CN211685556U - ROV with crawler chassis - Google Patents

Abstract

The utility model relates to an ROV with a crawler chassis, belonging to the technical field of underwater robots, comprising an ROV body, wherein the ROV body comprises a frame, a floating material and a propeller, and the floating material and the propeller are both arranged on the frame; the crawler chassis comprises two crawler groups, each crawler group comprises a crawler, a supporting wheel, a supporting plate and a driving assembly for driving the crawler to rotate, the supporting wheels are rotatably arranged on the supporting plates, and the crawler is coated outside the supporting wheels; the support plate is connected with the frame, and the crawler chassis is positioned at the bottom of the frame. Through the structure, the utility model provides a ROV with track chassis then removes through above-mentioned propeller drive when the aquatic suspends, when it lands on the waters when subaerial, then removes through above-mentioned track chassis drive, like this, because track chassis stirs very little to the silt on waters ground to make the waters around the ROV body can not be muddy, and then guarantee all have good field of vision in any field of aquatic, so that observe.

Description

ROV with crawler chassis

Technical Field

The utility model belongs to the technical field of underwater robot, in particular to ROV with crawler chassis.

Background

Another name of the ROV is an underwater robot (Remote Operated Vehicle), which has various functions, and different types of ROVs are used to perform different tasks, and are widely used in various fields such as military, coast guard, maritime affairs, customs, nuclear power, hydroelectric power, marine oil, fishery, marine rescue, pipeline exploration, marine scientific research, and the like.

Among the prior art, the ROV all drives through the propeller that carries on it and removes, and the propeller is driven the blade by the motor and is rotated in aqueous usually and produce thrust, when the ROV suspends in aqueous, can satisfy and remove needs, however, in other environment such as some rivers lake reservoir, bottom silt is more, when pressing close to ground observation, the propeller operation will make bottom silt stir, causes the ROV around the waters muddy, is unfavorable for observing.

SUMMERY OF THE UTILITY MODEL

The utility model provides a ROV with crawler chassis for ROV among the solution prior art stirs bottom silt and causes the muddy technical problem that so that is unfavorable for observing of waters on every side when pressing close to the observation of waters bottom.

The utility model discloses a following technical scheme realizes: an ROV having a track chassis, comprising:

the ROV comprises an ROV body, a floating material and a propeller, wherein the ROV body comprises a rack, the floating material and the propeller are both arranged on the rack;

the crawler chassis comprises two crawler groups, each crawler group comprises a crawler, a supporting wheel, a supporting plate and a driving assembly for driving the crawler to rotate, the supporting wheels are rotatably mounted on the supporting plates, and the crawler is coated outside the supporting wheels;

the support plate is connected with the frame, and the crawler chassis is located at the bottom of the frame.

Further, for better realization the utility model discloses, it floats the material including first material and the second of floating to float the material, first material of floating is installed on the frame roof, the second floats the material and installs on the frame diapire and be located two sets ofly between the track group.

Further, for better realization the utility model discloses, drive assembly includes first motor, action wheel and follows the driving wheel, the pivot of first motor with the action wheel links to each other, the track is wrapped up in and is covered the action wheel with follow the driving wheel outside and this track with the action wheel meshing.

Further, in order to realize better the utility model discloses, the equipartition has a plurality of racks on the track outer wall, the quantity of supporting wheel is a plurality of, adjacent two interval between the supporting wheel is greater than the tooth pitch of two adjacent racks to interval between two adjacent supporting wheels is the non-integral multiple of the tooth pitch of two adjacent racks.

Further, in order to better realize the utility model discloses, the propeller is including the drive horizontal propeller and the drive of ROV body action on the horizontal direction the vertical propeller of ROV body action on the vertical direction, horizontal propeller with the quantity of vertical propeller all is four, the frame is rectangular frame, four horizontal propeller installs respectively in the frame and be located around the frame, four vertical propeller all installs on the roof of frame and inlay the dress and be in the first material that floats, and four vertical propeller is located four apex angle departments of same rectangle respectively.

Further, in order to better realize the utility model discloses, the ROV body includes cloud platform and controller, be equipped with the sealed cabin in the frame, the controller is installed in the sealed cabin, the cloud platform includes camera and first light, the controller with the camera first light first motor and eight the equal electricity of propeller is connected in order to receive camera signal and control first light first motor and eight the operating condition of propeller.

Further, in order to better realize the utility model discloses, still include the second light, all install the both sides of frame the second light, and the controller with the second light electricity is connected in order to control the operating condition of second light.

Further, in order to better realize the utility model discloses, the cloud platform still includes second motor, support, rotation axis and mount pad, the support mounting is in the frame, the second motor is installed on the support, the rotation axis with the pivot linkage of second motor is connected and this rotation axis rotation cartridge is in on the support, the camera with the light passes through the mount pad rigid coupling in on the rotation axis, the controller with the second motor electricity is connected in order to control the operating condition of second motor.

Further, in order to better realize the utility model discloses, keep away from in the backup pad one side of track is equipped with the connecting plate, the lateral wall of frame with the rigid coupling together can be dismantled to the connecting plate.

Further, for better realizing the utility model discloses, still including lifting by crane the structure, lifting by crane the structrual installation the roof central point of frame puts and this lifting by crane the structure stretches out first material that floats.

The utility model discloses compare in prior art and have following beneficial effect:

the utility model provides an ROV with crawler chassis, including ROV body and crawler chassis, the ROV body has the frame, crawler chassis has the track, supporting wheel and backup pad, the supporting wheel rotates and installs in the backup pad, the track then overlaps outside the supporting wheel and rotates through the drive assembly drive, above-mentioned backup pad and frame link together, and crawler chassis is located the bottom of frame, adopt above-mentioned structure, crawler chassis and propeller homoenergetic drive ROV body and move, when suspending in aqueous, drive ROV body through the propeller, and when marcing on the waters ground, drive through crawler chassis, so, because the crawler rotation in the crawler chassis, it is subaerial in the waters in fact, so, it stirs very little to the silt on waters ground, and crawler chassis is located the below of ROV body, also be the top of crawler chassis, thereby make waters around the ROV body can not be muddy, and then guarantee the utility model provides a ROV with track chassis all has good field of vision in any field of aquatic to in observe.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of an ROV having a track chassis in an embodiment of the invention;

FIG. 2 is a top view of the structure shown in FIG. 1;

FIG. 3 is a schematic view of the distribution of four horizontal thrusters on the gantry;

fig. 4 is a schematic structural view of a track set in an embodiment of the present invention;

FIG. 5 is a schematic view of the structure shown in FIG. 4 without the first motor and support plate of the mechanism;

fig. 6 is a schematic structural diagram of a pan/tilt head in an embodiment of the present invention;

fig. 7 is a schematic structural view of a hoisting structure in an embodiment of the present invention;

fig. 8 is a schematic structural view of a horizontal thruster in an embodiment of the present invention;

fig. 9 is a schematic structural view of a vertical thruster in an embodiment of the present invention;

fig. 10 is a control schematic of an ROV having a track undercarriage in an embodiment of the invention.

In the figure:

1-a frame;

2-first floating material;

3-second floating material;

4-a horizontal thruster;

5-vertical thruster;

6-crawler chassis; 61-a crawler belt; 62-a support wheel; 63-a support plate; 64-a rack; 65-driven wheel; 66-driving wheel; 67-a first motor;

7-a pan-tilt head; 71-a camera; 72-a first light; 73-a second motor; 74-a scaffold; 75-a rotating shaft; 76-a mounting seat;

8-sealing the cabin;

9-a second lighting lamp;

10-a connecting plate;

11-a hoisting structure;

12-a controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example 1:

the present embodiment provides an ROV having a crawler chassis comprising an ROV body and a crawler chassis 6.

Wherein, the ROV body includes frame 1, buoyant material and propeller, and wherein frame 1 is for using steel frame construction to this frame 1 has roof (roof) and bottom plate (diapire), and above-mentioned buoyant material is installed in frame 1, and the ROV that has crawler chassis that provides to this embodiment realizes its function that can suspend in aqueous with providing buoyancy. The propeller is mounted on the frame 1 to drive the ROV body to move in the water. Certainly, the ROV body further includes electronic devices such as a sensor, and the sensor on the ROV body is the same as that in the prior art, so detailed description thereof is omitted.

The crawler chassis 6 includes two sets of parallel spaced tracks, and the track set includes a track 61, a support wheel 62, a support plate 63 and a driving assembly, the driving assembly drives the track 61 to rotate, and the track 61 is covered outside the support wheel 62, specifically, the bottom end of the support wheel 62 is attached to the inner side wall of the track 61, when the crawler chassis 6 travels on the ground, the support wheel 62 supports the track 61, the support wheel 62 is rotatably mounted on the support plate 63, and the support plate 63 is connected to the frame 1, so that the ROV body is connected to the crawler chassis 6, that is, the ROV body is mounted on the crawler chassis 6, the crawler chassis 6 can travel on the ground with the ROV body, and the crawler chassis 6 is located at the bottom of the frame 1, that is, the ROV body is located at the top of the crawler chassis 6.

Adopt above-mentioned structure, the utility model provides an ROV with crawler chassis, it is when using, when the suspension is in aqueous, then can provide the power of marcing through the propeller, and when it lands subaerial in waters, then provide the power of marcing through crawler chassis 6, because crawler 61 of crawler chassis 6 rotates the in-process and presses subaerial in waters, so it stirs very little to the silt on waters ground, and because the ROV body is located crawler chassis 6 top, so the waters around the ROV body can not be muddy, and then guarantee that the ROV with crawler chassis that this embodiment provided has a good field of vision in any waters homoenergetic of aquatic so that observe.

As a specific implementation manner of this embodiment, in this embodiment, the supporting plate 63 is provided with a connecting plate 10 on a side away from the track 61, and the side wall of the frame 1 and the connecting plate 10 are detachably and fixedly connected together by a screw, so as to implement the connection between the frame 1 and the track chassis 6.

Example 2:

this embodiment provides, as a specific implementation manner of embodiment 1, an ROV with a crawler chassis, in which the floating materials include a first floating material 2 and a second floating material 3, wherein the first floating material 2 and the second floating material 3 are both made of solid materials with density lower than that of water, and the first floating material 2 is installed on the top wall of the frame 1, and the second floating material 3 is installed on the bottom wall of the frame 1 and located between two sets of crawler groups.

Adopt this kind of structure, the cooperation of first material 2 and the second material 3 that floats can provide sufficient buoyancy for the ROV that has crawler chassis in this embodiment, and the distance between the diapire of the second material 3 that floats and the frame 1 is less than the distance between crawler 61 diapire and the frame 1, in order to guarantee that crawler chassis 6 can be with the good contact on waters ground, and the second floats material 3 and fills between two sets of crawler groups, thereby can reduce and stir the volume of the silt that plays and come up when crawler 61 rotates, and then further guarantee that the waters around the ROV body can not be muddy.

Example 3:

as a specific implementation manner of the above embodiment, the driving assembly in this embodiment includes a first motor 67, a driving wheel 66 and a driven wheel 65, wherein the rotation of the first motor 67 is connected to the driving wheel 66, so that the first motor 67 can drive the driving wheel 66 to rotate when operating, the track 61 is sleeved outside the driving wheel 66 and the driven wheel 65, and the track 61 is engaged with the driving wheel 66, when the driving wheel 66 rotates, the track 61 is driven to rotate, and the driven wheel 65 functions to define the rotation track of the track 61, so that the track 61 rotates smoothly. Preferably, the support wheel 62 is mounted between a drive wheel 66 and a driven wheel 65, and the drive wheel 66 and the driven wheel 65 are also rotatably mounted on the support plate 63.

As a best implementation manner of this embodiment, the plurality of racks 64 are uniformly distributed on the outer wall of the crawler 61 in this embodiment, so as to enhance the adhesion between the crawler 61 and the ground of the water area, and improve the off-road performance of the ROV with the crawler chassis provided by this embodiment. The number of the supporting wheels 62 is plural, the distance between two adjacent supporting wheels 62 is larger than the pitch between two adjacent racks 64, and the distance between two adjacent supporting wheels 62 is a non-integral multiple of the pitch between two adjacent racks 64. Thus, when the track 61 is driven by the driving wheel 66 to rotate, under most conditions, the supporting wheel 62 presses the rack 64, and the frequency of the situation that the supporting wheel 62 does not press the rack 64 is reduced, so that the vibration and shaking are reduced, the amount of silt raised in the rotating process of the track 61 is further reduced, and the surrounding water area can be observed by the ROV body.

Preferably, the distance between every two adjacent supporting wheels 62 is different, so that the occurrence frequency of the situation that the supporting wheels 62 are not pressed against the rack 64 can be further reduced, and a better vibration reduction effect is achieved.

Example 4:

this embodiment provides, as a specific implementation manner of the above embodiment, an ROV with a crawler chassis, in which the propeller includes a horizontal propeller 4 and a vertical propeller 5, where the horizontal propeller 4 is used for driving the ROV body to move in a horizontal direction, and the vertical propeller 5 is used for driving the ROV body to move in a vertical direction.

In this embodiment, the number of the horizontal thrusters 4 and the number of the vertical thrusters 5 are four, the frame 1 has a rectangular frame structure, the four horizontal thrusters 4 are respectively installed in the frame 1, and most preferably, the horizontal thrusters 4 are installed on the bottom wall of the rectangular frame, the four horizontal thrusters 4 are respectively located at four corners of the rectangular frame, an included angle of 45 ° is formed between a central axis of each horizontal thruster 4 and a side line of the rectangular frame, and central axes of two adjacent horizontal thrusters 4 are perpendicular to each other. By adopting the structure, the ROV with the crawler chassis provided by the embodiment can make linear motion or 360-degree rotation in the horizontal direction by operating different horizontal propellers 4, such as forward, backward, left-moving, right-moving, left-turning and right-turning motions.

Four above-mentioned vertical thruster 5 all install on the roof of frame 1 and inlay in first superficial material 2, and four vertical thruster 5 are located four apex angle departments of same rectangle respectively moreover, adopt this kind of structure, vertical thruster 5 not only can drive the ROV that has crawler chassis that this embodiment provided and go up and down in the vertical direction and move, and through running different vertical thruster 5, can also drive it and carry out 360 upsets in the vertical direction to accomplish for example the action such as preceding pitching, hypsokinesis, left side is rolled, right side is rolled.

By means of the four horizontal propellers 4 and the four vertical propellers 5, the ROV with the crawler chassis provided by the embodiment has better flexibility when being suspended in water, so that the ROV can be adjusted to the optimal posture when observing the water area.

The propeller in this embodiment is composed of a forward and reverse rotation motor, a blade and a wind deflector, wherein a rotating shaft of the forward and reverse rotation motor is connected with the blade to drive the blade to rotate, the wind deflector is installed on a housing of the forward and reverse rotation motor and covers the blade, so as to protect the blade, and the forward and reverse rotation motor can provide forward and reverse rotation, so as to drive the ROV body to move more flexibly.

Example 5:

as a more preferable implementation manner of the above embodiment, the ROV with a crawler chassis provided in this embodiment further includes a pan-tilt 7 and a controller 12, where the pan-tilt 7 includes a camera 71 and a first illuminating lamp 72, and the pan-tilt 7 is mounted on the rack 1, the first illuminating lamp 72 can emit light to implement illumination, the camera 71 can collect image information in water, the rack 1 is further provided with a sealed cabin 8, the sealed cabin 8 is a closed plastic chamber, the controller 12 is mounted in the sealed cabin 8, and it is noted that the controller 12 in this embodiment is an STM32F4 or an STM32H7 series single chip microcomputer.

The controller 12 is electrically connected to the camera 71, the first illuminating lamp 72, and all of the eight thrusters (the thrusters of the four horizontal thrusters 4 and the thrusters of the four vertical thrusters 5), it should be noted that the electrical connection between the controller 12 and the thrusters is the electrical connection between the controller 12 and the forward and reverse rotating motors, the controller 12 can receive the image information collected by the camera 71 and transmit the image information back to the ground center console, the controller 12 can receive the instruction from the ground center console to drive one or more of the eight thrusters to operate, and the controller 12 can supply power to the first illuminating lamp 72. It should be noted that the control and power supply between the controller 12 and the ground center console and the cameras 71, the first illuminating lamps 72 and the eight propellers in the present embodiment are generally available in the prior art, such as the existing submarine, and therefore, the detailed description thereof is omitted here. In this embodiment, the control function of the controller 12 and the functions of receiving, processing and transmitting signals are used to realize the signal communication with the ground center console and the control effect among the camera 71, the first illuminating lamp 72 and the eight propellers.

As a more preferable embodiment of the present embodiment, the pan/tilt head 7 of the present embodiment further includes a second motor 73, a bracket 74, a rotating shaft 75, and a mounting seat 76, wherein the bracket 74 is mounted on the frame 1, the second motor 73 is mounted on the bracket 74, the rotating shaft 75 is coupled to a rotating shaft of the second motor 73 through a coupling, the rotating shaft 75 is rotatably inserted into the bracket 74, the bracket 74 supports the rotation of the rotating shaft 75, the camera 71 and the first illumination lamp 72 are fixed to the rotating shaft 75 through the mounting seat 76, specifically, the mounting seat 76 includes a clamp plate and a steel band, both ends of the steel band are fixed to the clamp plate through screws, the clamp plate is clamped to the rotating shaft 75, the first illumination lamp 72 is bound to the rotating shaft 75 through one steel band, and the camera 71 is bound to the rotating shaft 75 through two steel bands. Preferably, the second motor 73 is also controlled by the controller 12.

With this configuration, the second motor 73 can drive the camera 71 and the first illumination lamp 72 to rotate to provide a larger visual field image, so that the controller 12 can be used to guide the ROV with the crawler chassis provided in this embodiment to travel through the water.

Example 6:

in this embodiment, as a more preferable embodiment of the above embodiment, in this embodiment, a hoisting structure 11 is further installed at a center position of the top wall of the rack 1, and a user can use a lifting rope to hook on the hoisting structure 11 to implement the laying or retrieving of the ROV with six degrees of freedom provided in this embodiment.

It should be noted that the lifting structure 11 in this embodiment actually functions as a hook, which may be welded or fixed to the top wall of the frame 1 by screws, or may be connected to the top wall of the frame 1 by any other detachable and fixed manner, as long as the function of connecting the lifting rope with the frame 1 is achieved.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An ROV having a track chassis, comprising:

the ROV comprises an ROV body, a floating material and a propeller, wherein the ROV body comprises a rack, the floating material and the propeller are both arranged on the rack;

the crawler chassis comprises two crawler groups, each crawler group comprises a crawler, a supporting wheel, a supporting plate and a driving assembly for driving the crawler to rotate, the supporting wheels are rotatably mounted on the supporting plates, and the crawler is coated outside the supporting wheels;

the support plate is connected with the frame, and the crawler chassis is located at the bottom of the frame.

2. An ROV having a crawler chassis according to claim 1, wherein: the floating material comprises a first floating material and a second floating material, the first floating material is installed on the top wall of the rack, and the second floating material is installed on the bottom wall of the rack and located between the two crawler belt groups.

3. An ROV having a crawler chassis according to claim 2, wherein: the driving assembly comprises a first motor, a driving wheel and a driven wheel, a rotating shaft of the first motor is connected with the driving wheel, the crawler belt is wrapped outside the driving wheel and the driven wheel, and the crawler belt is meshed with the driving wheel.

4. An ROV having a crawler chassis according to claim 3, wherein: the crawler belt is characterized in that a plurality of racks are uniformly distributed on the outer wall of the crawler belt, the number of the supporting wheels is multiple, the distance between every two adjacent supporting wheels is larger than the tooth pitch of every two adjacent racks, and the distance between every two adjacent supporting wheels is a non-integral multiple of the tooth pitch of every two adjacent racks.

5. An ROV having a crawler chassis according to claim 4, wherein: the propellers comprise horizontal propellers for driving the ROV body to move in the horizontal direction and vertical propellers for driving the ROV body to move in the vertical direction, the number of the horizontal propellers and the number of the vertical propellers are four, the rack is a rectangular frame, the four horizontal propellers are respectively installed in the rack and positioned on the periphery of the rack, the four vertical propellers are all installed on the top wall of the rack and embedded in the first floating material, and the four vertical propellers are respectively positioned at four top corners of the same rectangle.

6. An ROV having a crawler chassis according to claim 5, wherein: the ROV body includes cloud platform and controller, be equipped with the sealed cabin in the frame, the controller is installed in the sealed cabin, the cloud platform includes camera and first light, the controller with the camera first light first motor and eight the equal electricity of propeller is connected in order to receive the camera signal and control first light first motor and eight the operating condition of propeller.

7. An ROV having a crawler chassis according to claim 6, wherein: still include the second light, all install the both sides of frame the second light, and the controller with the second light electricity is connected in order to control the operating condition of second light.

8. An ROV having a crawler chassis according to claim 7, wherein: the cradle head further comprises a second motor, a support, a rotating shaft and a mounting seat, the support is mounted on the rack, the second motor is mounted on the support, the rotating shaft is in linkage connection with a rotating shaft of the second motor, the rotating shaft is inserted on the support in a rotating mode, the camera and the illuminating lamp are fixedly connected onto the rotating shaft through the mounting seat, and the controller is electrically connected with the second motor to control the working state of the second motor.

9. An ROV having a crawler chassis according to any of claims 1 to 8, wherein: one side of the supporting plate, which is far away from the crawler belt, is provided with a connecting plate, and the side wall of the rack is detachably and fixedly connected with the connecting plate.

10. An ROV having a crawler chassis according to any of claims 2 to 8, wherein: the lifting structure is arranged at the center of the top wall of the rack and extends out of the first floating material.

Images