracket and main frame load-bearing transverse tube.The utility model can be used for horizontal movement and rotary motion of underwater robot etc., realize the motion control of underwater robot.
Description
Technical field
The utility model belongs to underwater robot technical field more particularly to a kind of full electric drive operation type ROV of big depth
Platform.
Background technique
Underwater robot (ROV, Remote Operated Vehicle) is that one kind can move in water, by remote control, is made
The device that completion underwater operation is gone with mechanical arm or other tools substitution or auxiliary people, has in sea-bottom survey and field of operation
Wide application prospect.
ROV points are observation grade and job class.It observes grade ROV and carries out routine observation and inspection for underwater specific objective, such as
Underwater foundation facility, fishery, hull and Science Research Project etc..Its core component is underwater propeller and underwater camera system
System, is aided with the conventional sensors such as navigation, depth transducer, body dimension and weight are smaller, and load is lower, and cost is relatively low sometimes.
Job class ROV also matches for the application such as underwater salvage, underwater construction with power tools such as submarine mechanical arm, hydraulic cutters
The equipment such as standby Forward-looking Sonar, side-scan sonar, seabed drawing, sea-bottom profile, size and weight are larger, and cost is high.
Currently, heavy duty work grade ROV90% or more is type hydraulic actuator ROV, larger, power loss that there are volume weights
Obviously, the problems such as control precision is insufficient, develops a kind of electric propulsion frame-type ROV, breaks through the Miniaturization Design of heavy-duty motor.
The driving job class ROV of conventional hydraulic is compared, under equal conditions has that volume weight is small, power loss is small, easy to maintain etc.
Advantage has preferable work capacity.
Utility model content
The technology of the utility model solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of full electric drive work of big depth
Industry type ROV platform, horizontal movement and rotary motion etc. for underwater robot, realizes the motion control of underwater robot.
In order to solve the above-mentioned technical problem, the utility model discloses a kind of big full electric drive operation type ROV platform of depth,
It include: main frame structure, and the Powerpush Unit (1), PTZ camera (2), the height that are fixed in the main frame structure
Clear video camera (3), dimming LED (Light Emitting Diode) (4), functional machinery arm I (5), laser imaging apparatus (6), LED light (7), functional machinery arm II
(8), hydraulic power unit cabin (9), driving unit pressure-resistant cabin (10), master control pressure-resistant cabin (11), buoyant means (13), conventional camera shooting
Machine (16) and focusing video camera (19)；The main frame structure, comprising: main frame load-bearing longitudinal tubule (L tubule) (12), main frame erecting by overhang
(14), apparatus mounting plate (15), pedestal security bar (17), stiffener plate (18), main frame square groove (20), main frame center bearing bracket
(21) and main frame load-bearing transverse tube (22)；
It is tied between main frame load-bearing transverse tube (22) and main frame load-bearing longitudinal tubule (L tubule) (12) by welding stiffener plate (18)
Structure intensity is reinforced；
One end and main frame center bearing bracket (21) of main frame erecting by overhang (14) are welded into one, the other end and armouring
Cable bearing head is bolted, to be responsible for the underwater load-bearing of entire ROV；
Main frame square groove (20) is arranged in the upper layer front of main frame structure, is fixed on main frame load-bearing transverse tube (22).
In the above-mentioned big full electric drive operation type ROV platform of depth, buoyant means (13) are connected to main frame by fixed link
On the load-bearing transverse tube in frame structure middle layer；
Powerpush Unit (1) is fixed in main frame structure by clip and fastening screw；
Master control pressure-resistant cabin (11) is fixed on main frame structure middle layer middle position by clip and fastening screw；
High-definition camera (3) is fixed on the main frame load-bearing transverse tube of main frame middle layer front by clip and fastening screw
On；
Conventional DRAM (16) is fixed on the load-bearing transverse tube of main frame structure bottom front by clip and fastening screw；
Focusing video camera (19) is fixed on the load-bearing transverse tube other positioned at high-definition camera (3) by clip and fastening screw
On；
PTZ camera (2) is located above buoyant means (13), the middle front part of main frame structure, passes through buoyant means (13)
And it is connected on the load-bearing transverse tube in main frame structure middle layer by fixed link；
Laser imaging apparatus (6) is fixed on the middle position of main frame structure bottom front by clip and fastening screw；
Mechanical arm apparatus for work is fastened on the load-bearing transverse tube and mounting plate of main frame structure bottom front by screw；Its
In, the functional machinery arm I (5) in mechanical arm apparatus for work is placed in right side, and functional machinery arm II (8) is placed in left side；
Hydraulic power unit cabin (9) is horizontal by the load-bearing that clip and fastening screw are fixed on main frame structure bottom middle front part
Guan Shang, and after laser imaging apparatus (6)；
Driving unit pressure-resistant cabin (10) is fixed on the cross of the load-bearing in the middle part of main frame structure bottom by clip and fastening screw
Guan Shang, and be located at behind hydraulic power unit cabin (9).
In the above-mentioned big full electric drive operation type ROV platform of depth, Powerpush Unit (1), comprising: vertical pusher and
Horizontal propeller；
Vertical pusher is four, is installed on the upper layer of main frame structure, and the propeller of vertical pusher generates thrust
Direction and vertical section are at 30 ° of angles；
Horizontal propeller is symmetrically mounted on the inside of the four corners of main frame structure middle layer, and is fixed on apparatus mounting plate (15)
On, horizontal propeller propeller generates the direction and until section angle at 45 ° of thrust.
In the above-mentioned big full electric drive operation type ROV platform of depth, it includes: fiber optic communication that master control pressure-resistant cabin (11) is internal
Machine, data acquisition board and control interface plate；It is sealed outside master control pressure-resistant cabin (11) using aluminium alloy pressure hull；Master control pressure-resistant cabin
(11) both ends are provided with watertight plug connector, and two end faces buoyant material empties processing.
In the above-mentioned big full electric drive operation type ROV platform of depth, PTZ camera (2), high-definition camera (3), laser
Imaging device (6), conventional DRAM (16), focusing video camera (19), dimming LED (Light Emitting Diode) (4) and LED light (7) constitute perceptual structure；Its
In, high-definition camera (3) observable mechanical arm operation and front seabed conditions；Conventional DRAM (16) is considerable in cruising condition
Examine sub-sea floor targets；Focusing video camera (19) can record underwater operation.
In the above-mentioned big full electric drive operation type ROV platform of depth, functional machinery arm I (5) and functional machinery arm II (8)
Material is stainless steel or titanium alloy.
In the above-mentioned big full electric drive operation type ROV platform of depth, functional machinery arm I (5) is made of 7 joints；Wherein,
The spiral oscillating oil cylinder that 1st joint is 120 °, diameter 80mm；2nd joint is linear oil cylinder, delivery stroke 220mm,
Diameter is 36mm, is responsible for realizing the swing of large arm vertical plane；The spiral oscillating oil cylinder that 3rd joint is 100 °, diameter 80mm；
The spiral oscillating oil cylinder that 4th joint is 120 °, diameter 63mm；The spiral oscillating oil cylinder that 5th joint is 120 °, diameter are
40mm；The spiral oscillating oil cylinder that 6th joint is 360 °, diameter 40mm；7th joint is the clamping being made of linear oil cylinder
Device, stroke 25mm, diameter 20mm are responsible for the rotating folding movement of gripper.
In the above-mentioned big full electric drive operation type ROV platform of depth, functional machinery arm II (8) is made of 5 joints；Its
In, the spiral oscillating oil cylinder that the 1st joint is 105 °, diameter 63mm；2nd joint is linear oil cylinder, stroke 200mm,
Diameter is 36mm；3rd joint is linear oil cylinder, stroke 320mm, diameter 36mm；The spiral that 4th joint is 360 ° is put
Dynamic oil cylinder, diameter 40mm；5th joint is the clamper being made of linear oil cylinder, and stroke 30mm, diameter 25mm are adopted
With 4 linkage of linear oil cylinder and gripper, the rotating folding movement of gripper is realized.
In the above-mentioned big full electric drive operation type ROV platform of depth, hydraulic power unit cabin (9) use stainless steel pneumatic shell
Body, power 22kw, 15 tunnel of switch control valve group, 5 tunnel of proportional control valve group configure oil pressure sensor, are mechanical arm and other
Apparatus for work provides driving and compensation.
In the above-mentioned big full electric drive operation type ROV platform of depth, driving unit pressure-resistant cabin (10) includes: underwater transformation
Device, filter, oil-filled seal box, pressure-resistant cabin, high power switch and the connector for placing non-resistance to voltage device.
The utility model has the advantage that
(1) the full electric drive operation type ROV platform of big depth described in the utility model, breaches the small-sized of heavy-duty motor
The problem of changing design, compares the driving job class ROV of conventional hydraulic, under equal conditions the small, power loss with volume weight
The advantages that small, easy to maintain, has preferable work capacity.
(2) the utility model compares traditional ROV optics and acoustics detection means, solves optical detection apart from close, sound
The disadvantages such as detection accuracy is low are learned, has many advantages, such as that long-range detection, high-resolution imaging, imaging focal length are adjustable, will effectively be promoted
The underwater observation of ROV is horizontal.
(3) the utility model uses modularized design and processing, and any submodule can be dismantled individually on platform, more
It changes and upgrades.
Detailed description of the invention
Fig. 1 is a kind of overall construction drawing of the big full electric drive operation type ROV platform of depth in the utility model embodiment；
Fig. 2 is a kind of schematic diagram of main frame structure in the utility model embodiment；
Fig. 3 is a kind of buoyant material schematic diagram in the utility model embodiment；
Fig. 4 is a kind of I vertical plane of functional machinery arm swing schematic diagram in the utility model embodiment；
Fig. 5 is a kind of II vertical plane of functional machinery arm swing schematic diagram in the utility model embodiment.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Type disclosed embodiment is described in further detail.
Such as Fig. 1~5, in the present embodiment, the big full electric drive operation type ROV platform of depth, comprising: main frame structure,
And it is fixed on Powerpush Unit 1, PTZ camera 2, high-definition camera 3, dimming LED (Light Emitting Diode) 4, function in the main frame structure
It can mechanical arm I 5, laser imaging apparatus 6, LED light 7, functional machinery arm II 8, hydraulic power unit cabin 9, driving unit pressure-resistant cabin
10, master control pressure-resistant cabin 11, buoyant means 13, conventional DRAM 16 and focusing video camera 19.
Preferably, the main frame structure, comprising: main frame load-bearing longitudinal tubule (L tubule) 12, main frame erecting by overhang 14, equipment installation
Plate 15, pedestal security bar 17, stiffener plate 18, main frame square groove 20, main frame center bearing bracket 21 and main frame load-bearing transverse tube 22.
Wherein, structural strength is carried out by welding stiffener plate 18 between main frame load-bearing transverse tube 22 and main frame load-bearing longitudinal tubule (L tubule) 12 to add
By force；One end of main frame erecting by overhang 14 and main frame center bearing bracket 21 are welded into one, the other end and armoured cable bearing head
It is bolted, to be responsible for the underwater load-bearing of entire ROV；Main frame square groove 20 is arranged in the upper layer front of main frame structure, fixed
On main frame load-bearing transverse tube 22.
In one preferred embodiment of the utility model, buoyant means 13 are connected to main frame structure middle layer by fixed link
On load-bearing transverse tube；Powerpush Unit 1 is fixed in main frame structure by clip and fastening screw；Master control pressure-resistant cabin 11 passes through
Clip and fastening screw are fixed on main frame structure middle layer middle position；High-definition camera 3 is fixed by clip and fastening screw
On the main frame load-bearing transverse tube of main frame middle layer front；Conventional DRAM 16 is fixed on main frame by clip and fastening screw
On the load-bearing transverse tube of structure bottom front；Focusing video camera 19 is fixed on by clip and fastening screw positioned at high-definition camera 3
On other load-bearing transverse tube；PTZ camera 2 is located at 13 top of buoyant means, and the middle front part of main frame structure passes through buoyant means
It 13 and is connected on the load-bearing transverse tube in main frame structure middle layer by fixed link；Laser imaging apparatus 6 passes through clip and fastening spiral shell
Nail is fixed on the middle position of main frame structure bottom front；Mechanical arm apparatus for work is fastened on main frame structure bottom by screw
On the load-bearing transverse tube and mounting plate of layer front；Wherein, the functional machinery arm I 5 in mechanical arm apparatus for work is placed in right side, function machine
Tool arm II 8 is placed in left side；Hydraulic power unit cabin 9 is fixed on main frame structure bottom middle front part by clip and fastening screw
On load-bearing transverse tube, and after laser imaging apparatus 6；Driving unit pressure-resistant cabin 10 is fixed on main frame by clip and fastening screw
On load-bearing transverse tube in the middle part of frame structure bottom, and it is located at behind hydraulic power unit cabin 9.
In one preferred embodiment of the utility model, Powerpush Unit 1, comprising: vertical pusher and horizontal propeller；
Vertical pusher is four, is installed on the upper layer of main frame structure, and the propeller of vertical pusher generates the direction of thrust and hangs down
Straight section is at 30 ° of angles；Horizontal propeller is symmetrically mounted on the inside of the four corners of main frame structure middle layer, and is fixed on equipment installation
On plate 15, horizontal propeller propeller generates the direction and until section angle at 45 ° of thrust.
It include: fiber Telegraph, data acquisition board inside master control pressure-resistant cabin 11 in one preferred embodiment of the utility model
With control interface plate；It is sealed outside master control pressure-resistant cabin 11 using aluminium alloy pressure hull；The both ends of master control pressure-resistant cabin 11 are provided with
Watertight plugs connector, and two end faces buoyant material empties processing.
In one preferred embodiment of the utility model, PTZ camera 2, high-definition camera 3, laser imaging apparatus 6, routine
Video camera 16, focusing video camera 19, dimming LED (Light Emitting Diode) 4 and LED light 7 constitute perceptual structure.Wherein, 3 observable of high-definition camera is mechanical
Arm operation and front seabed conditions；The observable sub-sea floor targets in cruising condition of conventional DRAM 16；Focusing video camera 19 can be right
Underwater operation is recorded.
In one preferred embodiment of the utility model, the material of functional machinery arm I 5 and functional machinery arm II 8 is stainless steel
Or titanium alloy.
In one preferred embodiment of the utility model, functional machinery arm I 5 is made of 7 joints.Wherein, the 1st joint is
120 ° of spiral oscillating oil cylinder, diameter 80mm；2nd joint is linear oil cylinder, delivery stroke 220mm, diameter 36mm,
It is responsible for realizing the swing of large arm vertical plane；The spiral oscillating oil cylinder that 3rd joint is 100 °, diameter 80mm；4th joint is
120 ° of spiral oscillating oil cylinder, diameter 63mm；The spiral oscillating oil cylinder that 5th joint is 120 °, diameter 40mm；6th
The spiral oscillating oil cylinder that joint is 360 °, diameter 40mm；7th joint is the clamper being made of linear oil cylinder, and stroke is
25mm, diameter 20mm are responsible for the rotating folding movement of gripper.
In one preferred embodiment of the utility model, functional machinery arm II 8 is made of 5 joints.Wherein, the 1st joint
For 105 ° of spiral oscillating oil cylinder, diameter 63mm；2nd joint is linear oil cylinder, stroke 200mm, diameter 36mm；The
3 joints are linear oil cylinder, stroke 320mm, diameter 36mm；The spiral oscillating oil cylinder that 4th joint is 360 °, diameter are
40mm；5th joint is the clamper being made of linear oil cylinder, stroke 30mm, diameter 25mm, using linear oil cylinder and hand
4 linkage of pawl realizes the rotating folding movement of gripper.
In one preferred embodiment of the utility model, hydraulic power unit cabin 9 uses stainless steel pressure hull, and power is
22kw, 15 tunnel of switch control valve group, 5 tunnel of proportional control valve group configure oil pressure sensor, mention for mechanical arm and other apparatus for work
For driving and compensating.
In one preferred embodiment of the utility model, driving unit pressure-resistant cabin 10 includes: underwater transformer, fills filter
Oil seal case, pressure-resistant cabin, high power switch and the connector for placing non-resistance to voltage device.
In one preferred embodiment of the utility model, buoyant means 13 can be divided into front, middle part and three, rear portion independent part
Divide and processed, edge carries out the chamfered of R5 to R100, and convenient for molding and installation, upstream face does the great circle of R110 chamfering
Angle design, reduces fluid resistance；Surrounding outer dimension is less than frame upper surface outer dimension, avoids collision and causes breakage.
In one preferred embodiment of the utility model, the DC brushless motor that power is 9KW is can be selected in Powerpush Unit 1
The underwater propeller of driving.
In one preferred embodiment of the utility model, PTZ camera 2 uses degree-of-freedom cradle head, and outside is by semi-circle shaped transparent
High molecular material sealing, built-in camera and LED light can manually control holder movement, PTZ camera observable by deck
Mechanical arm operation and front seabed conditions and real-time Transmission are to lash ship deck display.
In one preferred embodiment of the utility model, laser imaging apparatus 6 is by laser, receiver and the big portion of central machine three
It is grouped as.Wherein, laser and receiver are wrapped up by titanium alloy casing, and the front end of laser is transparent organic glass, can pressure resistance
And sealing.
In a preferred embodiment of the utility model, main frame load-bearing transverse tube 22 and main frame load-bearing longitudinal tubule (L tubule) 12 are using half
Diameter is 38mm, and the titanium alloy tube that wall thickness is 6mm is constituted, and load-bearing transverse and longitudinal pipe has diameter all for the inlet opening of 26mm, and into
Water hole spacing is 40mm, so that can be full of seawater in pipe, reduces the effect of the seawater pressure in deepwater work, is cladded with glass
Steel；One end of main frame erecting by overhang 14 and main frame center bearing bracket 21 are welded into one, the other end and armoured cable bearing head
It is bolted, is responsible for the underwater load-bearing of entire ROV.Certain length is stretched out in main frame lower layer front, installs, is convenient for for mechanical arm
Accessible operation.Main frame square groove 20 is arranged in the upper layer front of main frame.It is horizontal that main frame load-bearing is fixed on by fastening screw
On pipe 22.
In a preferred embodiment of the utility model, buoyancy structure 13 is mounted on main frame top, is connected by fixed link
It connects on the load-bearing transverse tube in main frame middle layer, other heavy components and equipment are then mounted on bottom, so that it is guaranteed that ROV platform is floating
Power center and center of gravity separate, and increase the stability of platform；4000 meters of deep water glass microballoons of pressure resistance are selected to synthesize floating body material；
It is allowed to meet design size requirement by bonding and machine-shaping；Buoyancy structure is divided into front 101, middle part 102 and rear portion 103 3
A independent sector is processed, and edge carries out the chamfered of R5 to R100, and convenient for molding and installation, upstream face is R110 and falls
The Rouno Cormer Pregrinding Wheel at angle designs, and reduces fluid resistance；Surrounding outer dimension is less than frame upper surface outer dimension, avoids collision and causes brokenly
Damage；Outermost skin of paint, external protection and kernel composite foam composition are followed successively by after buoyancy structure molding from outside to inside.
In a preferred embodiment of the utility model, master control pressure-resistant cabin 11 is located at main frame structure middle layer middle position,
It is fixed on the load-bearing transverse tube of main frame bottom by clip and fastening screw；It include fiber optic communication inside master control pressure-resistant cabin
Machine, data acquisition board, control interface plate etc., and be mounted in pressure hull；Outside is sealed using aluminium alloy pressure hull；It is internal
Control system is configured using modular construction, is extended using standard interface module, easy to maintain；Multitask light is used simultaneously
Communication is designed with coupling unit, is mainly responsible for the transmission and conversion and control of the data volume such as video image of intensive high-speed, together
When the signal transmission of the very high control channel of requirement of real-time is provided, fully ensure that image clearly, communication is accurate；11 liang of pressure-resistant cabin
End has watertight to plug connector, and two end faces buoyant material empties processing；It is mainly responsible for fixed height, depthkeeping, orientation, determines appearance, power is fixed
The underwater manoeuvres control tasks such as position.
In a preferred embodiment of the utility model, sensing mechanisms includes 4 groups of video cameras and 6 headlamps, video camera
Including PTZ camera 2, high-definition camera 3, laser imaging apparatus 6, conventional DRAM 16, focusing video camera 19, dimming LED (Light Emitting Diode) 4
With LED light 7；High-definition camera 3 is located at main frame middle layer front, is fixed in main frame middle layer by clip and fastening screw
Load-bearing transverse tube on, the operation of observable mechanical arm and front seabed conditions；Conventional DRAM 16 is located at main frame bottom front, leads to
It crosses clip and fastening screw is fixed on the load-bearing transverse tube of main frame bottom, the observable sub-sea floor targets in cruising condition；
Focusing video camera 19 is located at main frame middle layer front, is located at by high-definition camera 3, is equally consolidated by clip and fastening screw
It is scheduled on the load-bearing transverse tube in main frame middle layer, is mainly responsible for the record work of underwater operation.The LED illumination device of camera shooting auxiliary needs
It is arranged in conjunction with camera arrangements scheme and utilizes LED that there is the blue green light of stronger seawater penetration power, can obtained good
Good illuminating effect, adjusts the optimum position of two luminous flux angles of emergence and camera field of view angle and is fixed；Cloud simultaneously
Also illumination LED equipment is configured on platform, and as holder moves together.LED illumination device can be according to underwater operation task not
Together, purposive change arrangement.PTZ camera 2 is located above buoyancy structure, the middle front part of main body frame, passes through floating
Power structure is simultaneously connected on the load-bearing transverse tube in main frame middle layer by fixed link.Holder is 2DOF holder, and outside is by semicircle
Transparent polymer material sealing, built-in camera and LED light can manually control holder movement by deck, and PTZ camera can
It observes mechanical arm operation and front seabed conditions and real-time Transmission is to lash ship deck display.Laser imaging apparatus 6 is located at main frame
The middle position of the bottom front of frame, is fixed on the load-bearing transverse tube of main frame bottom by clip and fastening screw；Swash
Light device and receiver are wrapped up by titanium alloy casing, and the front end of laser is transparent organic glass, can pressure resistance and sealing.Laser imaging
Equipment is made of laser illuminator, pick-up probe and central machine three parts.And laser illuminator by variable power beam expansion lens,
Laser head and Laser Power Devices case composition；Pick-up probe is made of motor-driven lens, image intensifier, coupling element and CCD；Central machine
It is made of synchronization control module, image acquisition and processing module, Central Control Module, Linear Driving module, power conversion module.
As it can be seen that the big full electric drive operation type ROV platform body part of depth uses frame in the utility model embodiment
Formula, modular construction, main frame structure use the welded chemical conversion type of titanium alloy TC 4.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The optimal specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.
The content being not described in detail in the utility model specification belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of full electric drive operation type ROV platform of big depth characterized by comprising main frame structure, and it is fixed on institute
State Powerpush Unit (1), PTZ camera (2), high-definition camera (3), the dimming LED (Light Emitting Diode) (4), function machine in main frame structure
Tool arm I (5), laser imaging apparatus (6), LED light (7), functional machinery arm II (8), hydraulic power unit cabin (9), driving unit
Pressure-resistant cabin (10), master control pressure-resistant cabin (11), buoyant means (13), conventional DRAM (16) and focusing video camera (19)；
The main frame structure, comprising: main frame load-bearing longitudinal tubule (L tubule) (12), main frame erecting by overhang (14), apparatus mounting plate (15),
Pedestal security bar (17), stiffener plate (18), main frame square groove (20), main frame center bearing bracket (21) and main frame load-bearing transverse tube
(22)；
It is strong by welding stiffener plate (18) progress structure between main frame load-bearing transverse tube (22) and main frame load-bearing longitudinal tubule (L tubule) (12)
Degree is reinforced；
One end and main frame center bearing bracket (21) of main frame erecting by overhang (14) are welded into one, and the other end is held with armoured cable
Accent is bolted, to be responsible for the underwater load-bearing of entire ROV；
Main frame square groove (20) is arranged in the upper layer front of main frame structure, is fixed on main frame load-bearing transverse tube (22).
2. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that
Buoyant means (13) are connected on the load-bearing transverse tube in main frame structure middle layer by fixed link；
Powerpush Unit (1) is fixed in main frame structure by clip and fastening screw；
Master control pressure-resistant cabin (11) is fixed on main frame structure middle layer middle position by clip and fastening screw；
High-definition camera (3) is fixed on the main frame load-bearing transverse tube of main frame middle layer front by clip and fastening screw；
Conventional DRAM (16) is fixed on the load-bearing transverse tube of main frame structure bottom front by clip and fastening screw；
Focusing video camera (19) is fixed on the other load-bearing transverse tube of high-definition camera (3) by clip and fastening screw；
PTZ camera (2) is located above buoyant means (13), the middle front part of main frame structure, passes through buoyant means (13) and leads to
Fixed link is crossed to be connected on the load-bearing transverse tube in main frame structure middle layer；
Laser imaging apparatus (6) is fixed on the middle position of main frame structure bottom front by clip and fastening screw；
Mechanical arm apparatus for work is fastened on the load-bearing transverse tube and mounting plate of main frame structure bottom front by screw；Wherein,
Functional machinery arm I (5) in mechanical arm apparatus for work is placed in right side, and functional machinery arm II (8) is placed in left side；
Hydraulic power unit cabin (9) is fixed on the load-bearing transverse tube of main frame structure bottom middle front part by clip and fastening screw
On, and after laser imaging apparatus (6)；
Driving unit pressure-resistant cabin (10) is fixed on the load-bearing transverse tube in the middle part of main frame structure bottom by clip and fastening screw,
And it is located at behind hydraulic power unit cabin (9).
3. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that Powerpush Unit
(1), comprising: vertical pusher and horizontal propeller；
Vertical pusher is four, is installed on the upper layer of main frame structure, and the propeller of vertical pusher generates the direction of thrust
With vertical section at 30 ° of angles；
Horizontal propeller is symmetrically mounted on the inside of the four corners of main frame structure middle layer, and is fixed on apparatus mounting plate (15),
Horizontal propeller propeller generates the direction and until section angle at 45 ° of thrust.
4. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that master control pressure-resistant cabin
(11) internal includes: fiber Telegraph, data acquisition board and control interface plate；It is resistance to using aluminium alloy outside master control pressure-resistant cabin (11)
Press housing seal；The both ends of master control pressure-resistant cabin (11) are provided with watertight plug connector, and two end faces buoyant material empties processing.
5. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that PTZ camera
(2), high-definition camera (3), laser imaging apparatus (6), conventional DRAM (16) and focusing video camera (19), dimming LED (Light Emitting Diode) (4) and
LED light (7) constitutes perceptual structure；Wherein, high-definition camera (3) observable mechanical arm operation and front seabed conditions；Routine is taken the photograph
Camera (16) observable sub-sea floor targets in cruising condition；Focusing video camera (19) can record underwater operation.
6. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that functional machinery arm I
(5) and the material of functional machinery arm II (8) is stainless steel or titanium alloy.
7. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that functional machinery arm I
(5) it is made of 7 joints；Wherein, the spiral oscillating oil cylinder that the 1st joint is 120 °, diameter 80mm；2nd joint is straight
Line oil cylinder, delivery stroke 220mm, diameter 36mm are responsible for realizing the swing of large arm vertical plane；3rd joint is 100 °
Spiral oscillating oil cylinder, diameter 80mm；The spiral oscillating oil cylinder that 4th joint is 120 °, diameter 63mm；5th joint is
120 ° of spiral oscillating oil cylinder, diameter 40mm；The spiral oscillating oil cylinder that 6th joint is 360 °, diameter 40mm；7th
Joint is the clamper being made of linear oil cylinder, and stroke 25mm, diameter 20mm are responsible for the rotating folding movement of gripper.
8. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that functional machinery arm II
(8) it is made of 5 joints；Wherein, the spiral oscillating oil cylinder that the 1st joint is 105 °, diameter 63mm；2nd joint is straight
Line oil cylinder, stroke 200mm, diameter 36mm；3rd joint is linear oil cylinder, stroke 320mm, diameter 36mm；4th
The spiral oscillating oil cylinder that a joint is 360 °, diameter 40mm；5th joint is the clamper being made of linear oil cylinder, stroke
The rotating folding movement of gripper is realized using 4 linkage of linear oil cylinder and gripper for 30mm, diameter 25mm.
9. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that hydraulic power unit
Cabin (9) uses stainless steel pressure hull, and power 22kw, 15 tunnel of switch control valve group, 5 tunnel of proportional control valve group configures oil pressure
Sensor provides driving and compensation for mechanical arm and other apparatus for work.
10. the full electric drive operation type ROV platform of big depth according to claim 1, which is characterized in that driving unit pressure resistance
Cabin (10) includes: underwater transformer, filter, oil-filled seal box, the pressure-resistant cabin for placing non-resistance to voltage device, high power switch and connecing
Plug-in unit.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018268A (en) * | 2018-09-06 | 2018-12-18 | 中国船舶工业系统工程研究院 | A kind of full electric drive operation type ROV platform of big depth |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018268A (en) * | 2018-09-06 | 2018-12-18 | 中国船舶工业系统工程研究院 | A kind of full electric drive operation type ROV platform of big depth |
| CN109018268B (en) * | 2018-09-06 | 2024-04-12 | 中国船舶工业系统工程研究院 | Full electric drive operation formula ROV platform of large depth |
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