CN209625054U - A kind of automatic attitude stabilization device of ROV and ROV - Google Patents
A kind of automatic attitude stabilization device of ROV and ROV Download PDFInfo
- Publication number
- CN209625054U CN209625054U CN201920508017.6U CN201920508017U CN209625054U CN 209625054 U CN209625054 U CN 209625054U CN 201920508017 U CN201920508017 U CN 201920508017U CN 209625054 U CN209625054 U CN 209625054U
- Authority
- CN
- China
- Prior art keywords
- rov
- rudder wing
- watertight
- frame body
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model provides a kind of automatic attitude stabilization device of ROV, including rudder wing driving device, the rudder wing, flows to detection device and control unit, and rudder wing driving device includes the transmission mechanism connected on watertight motor and watertight motor；The rudder wing connects transmission mechanism；Flowing to detection device includes flow direction mark, magnetic identification disk and noncontacting proximity sensor, and flow direction mark and magnetic identification disk are movably located on frame body, and flow direction mark is connect with magnetic identification disk；Noncontacting proximity sensor and magnetic identification disk are accordingly located on frame body；Control unit includes controller, and watertight motor and noncontacting proximity sensor are electrically connected with controller respectively, and in order to which noncontacting proximity sensor flows to target flow direction according to what is sensed, the orientation of the rudder wing is adjusted by watertight motor.Low energy consumption for stabilising arrangement, facilitates the hydrospace detection of ROV, the high sensitivity of magnetic-coupled measurement method feedback.The utility model also provides a kind of ROV.
Description
Technical field
The utility model relates to remote underwater robot technical fields, more specifically, being to provide a kind of automatic posture of ROV
Stabilising arrangement also provides the ROV with the stabilising arrangement.
Background technique
ROV is the important tool for realizing undersea detection, sampling and maintenance operation.ROV body be typically designed to square with
Convenient for carrying the devices such as driving, operation and sensing, but in having stream environment, square body is unfavorable for the stabilization of ROV, especially exists
When ROV tracking detecting is across the submarine pipeline of rivers, influenced by lateral flow, tracking conduit running that cannot be stable.
Existing ROV usually resists the influence of stream using multiple propellers, but the co-operating of multiple propellers is not easily-controllable
System, and multi-thruster driving not only increases system energy consumption, and the frequent movement of propeller can upset ROV surrounding fluid,
So that body periphery water environment becomes muddy, it is unfavorable for the detection operations of ROV.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of automatic attitude stabilization device of ROV, with
Improve operation stability of the ROV in the case where there is stream environment.
Another of the utility model is designed to provide the ROV with aforementioned stable device.
In order to achieve the above object, the utility model uses a kind of following technical scheme: automatic attitude stabilization device of ROV, if
It setting on a frame body comprising a rudder wing driving device, a rudder wing, one flow to detection device and a control unit,
The rudder wing driving device includes the transmission mechanism connected on a watertight motor and the watertight motor；
The rudder wing is connect with the transmission mechanism, make its under the watertight motor driven around described frame body revolution and
The positional relationship of adjustment and water flow；
The detection device that flows to includes a flow direction mark, a magnetic identification disk and a noncontacting proximity sensor, the flow direction
Mark and the magnetic identification disk are movably disposed on the frame body, which connect with the magnetic identification disk, so that
It obtains the marker tape that flows to for changing with flow direction and moving and moves the magnetic identification disk rotation；The noncontacting proximity sensor and the magnetic
Property marker disc is arranged in correspondence on the frame body, to perceive water flow orientation shown by magnetic identification disk；
Described control unit includes a controller, the watertight motor and the noncontacting proximity sensor and the controller
It is electrically connected, in order to which the noncontacting proximity sensor is flowed to according to the target that flows to sensed, passes through the watertight electricity
Machine adjusts the orientation of the rudder wing.
Preferably, the transmission mechanism is gear drive, including a toothed disc and a transmission gear, the rudder
The wing is arranged in the annular groove in the annular groove part that the toothed disc on the toothed disc is rotatably arranged on the frame body,
It combines closely with the toothed disc outer on the interior edge of the annular groove；The driving cog is connected on the output shaft of the watertight motor
Wheel, the transmission gear are engaged with the toothed disc, and the toothed disc is thus driven to rotate in the annular groove.Watertight motor
Starting, the rudder wing are rotated with toothed disc.
Preferably, a watertight encoder is also set up on the transmission mechanism, it is described to show the rotational angle of toothed disc
Watertight encoder and the controller are electrically connected.
Specifically, the transmission mechanism further includes a gear, and the gear shaft connecting with the gear is arranged on the frame body,
The gear with and the transmission mechanism that connect of the rudder wing in toothed disc engage, be arranged on the gear or the gear shaft for connecting the gear
Watertight encoder.
Rotational slide is thus in circular track by the drive gears movable tooth wheel disc that engages with toothed disc for watertight motor
So that watertight encoder the toothed disc detected by transmission gear or is more directly said be the rudder wing rotational angle.
Preferably, the rudder wing is the cross rudder wing, is combined into mutual vertically by four blocks of rudder wing plates.
Preferably, the rudder wing is connected on the toothed disc by a connecting rod.The rudder wing is fixed on toothed disc by connecting rod
On, it is rotated with toothed disc；
Preferably, the annular groove part is that two seperated parts are constituted, and each fission part is the annular groove part of semicircle,
Two seperated parts are detachably fixed with one.
Preferably, at least annular groove surface of the annular groove part is made of the material with self-lubricating property.
Preferably, the annular groove part is made of tetrafluoroethene.
A kind of ROV provided by the utility model, is arranged the automatic attitude stabilization device of ROV above-mentioned thereon, and the frame body is solid
It is scheduled on the ontology of the ROV.The frame body can be to be solidified as a whole with the ontology.
The frame body is connected on the bottom surface periphery of the ontology.
In a framework for flowing to the lower end that the ROV ontology is arranged in detection device.
It can the acoustic probes with carry for coordinate detection and the electricity for detecting the complete situation of submarine pipeline on the ROV
Level sensor.
The working mechanism of automatic attitude stabilization device provided by the utility model is:
The flow direction mark is directed toward flow direction, when changing on water flow hair, flows to mark and rotates an angle, that is, drives and flow direction
The connected magnetic identification disk rotation of mark, the noncontacting proximity sensor for being fixed on magnetic identification disk corresponding position may detect magnetism
The angle value of marker disc turned over, since the signal port of the watertight motor and the noncontacting proximity sensor can be difference
With the controller be electrically connected, also contain respectively on controller corresponding I/O port connect, noncontacting proximity sensor into
And it can feed back and flow to the controller in control unit；Control unit enables watertight electric motor starting according to the flow direction of feedback, so that
Toothed disc rotates and the rudder wing is driven to reach downwind position, plays the role of stable ROV posture.The watertight encoder has zero point
Memory function, can be with the rotational angle of accurate feedback toothed disc.
The flow direction mark direction that described control unit is fed back according to non-contact code device, is controlled by ratio, generates driving
Signal, the control flaps wing turn to downwind position.
The automatic attitude stabilization device of ROV provided by the utility model is only arranged a watertight motor, not only reduces energy
Consumption, will not also stir and make muddy water flow, facilitate the hydrospace detection of ROV, in addition, the non-contact code device therein with flow direction by marking
Connected magnetic identification disk measurement flow direction mark angle, and then flow direction is fed back, magnetic-coupled measurement method avoids mechanical sealing
The drag losses of generation improve the sensitivity of flow direction feedback.
The utility model is described further with reference to the accompanying drawings and examples.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of ROV provided by the utility model；
Fig. 2 is the mounting structure schematic diagram of toothed disc and spout；
Fig. 3 is the structural schematic diagram for flowing to detection device；
Fig. 4 is the schematic diagram of flow direction mark and the positional relationship of the cross rudder wing.
In figure, 1 it is watertight motor, 2 is transmission gear, 3 is watertight encoder, 4 is toothed disc, 5 is circular track part, 6
It is the cross rudder wing for connecting rod, 7,8 be control unit, 9 be flow direction mark, 10 be magnetic identification disk, 11 is non-contact code device, 12
It is Underwater Electric Potential meter for acoustic probes, 13.
Specific embodiment
It is as shown in Figure 1 a kind of ROV provided by the utility model, a frame body, In is integrally formed on the ontology of ROV
One ROV automatic attitude stabilization device is set on the frame body, which includes: a rudder wing driving device, a rudder wing, a flow direction
Detection device and a control unit 8,
The rudder wing driving device includes the transmission mechanism connected on a watertight motor 1 and the watertight motor 1；The transmission
Mechanism is gear drive, including a toothed disc 4 and a transmission gear 2, and the rudder wing is the cross rudder wing 7, and setting exists
4 gear disk 4 of toothed disc is rotatably arranged in the annular groove on the annular groove part 5 on the frame body, the annular
It combines closely with 4 outer of toothed disc on the interior edge of sliding slot；On the output shaft of watertight motor 1 connect transmission gear 2, transmission gear 2 with
Toothed disc 4 engages, and thus drive gear disk rotates in annular groove, and realizes the ring under the driving of watertight motor 1 of the cross rudder wing 7
Around the frame body, that is, is turned round around the ontology of ROV and adjust the positional relationship with water flow.
Circular track part 5, watertight motor 1, watertight encoder 3, control unit 8 are fixed on the frame body on ROV ontology；
A watertight encoder is also set up, on the transmission mechanism to show the rotational angle of toothed disc 4.
As shown in Figure 1, Figure 2 and Figure 4, the transmission mechanism further includes a gear 2a, is set with the gear 2a gear shaft connecting
Set on the frame body, gear 2a with and the toothed disc 4 that connect of the cross rudder wing engage, be arranged on the gear shaft of gear 2a connection
Watertight encoder 3.
As shown in Figure 3 and Figure 4, the detection device that flows to includes that a flow direction 9, one magnetic identification disk 10 and one of mark is non-contact
Formula sensor 11, flow direction mark 9 and magnetic identification disk 10 are movably disposed on the frame body, flow direction mark 9 and magnetic identification disk
10 connections, so that the marker tape that flows to for changing with flow direction and moving moves the magnetic identification disk rotation；Non-contact sensor
Device 11 and magnetic identification disk 10 are arranged in correspondence on a frame on the frame body, to perceive shown by magnetic identification disk 10
Water flow orientation；
Control unit 8 includes a controller, the controller and watertight motor 1 and it is described flow to detection device be electrically connected and
Signal connection, in order to according to the orientation for flowing through the watertight motor and adjusting the rudder wing sensed.
The flow direction mark direction that control unit 8 is fed back according to non-contact code device 11, is controlled by ratio, generates driving letter
Number, control cross rudder turns to downwind position.
As shown in Fig. 2, circular track is arranged on circular track part 5, toothed disc 4 is set in the circular track, ring-type is sliding
Edge is combined closely with 3 outer of toothed disc in slot.
Watertight motor 1 drives ring-type of the toothed disc 4 on circular track part 5 by the transmission gear 2 engaged with toothed disc 4
Rotational slide in sliding slot；
Watertight encoder 3 passes through the rotational angle of 2 feedback gear disk 4 of transmission gear, and the cross rudder wing 7 is fixed by connecting rod 6
On toothed disc 4, rotated with toothed disc 4；
Flow direction mark 9 is directed toward flow direction, drives the magnetic identification disk 10 being connected with flow direction mark to rotate, is fixed in control unit 8
Noncontacting proximity sensor 11 detect 10 angle of magnetic identification disk, and then feed back flow direction；
Control unit 8 drives the cross rudder wing 7 to reach downwind position according to the flow direction of feedback, plays the work of stable ROV posture
With.
Circular track 5 is made of two semicircles, is bolted, and material is the tetrafluoroethene with self-lubricating property.
The watertight encoder 3 of use has zero point memory function, can be with the rotational angle of accurate feedback toothed disc.
Non-contact code device 11 marks angle by the measurement flow direction of magnetic identification disk 10 being connected with flow direction mark 9, and then anti-
Feedback flow direction, magnetic-coupled measurement method avoid the drag losses of mechanical sealing generation, improve the sensitivity of flow direction feedback.
Flow direction mark 9 is directed toward flow direction, and when changing on water flow hair, 9 one angle of rotation of flow direction mark drives mark with flow direction immediately
9 connected magnetic identification disks 10 rotate, and are fixed on the noncontacting proximity sensor 11 on frame body with 10 corresponding position of magnetic identification disk
It may detect the angle value that magnetic identification disk 10 turns over, due to the signal port of watertight motor 1 and noncontacting proximity sensor 11
It can be and be electrically connected respectively with the controller, also contain and connected respectively to the corresponding I/O port on controller, it is non-contact
Formula sensor 11 can be fed back in turn to the controller in control unit 8 to be flowed to；Control unit 8 enables watertight according to the flow direction of feedback
Motor 1 starts, so that toothed disc 4 rotates and the cross rudder wing 7 is driven to reach downwind position, plays the role of stable ROV posture.Water
Code device 3 has zero point memory function, can be with the rotational angle of accurate feedback toothed disc 4.
The flow direction mark direction that control unit 8 is fed back according to non-contact code device 11, is controlled by ratio, generates driving letter
Number, the control cross rudder wing turns to downwind position.
ROV can be passed for the acoustic equipment 12 of coordinate detection with the current potential for detecting the complete situation of submarine pipeline with carry
Sensor 13.
Claims (10)
1. a kind of automatic attitude stabilization device of ROV, it is characterised in that: be arranged on a frame body comprising a rudder wing driving device,
The one rudder wing, one flow to detection device and a control unit,
The rudder wing driving device includes the transmission mechanism connected on a watertight motor and the watertight motor；
The rudder wing is connect with the transmission mechanism, it is made to turn round and adjust around the frame body under the watertight motor driven
With the positional relationship of water flow；
The detection device that flows to includes a flow direction mark, a magnetic identification disk and a noncontacting proximity sensor, the flow direction mark with
The magnetic identification disk is movably disposed on the frame body, which connect with the magnetic identification disk, so that with
The marker tape that flows to that flow direction changes and moves moves the magnetic identification disk rotation；The noncontacting proximity sensor and the magnetic mark
Know disk to be arranged in correspondence on the frame body, to perceive water flow orientation shown by magnetic identification disk；
Described control unit includes a controller, the watertight motor and the noncontacting proximity sensor respectively with the controller
It is electrically connected, in order to which the noncontacting proximity sensor is flowed to according to the target that flows to sensed, passes through the watertight electricity
Machine adjusts the orientation of the rudder wing.
2. the automatic attitude stabilization device of ROV according to claim 1, it is characterised in that: the transmission mechanism is gear biography
The toothed disc is arranged on the toothed disc rotationally in motivation structure, including a toothed disc and a transmission gear, the rudder wing
It is arranged in the annular groove on the annular groove part on the frame body, the interior edge of the annular groove and the toothed disc outer
It combines closely；The transmission gear is connected on the output shaft of the watertight motor, which engages with the toothed disc, thus
The toothed disc is driven to rotate in the annular groove；And/or
A watertight encoder is also set up, on the transmission mechanism to show the rotational angle of toothed disc, the watertight encoder
It is electrically connected with the controller.
3. the automatic attitude stabilization device of ROV according to claim 2, it is characterised in that: the transmission mechanism further includes one
Gear, the gear shaft that connect with the gear are arranged on the frame body, the gear with and the transmission mechanism that connect of the rudder wing in tooth
Wheel disc engagement, is arranged watertight encoder on the gear or the gear shaft for connecting the gear.
4. the automatic attitude stabilization device of ROV according to claim 1, it is characterised in that: the rudder wing is the cross rudder wing, by
Four blocks of rudder wing plates are combined into mutual vertically.
5. the automatic attitude stabilization device of ROV according to claim 2 or 3, it is characterised in that: the rudder wing passes through a connecting rod
It is connected on the toothed disc.
6. the automatic attitude stabilization device of ROV according to claim 2, it is characterised in that: the annular groove part is two
Seperated part is constituted, and each fission part is the annular groove part of semicircle, and two seperated parts are detachably fixed with one.
7. the automatic attitude stabilization device of the ROV according to claim 2 or 6, it is characterised in that: the annular groove part is extremely
Few annular groove surface is made of the material with self-lubricating property.
8. the automatic attitude stabilization device of ROV according to claim 7, it is characterised in that: the annular groove part is by tetrafluoro
Ethylene is made.
9. according to claim 1 to the ROV of the automatic attitude stabilization device of ROV described in one of 8, it is characterised in that: the frame body
It is fixed on the ontology of the ROV.
10. ROV according to claim 9, it is characterised in that: the frame body is connected to the bottom surface periphery of the ontology
On；And/or
In a framework for flowing to the lower end that the ROV ontology is arranged in detection device；And/or
Carry is used for the acoustic probes of coordinate detection on the ROV；And/or
Carry is used to detect the potentiometric sensor of the complete situation of submarine pipeline on the ROV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920508017.6U CN209625054U (en) | 2019-04-16 | 2019-04-16 | A kind of automatic attitude stabilization device of ROV and ROV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920508017.6U CN209625054U (en) | 2019-04-16 | 2019-04-16 | A kind of automatic attitude stabilization device of ROV and ROV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209625054U true CN209625054U (en) | 2019-11-12 |
Family
ID=68458571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920508017.6U Expired - Fee Related CN209625054U (en) | 2019-04-16 | 2019-04-16 | A kind of automatic attitude stabilization device of ROV and ROV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209625054U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111831000A (en) * | 2019-04-16 | 2020-10-27 | 北海燕航慧程智能科技有限公司 | ROV automatic posture stabilizing device and ROV |
-
2019
- 2019-04-16 CN CN201920508017.6U patent/CN209625054U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111831000A (en) * | 2019-04-16 | 2020-10-27 | 北海燕航慧程智能科技有限公司 | ROV automatic posture stabilizing device and ROV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9162703B2 (en) | Steering controller for precision farming | |
| CN102053630B (en) | Device and system for controlling deviation correction of brushless direct current (DC) motor | |
| CN102829786B (en) | Method for improving precision of course plotter | |
| CN209625054U (en) | A kind of automatic attitude stabilization device of ROV and ROV | |
| CN205655844U (en) | Robot odometer based on ROS | |
| US20170010147A1 (en) | Non-contact liquid level sensor | |
| CN103983474A (en) | Water sampling multi-rotor type aircraft | |
| CN107689754B (en) | Steering engine position information processing method and system | |
| CN106989715B (en) | A kind of angle of revolution measuring and controlling | |
| CN108001625B (en) | A kind of buoy direction control device and control method | |
| CN105259374A (en) | Weathervane zero position correction device | |
| CN113029222A (en) | Calibration method and device for magnetic encoder and magnetic encoder | |
| CN109839932A (en) | Automatic navigation method based on Inertial Measurement Unit and GPS | |
| CN111831000A (en) | ROV automatic posture stabilizing device and ROV | |
| CN103496443A (en) | Buoyancy regulating system and method of underwater equipment | |
| CN201953839U (en) | Bi-directional thrust cylindrical roller combined bearing added with steel grid ruler | |
| CN208606704U (en) | A kind of Hall angular transducer | |
| CN204279983U (en) | The driving mechanism device of locating during a kind of full-shape high-precision real, detecting | |
| CN106411211A (en) | Absolute position signal calibration system of hybrid photoelectric encoder and method thereof | |
| CN207045645U (en) | Undersea mining chassis and undersea mining car | |
| CN106441080B (en) | Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection | |
| CN104571116A (en) | Position loop coordinate system conversion method of photoelectricity stable platform | |
| CN104133489A (en) | Precision servo control system for continuous wave navigation radar devices and control method thereof | |
| CN209972749U (en) | Annular single-drive underwater robot | |
| CN103792889B (en) | Electric driven fin stabilizer electric servo control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191112 Termination date: 20210416 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |