CN220114793U - ROV gesture self-adaptation adjustment grille rudder and underwater dredging robot - Google Patents
ROV gesture self-adaptation adjustment grille rudder and underwater dredging robot Download PDFInfo
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- CN220114793U CN220114793U CN202321193924.9U CN202321193924U CN220114793U CN 220114793 U CN220114793 U CN 220114793U CN 202321193924 U CN202321193924 U CN 202321193924U CN 220114793 U CN220114793 U CN 220114793U
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- 230000003044 adaptive effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 25
- 230000009471 action Effects 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 8
- 239000000725 suspension Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Abstract
The utility model discloses an ROV gesture self-adaptive adjustment grille rudder and an underwater dredging robot, which belong to the field of underwater dredging robots and comprise a grille rudder main body and a driving assembly for driving the grille rudder main body to swing, wherein the driving assembly is arranged on an ROV main body, and the grille rudder main body is arranged on the driving assembly. The beneficial effects of the utility model are as follows: the self-adaptive adjustment of the ROV posture is realized by adopting the design of the grille rudder, when strong water flow impact is met, the driving component drives the grille rudder main body to swing, the direction of the grille rudder main body is adjusted, and the action direction of the strong water flow is changed by utilizing the rudder structure of the grille rudder, so that the protection effect is provided for the robot.
Description
Technical Field
The utility model relates to the field of underwater dredging robots, in particular to an ROV attitude self-adaptive adjustment grille rudder and an underwater dredging robot.
Background
The existing underwater dredging robot running mechanism generally adopts a crawler belt, has a complex structure, cannot realize underwater suspension, water surface running and the like, and can only carry out dredging operation at the water bottom. The utility model patent application with the publication number of CN115627809A discloses an intelligent dredging robot and a dredging system, and the intelligent dredging robot comprises a frame body, a mud sucking mechanism, a driving mechanism, a power source, a monitoring mechanism and a propelling mechanism, wherein the frame body comprises a cover body and a sliding shoe which are arranged up and down, the cover body is fixedly arranged on the upper surface of the sliding shoe and forms a containing space with the sliding shoe, the driving mechanism and the power source are arranged in the containing space, and the mud sucking mechanism and the propelling mechanism are arranged on the frame body. The underwater suspension and water surface walking dredging operation is realized by utilizing the cooperation of the vector propeller and the sliding shoes, so that the dredging robot is updated into three modes of underwater bottom operation, underwater suspension and water surface operation and a mode of three-dimensional space operation during underwater suspension from the traditional underwater bottom operation.
However, in the underwater suspension dredging process, when the underwater dredging robot encounters strong water flow impact, balance is easily lost to shake, and the dredging track is changed when serious, so that the dredging process is influenced.
In view of this, the present inventors have conducted intensive studies in response to this need, and have made the present utility model.
Disclosure of Invention
In order to solve the problems that in the prior art, when an underwater dredging robot encounters strong water flow impact, balance is easy to lose, shaking is easy to occur, a dredging track is changed when serious, and dredging progress is influenced, the utility model provides an ROV gesture self-adaptive adjusting grille rudder, which comprises a grille rudder main body and a driving assembly for driving the grille rudder main body to swing, wherein the driving assembly is arranged on an ROV main body, and the grille rudder main body is arranged on the driving assembly.
The self-adaptive regulation of the ROV posture is realized by taking hydrodynamics as a basic theory, providing a buffering protection function for the underwater dredging robot through self-balancing and strong-fluid-resisting technology and adopting the design of the grille rudder, when strong water flow impact is encountered, the driving component drives the grille rudder main body to swing, the direction of the grille rudder main body is regulated, and the action direction of strong water flow is changed by utilizing the rudder structure of the grille rudder, so that the protection function is provided for the robot.
Preferably, the driving assembly comprises a rotating motor assembly and an electric push rod assembly, the rotating motor assembly is connected to the ROV body through a first horizontal shaft, the middle of one side edge of the grille rudder main body is fixedly arranged at the output end of the rotating motor assembly, and the plane of the grille rudder main body is parallel to the rotating shaft of the rotating motor assembly; the electric push rod assembly is connected to the ROV body through a second horizontal shaft, and the grille rudder main body is connected to the output end of the electric push rod assembly through a third horizontal shaft; the third horizontal axis is located at a position below the rudder body.
Preferably, the electric motor assembly further comprises a grille rudder mounting seat, and the grille rudder main body is mounted on the output end of the rotating motor assembly and the output end of the electric push rod assembly through the grille rudder mounting seat;
the grid rudder mounting seat is provided with a first mounting hole for mounting a rotating shaft of the rotating motor assembly and a second mounting hole for mounting the third horizontal shaft, the second mounting hole is positioned below the first mounting hole, and the axial direction of the second mounting hole is perpendicular to the axial direction of the first mounting hole; the grille rudder mounting seat is fixedly mounted at the middle position of one side edge of the grille rudder main body.
Here, utilize the rotation of rotating electrical machines to realize the left and right rocking of rudder main part, utilize the push-and-pull of electric putter subassembly to realize the luffing motion of rudder main part to reach the direction of adjusting rudder main part, change the purpose of strong rivers action direction.
Preferably, the rotating electrical machine assembly includes a rotating electrical machine and a motor mounting shaft, the motor mounting shaft being coupled to the ROV body by the first horizontal shaft, the rotating electrical machine being fixedly mounted to the motor mounting shaft, and a rotating shaft of the rotating electrical machine being fixedly mounted to the first mounting hole.
Preferably, the electric push rod assembly comprises a push rod mounting frame, a driving motor and a push rod, wherein the driving motor and the push rod are mounted on the push rod mounting frame, the push rod mounting frame is connected to the ROV body through a second horizontal shaft, one end of the push rod is mounted on the push rod mounting frame, and the other end of the push rod is connected to the second mounting hole through a third horizontal shaft.
Preferably, the grille rudder mounting seat comprises a main body mounting plate and a triangular mounting plate which are integrally connected, the first mounting hole is formed in the center of the main body mounting plate, the grille rudder main body is fixedly mounted at the position of the first mounting hole on one side of the main body mounting plate, and the rotating shaft of the rotating motor assembly is mounted in the first mounting hole from one side far away from the grille rudder main body; the plane of the main body mounting plate is vertical to the plane of the grille rudder main body;
the two triangular mounting plates are arranged at the lower part of one side of the main body mounting plate at intervals side by side, and the plane of the triangular mounting plate is vertical to the plane of the main body mounting plate; the same position on the two triangular mounting plates is provided with a second mounting hole, the second mounting hole is positioned at the position below the main body mounting plate, and the third horizontal shaft is connected with the grille rudder mounting seat through the second mounting hole in a shaft mode to the output end of the electric push rod assembly.
Preferably, the plane of the triangular mounting plate is perpendicular to the plane of the rudder body, and one side of the triangular mounting plate is arranged on the lower surface of the rudder body and parallel to the plane of the rudder body.
Preferably, the grille rudder main body comprises a grille rudder frame and a plurality of longitudinal grille rudders parallel to the axis direction of the rotating shaft of the rotating motor assembly, the longitudinal grille rudders are uniformly distributed in the grille rudder frame along the direction perpendicular to the length direction of the longitudinal grille rudders, and an included angle between the plane of the longitudinal grille rudders and the plane of the grille rudder main body is 30-60 degrees.
Preferably, a plurality of transverse rudders are uniformly arranged between the two longitudinal rudders along the length direction, and the plane of the transverse rudders is parallel to the plane of the rudder main body.
Here, the grating rudder body is 500mm long, 400mm wide and 20mm thick, and is made of stainless steel; the rotary motor adopts a miniature low-speed high-torque motor, and a hinged support at the tail part of the rotary motor is connected with the ROV body; the electric push rod is hinged with the grille rudder main body, and under the action of the rotating motor and the electric push rod, the grille rudder main body can perform biaxial movement.
The utility model also provides an underwater dredging robot which comprises an ROV body and more than three grille rudders, wherein the grille rudders are uniformly distributed on the periphery of the ROV body.
The ROV body is further provided with a water flow sensor and a grille rudder controller, the water flow sensor is used for sensing strong water flow impact, the output end of the water flow sensor is connected with the input end of the grille rudder controller, and the output end of the grille rudder controller is connected with the input end of the electric push rod and the input end of the rotating motor.
The beneficial effects are that:
the technical scheme of the utility model has the following beneficial effects:
(1) The self-adaptive regulation of the ROV posture is realized by taking hydrodynamics as a basic theory, providing a buffering protection function for the underwater dredging robot through self-balancing and strong-fluid-resisting technology and adopting the design of the grille rudder, when strong water flow impact is encountered, the driving component drives the grille rudder main body to swing, the direction of the grille rudder main body is regulated, and the action direction of strong water flow is changed by utilizing the rudder structure of the grille rudder, so that the protection function is provided for the robot.
(2) The left-right swing of the grille rudder main body is realized by utilizing the rotation of the rotating motor, and the up-down swing of the grille rudder main body is realized by utilizing the push-pull of the electric push rod assembly, so that the purposes of adjusting the direction of the grille rudder main body and changing the action direction of strong water flow are achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a preferred rudder of the present utility model;
FIG. 2 is a perspective view of a preferred rudder body according to the present utility model;
FIG. 3 is a second perspective view of the preferred rudder body of the present utility model;
FIG. 4 is a perspective view of the underwater dredging robot according to the utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
According to the embodiment, hydrodynamic is taken as a basic theory, a self-balancing and strong-fluid-resistance technology is used for providing a buffer protection function for the underwater dredging robot, the design of the grille rudder is used for realizing the self-adaptive adjustment of the ROV posture, when strong water flow impact is encountered, the driving assembly drives the grille rudder main body to swing, the direction of the grille rudder main body is regulated, and the action direction of strong water flow is changed by utilizing the rudder structure of the grille rudder, so that a protection function is provided for the robot.
As shown in fig. 1-3, the ROV attitude adaptive adjustment rudder 10 comprises a rudder body 1 and a driving assembly 2 for driving the rudder body 1 to swing, the driving assembly 2 is mounted on an ROV body 100, and the rudder body 1 is mounted on the driving assembly 2.
The driving assembly 2 comprises a rotating motor assembly 21 and an electric push rod assembly 22, the rotating motor assembly 21 is connected to the ROV body 100 through a first horizontal shaft (not shown in the figure) in a shaft mode, the middle of one side edge of the grille rudder main body 1 is fixedly arranged at the output end of the rotating motor assembly 21, and the plane of the grille rudder main body 2 is parallel to the rotating shaft of the rotating motor assembly 21; the electric push rod assembly 22 is axially connected to the ROV body 100 through a second horizontal shaft (not shown), and the grille rudder body 1 is axially connected to the output end of the electric push rod assembly 22 through a third horizontal shaft (not shown); the third horizontal axis is located at a position below the rudder body 1.
In order to realize the installation control of the grille rudder main body, the grille rudder main body comprises a grille rudder installation seat 3, wherein the grille rudder main body 1 is installed on the output end of the rotating motor assembly 21 and the output end of the electric push rod assembly 22 through the grille rudder installation seat 3;
the grille rudder mount 3 is provided with a first mounting hole 301 for mounting the rotary shaft of the rotary motor assembly 21 and a second mounting hole 302 for mounting the third horizontal shaft, the second mounting hole 302 is positioned below the first mounting hole 301, and the axial direction of the second mounting hole 302 is perpendicular to the axial direction of the first mounting hole 301; the grille rudder mounting seat 3 is fixedly mounted at the middle position of one side edge of the grille rudder main body 1.
Here, utilize the rotation of rotating electrical machines to realize the left and right rocking of rudder main part, utilize the push-and-pull of electric putter subassembly to realize the luffing motion of rudder main part to reach the direction of adjusting rudder main part, change the purpose of strong rivers action direction.
The rotary electric machine assembly 21 includes a rotary electric machine 211 and a motor mounting shaft 212, the motor mounting shaft 212 is connected to the ROV body 100 through the first horizontal shaft, the rotary electric machine 211 is fixedly mounted on the motor mounting shaft 212, and a rotary shaft of the rotary electric machine 211 is fixedly mounted on the first mounting hole 301.
The electric push rod assembly 22 comprises a push rod mounting frame 221, a driving motor 222 and a push rod 223, wherein the driving motor 222 and the push rod 223 are mounted on the push rod mounting frame 221, the push rod mounting frame is connected to the ROV body 100 through a second horizontal shaft, one end of the push rod 223 is mounted on the push rod mounting frame 221, and the other end of the push rod 223 is connected to the second mounting hole 302 through a third horizontal shaft.
The grille rudder mounting seat 3 comprises a main body mounting plate 31 and a triangular mounting plate 32 which are integrally connected, the first mounting hole 301 is arranged at the center position of the main body mounting plate 31, the grille rudder main body 1 is fixedly mounted at the position of the first mounting hole 301 at one side of the main body mounting plate 31, and the rotating shaft of the rotating motor assembly 21 is mounted in the first mounting hole 301 from one side far away from the grille rudder main body 1; the plane of the main body mounting plate 31 is vertical to the plane of the grille rudder main body 1;
the two triangular mounting plates 32 are arranged at the lower part of one side of the main body mounting plate 31 at intervals side by side, and the plane of the triangular mounting plate 31 is vertical to the plane of the main body mounting plate 31; the same position on the two triangular mounting plates 31 is provided with a second mounting hole 302, the second mounting hole 302 is located at a position below the main body mounting plate 31, and the third horizontal shaft is connected with the grid rudder mounting seat 3 through the second mounting hole 302 in a shaft manner on the output end of the electric push rod assembly 22.
The plane of the triangular mounting plate 31 is perpendicular to the plane of the rudder body 1, and one side of the triangular mounting plate 31 is disposed on the lower surface of the rudder body 1 and parallel to the plane of the rudder body 1.
The rudder main body 1 comprises a rudder frame 11 and a plurality of longitudinal rudders 12 parallel to the axis direction of the rotating shaft of the rotating motor assembly 21, the longitudinal rudders 12 are uniformly distributed in the rudder frame 11 along the direction perpendicular to the length direction, and the included angle between the plane of the longitudinal rudders 12 and the plane of the rudder main body 1 is 30-60 degrees.
A plurality of transverse rudders 13 are uniformly arranged between the two longitudinal rudders 12 along the length direction, and the plane of the transverse rudders 13 is parallel to the plane of the rudders main body 1.
Here, the grating rudder body is 500mm long, 400mm wide and 20mm thick, and is made of stainless steel; the rotary motor adopts a miniature low-speed high-torque motor, and a hinged support at the tail part of the rotary motor is connected with the ROV body; the electric push rod is hinged with the grille rudder main body, and under the action of the rotating motor and the electric push rod, the grille rudder main body can perform biaxial movement.
The present embodiment also provides an underwater dredging robot, which comprises an ROV body 100 and more than three rudders 10, wherein the rudders 10 are uniformly distributed on the periphery of the ROV body 100, as shown in fig. 4, and the number of the rudders 10 is preferably 4.
The ROV body is further provided with a water flow sensor and a grille rudder controller, the water flow sensor is used for sensing strong water flow impact, the output end of the water flow sensor is connected with the input end of the grille rudder controller, and the output end of the grille rudder controller is connected with the input end of the electric push rod and the input end of the rotating motor.
Working principle: during dredging operation of the underwater dredging robot, when the ROV encounters strong water flow impact, the ROV assembled sensor can detect and utilize the self-balancing system to adjust the direction of the grille rudder, the direction adjustment is mainly completed by the rotating motor component and the electric push rod component, and the rudder structure of the grille rudder is utilized to change the acting direction of the strong water flow, so that a protection effect is provided for the robot.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (9)
1. The ROV attitude self-adaptive adjustment grille rudder is characterized by comprising a grille rudder main body and a driving assembly for driving the grille rudder main body to swing, wherein the driving assembly is arranged on the ROV main body, and the grille rudder main body is arranged on the driving assembly;
the driving assembly comprises a rotating motor assembly and an electric push rod assembly, the rotating motor assembly is connected to the ROV body through a first horizontal shaft, the middle of one side edge of the grille rudder main body is fixedly arranged at the output end of the rotating motor assembly, and the plane of the grille rudder main body is parallel to the rotating shaft of the rotating motor assembly; the electric push rod assembly is connected to the ROV body through a second horizontal shaft, and the grille rudder main body is connected to the output end of the electric push rod assembly through a third horizontal shaft; the third horizontal axis is located at a position below the rudder body.
2. The ROV attitude adaptive adjustment rudder according to claim 1, further comprising a rudder mount through which the rudder body is mounted on the rotating electric machine assembly output and the electric putter assembly output;
the grid rudder mounting seat is provided with a first mounting hole for mounting a rotating shaft of the rotating motor assembly and a second mounting hole for mounting the third horizontal shaft, the second mounting hole is positioned below the first mounting hole, and the axial direction of the second mounting hole is perpendicular to the axial direction of the first mounting hole; the grille rudder mounting seat is fixedly mounted at the middle position of one side edge of the grille rudder main body.
3. The ROV-attitude adaptive adjustment grille rudder according to claim 2, wherein the rotary electric machine assembly includes a rotary electric machine and a motor mounting shaft, the motor mounting shaft being connected to the ROV body by the first horizontal shaft, the rotary electric machine being fixedly mounted to the motor mounting shaft, and a rotary shaft of the rotary electric machine being fixedly mounted to the first mounting hole.
4. The ROV attitude adaptive adjustment grille rudder according to claim 2, wherein the electric pushrod assembly includes a pushrod mounting bracket, a driving motor and a pushrod, the driving motor and the pushrod are mounted on the pushrod mounting bracket, the pushrod mounting bracket is connected to the ROV body by a second horizontal shaft, one end of the pushrod is mounted on the pushrod mounting bracket, and the other end is connected to the second mounting hole by a third horizontal shaft.
5. The ROV attitude adaptive adjustment grille rudder according to claim 2, wherein the grille rudder mount includes a body mount plate and a triangular mount plate integrally connected, the first mount hole being provided at a center position of the body mount plate, the grille rudder body being fixedly mounted at the first mount hole position on one side of the body mount plate, a rotation shaft of the rotating electric machine assembly being mounted in the first mount hole from a side away from the grille rudder body; the plane of the main body mounting plate is vertical to the plane of the grille rudder main body;
the two triangular mounting plates are arranged at the lower part of one side of the main body mounting plate at intervals side by side, and the plane of the triangular mounting plate is vertical to the plane of the main body mounting plate; the same position on the two triangular mounting plates is provided with a second mounting hole, the second mounting hole is positioned at the position below the main body mounting plate, and the third horizontal shaft is connected with the grille rudder mounting seat through the second mounting hole in a shaft mode to the output end of the electric push rod assembly.
6. The ROV-attitude adaptive adjustment rudder according to claim 5, wherein the plane of the triangular mounting plate is perpendicular to the plane of the rudder body, and one side of the triangular mounting plate is disposed on the lower surface of the rudder body and parallel to the plane of the rudder body.
7. The ROV attitude adaptive adjustment grille rudder according to claim 1, wherein the grille rudder body comprises a grille rudder frame and a plurality of longitudinal grille rudders parallel to the axis direction of the rotation shaft of the rotating motor assembly, the longitudinal grille rudders are uniformly distributed in the grille rudder frame along the direction perpendicular to the length direction of the longitudinal grille rudders, and an included angle between the plane of the longitudinal grille rudders and the plane of the grille rudder body is 30-60 degrees.
8. The ROV-attitude self-adaptive adjusting grille rudder according to claim 7, wherein a plurality of transverse grille rudders are uniformly arranged in the middle of two longitudinal grille rudders along the length direction, and the plane of each transverse grille rudder is parallel to the plane of the grille rudder main body.
9. An underwater dredging robot comprising an ROV body and three or more rudders according to any one of claims 1-8, said rudders being evenly distributed around the periphery of said ROV body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321193924.9U CN220114793U (en) | 2023-05-17 | 2023-05-17 | ROV gesture self-adaptation adjustment grille rudder and underwater dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321193924.9U CN220114793U (en) | 2023-05-17 | 2023-05-17 | ROV gesture self-adaptation adjustment grille rudder and underwater dredging robot |
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| Publication Number | Publication Date |
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| CN220114793U true CN220114793U (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321193924.9U Active CN220114793U (en) | 2023-05-17 | 2023-05-17 | ROV gesture self-adaptation adjustment grille rudder and underwater dredging robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN220114793U (en) |
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2023
- 2023-05-17 CN CN202321193924.9U patent/CN220114793U/en active Active
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