CN214356600U

CN214356600U - Gravity center adjusting device and ROV equipment with same

Info

Publication number: CN214356600U
Application number: CN202120408101.8U
Authority: CN
Inventors: 熊明磊; 陈龙冬; 杨昊霖
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2021-02-24
Filing date: 2021-02-24
Publication date: 2021-10-08
Anticipated expiration: 2031-02-24

Abstract

The utility model provides a focus adjusting device and have device's ROV equipment relates to underwater equipment technical field, and the main objective provides a focus adjusting device and corresponding ROV equipment that regulating speed is fast, dynamic balance nature is better. The gravity center adjusting device comprises driving equipment, a balancing weight and a connecting rod mechanism, wherein the connecting rod mechanism is communicated with the balancing weight and the driving equipment, and is in transmission connection with the driving equipment; when the link mechanism extends outwards or contracts inwards under the action of the driving device, the counterweight block can move away from or close to the driving device along with the movement of the link mechanism. The ROV apparatus comprises a centre of gravity adjustment device as described in any of the preceding claims. The center of gravity of the ROV equipment using the center of gravity adjusting device can be adjusted quickly during work. The utility model is used for the underwater operation field makes things convenient for the focus position of quick adjustment device, guarantees the dynamic balance of equipment.

Description

Gravity center adjusting device and ROV equipment with same

Technical Field

The utility model belongs to the technical field of the underwater equipment technique and specifically relates to a focus adjusting device and have device's ROV equipment is related to.

Background

When the ROV (namely the underwater robot) moves, the gravity center position of the ROV (namely the underwater robot) needs to be adjusted by adjusting the position of the balancing weight, so that the purposes of fishing and equipment transportation are achieved, and meanwhile, the normal operation of the equipment can be ensured. When the ROV is added or subtracted from equipment (such as a front mechanical arm, equipment such as a navigation cabin and the like), manual balancing needs to be carried out again, the step often depends on the experience of workers to adjust the balance weight, and then the ROV is put into water to carry out balance degree inspection. The balancing process can be completed by repeating for many times, which wastes time and labor and is complicated to operate.

The existing gravity center adjusting device generally adopts a motor to drive a ball screw to move, and meanwhile, a balancing weight is installed on a screw nut, and the gravity center is adjusted by linear movement of the screw nut. However, in underwater environments, the movement speed of the spindle nut and the corresponding adjustment speed are greatly affected by the underwater environment: because lubricating oil or lubricating grease and the like cannot be used for lubricating the lead screw nut in an underwater environment, the friction force is large during operation, and the system moving speed is low.

In order to solve the above problems, it is necessary to develop a novel gravity center adjusting device and an ROV apparatus having the same to solve the problem of slow response of the gravity center adjusting device in the prior art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a focus adjusting device and have device's ROV equipment to solve the slow technical problem of focus adjusting device response that exists among the prior art. The utility model provides a plurality of technical effects that preferred technical scheme among a great deal of technical scheme can produce see the explanation below in detail.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a gravity center adjusting device, which comprises a driving device, a balancing weight and a connecting rod mechanism, wherein the connecting rod mechanism is communicated with the balancing weight and the driving device, and the connecting rod mechanism is in transmission connection with the driving device; when the link mechanism extends outwards or contracts inwards under the action of the driving device, the counterweight block can move away from or close to the driving device along with the movement of the link mechanism.

Under drive arrangement's effect, when its during operation, link mechanism can stretch out or contract inwards for this drive arrangement under drive arrangement's drive to the pulling balancing weight activity to change its focus position, realize the quick adjustment to the focus.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

As a further improvement of the utility model, the link mechanism is a four-bar linkage mechanism, and the adjacent connecting rods are connected in a rotating manner.

Because the link mechanism is a four-bar link, the balancing weight is positioned between the four link mechanisms, and two sides of the balancing weight are respectively connected with two link rods.

As a further improvement of the utility model, the drive apparatus includes motor and gear train that the transmission is connected, the gear train includes intermeshing's action wheel, follows the driving wheel, link mechanism's both ends respectively with the action wheel with follow driving wheel fixed connection.

When the driving device works, the driving wheel can be driven to rotate, the driven wheel is further pulled to rotate, and the connecting rod mechanism fixedly connected with the driving wheel and the driven wheel moves along with the driving wheel and the driven wheel to adjust the position of the balancing weight.

As a further improvement of the present invention, the driving wheel and the driven wheel are connected by a rigid connection with the link mechanism.

As a further improvement of the present invention, the driving wheel is the same as the driven wheel tooth profile.

The driving wheel and the driven wheel with the same tooth form can ensure that the connecting rod mechanism can stretch and move along a straight line when in work.

As a further improvement of the utility model, a rotary damper is further installed below the driven wheel.

The rotary damper can provide a reverse damping torque, and the damping torque can reduce vibration caused by gear transmission, ROV movement and motor rotation, improve transmission precision and prolong the service life of the system.

As a further improvement, the linkage mechanism is further provided with a tension spring, and when the linkage mechanism moves, the tension spring can stretch along with the movement of the linkage mechanism.

The tension generated in the tension spring can provide a pre-tightening torque for the gear set, so that the gear transmission clearance is eliminated, and the transmission precision is improved.

As a further improvement of the present invention, the tension spring is located the link mechanism is close to the driving device one side.

As a further improvement of the utility model, the four-bar linkage mechanism is symmetrically arranged.

As a further improvement of the present invention, the length of the connecting rod connected to the weight block in the link mechanism is not less than the length of the connecting rod connected to the motor.

The utility model also provides a ROV equipment, including above-mentioned arbitrary focus adjusting device. The center of gravity of the ROV equipment using the center of gravity adjusting device can be adjusted quickly during work.

Compared with the prior art, the utility model provides a focus adjusting device and have device's ROV equipment, wherein, focus adjusting device includes drive arrangement, balancing weight and link mechanism, and this link mechanism is the four-bar linkage, and balancing weight and drive arrangement are located the both ends of link mechanism respectively, can realize the quick removal of balancing weight through this link mechanism to make it obtain faster focus governing speed; in addition, the four-bar mechanism has simple structure, convenient maintenance and lower processing cost. When the ROV equipment adopting the gravity center adjusting device is used, the higher gravity center adjusting speed can be obtained, so that the ROV equipment has better dynamic balance.

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 view of the overall structure of the gravity center adjusting device of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic illustration of the construction of the portion of the gear set of FIG. 1;

fig. 4 is a schematic structural view of the gravity center adjusting device according to another state of the present invention;

FIG. 5 is a schematic diagram of the structure of an ROV apparatus;

fig. 6 is a schematic structural diagram of another state of the ROV apparatus.

In the figure: 10. a center-of-gravity adjusting device; 1. a drive device; 11. a motor; 12. a driving wheel; 13. a driven wheel; 2. a balancing weight; 3. a link mechanism; 4. a rotary damper; 5. a tension spring.

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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as the case may be, by those of ordinary skill in the art.

FIG. 1 is a schematic view of the overall structure of the gravity center adjusting device of the present invention; as can be seen from the figure, the link mechanism is in the extending state, and the distance between the balancing weight and the driving device is larger; the driving device comprises a motor, a driving wheel and a driven wheel, and the connecting rod mechanism is of a four-connecting-rod structure.

FIG. 2 is a top view of FIG. 1; it can be seen that the link mechanism is a symmetrical structure, and the two links are rigidly connected with the driving wheel and the driven wheel through bolts, and in addition, the two links are connected through a tension spring; and a balancing weight is fixedly arranged at the joint of the other two connecting rods.

FIG. 3 is a schematic illustration of the construction of the portion of the gear set of FIG. 1; it can be seen that the driving wheel is connected with the motor through a key connection, and the driven wheel is fixedly provided with a rotary damper below the driven wheel except for being meshed with the driving wheel.

Fig. 4 is a schematic structural view of the gravity center adjusting device according to another state of the present invention; compared with fig. 1, the link mechanism is in a contracted state, the counterweight block moves towards the driving device, and the distance between the counterweight block and the driving device is small.

FIG. 5 is a schematic diagram of the structure of an ROV apparatus; the center of gravity adjusting means mounted on the apparatus is in an extended state at this time.

Fig. 6 is a schematic view of the structure of the ROV apparatus in another state; the center of gravity adjusting means mounted on the apparatus is in a contracted state at this time.

The technical solution of the present invention will be specifically described below with reference to the accompanying drawings.

As shown in fig. 1-4, the utility model provides a gravity center adjusting device 10, the device includes drive arrangement 1, balancing weight 2 and link mechanism 3, wherein link mechanism 3 communicates balancing weight 2 and drive arrangement 1 and link mechanism 3 is connected with drive arrangement 1 transmission. In use, under the action of the driving device 1, the link mechanism 3 can extend or contract relative to the driving device 1, and at the moment, the counterweight block 2 moves away from or close to the driving device 1 along with the action of the link mechanism 3, as shown in fig. 1 and 4. With the position of the balancing weight 2 changing, the gravity center position of the device also changes. The link mechanism 3 can be fast and conveniently used for adjusting the position of the balancing weight 2 so as to realize the adjustment of the gravity center position.

It should be noted that the link mechanism 3 is a four-bar link mechanism 3, and two adjacent links are connected in a rotating manner. In order to ensure smooth rotation between adjacent connecting rods, as an optional implementation mode, the connecting rods are connected in a rotating fit manner through pin shafts and bearings.

As shown in fig. 1 and 2, the driving device 1 and the counterweight 2 are respectively located at two ends of the four-bar linkage 3.

Adopt four-bar linkage 3 to carry out the transmission, the terminal installation balancing weight 3 of four-bar linkage 3, through the concrete size of adjustment connecting rod, can make the translation rate of balancing weight 3 reach higher level. That is, the speed of the center of gravity adjustment of the four-bar linkage 3 is superior to that of the conventional lead screw nut device; and the four-bar linkage 3 is compared with the traditional ball screw, the structure is simpler, the maintenance is convenient, and the processing cost is relatively lower.

In order to ensure that the driving device 1 can work normally and is not affected by the external environment, as an optional embodiment, the driving device 1 includes a motor 11 and a gear set, which are in transmission connection, the gear set includes a driving wheel 12 and a driven wheel 13, which are meshed with each other, and two ends of the link mechanism 3 are respectively fixedly connected with the driving wheel 12 and the driven wheel 13.

Therefore, when the motor 11 works, the driving wheel 12 can be driven to rotate, the driven wheel 13 is further pulled to rotate, and the link mechanism 3 fixedly connected with the driving wheel 12 and the driven wheel 13 moves along with the driving wheel to adjust the position of the counterweight block 2. In addition, in order to ensure the smooth transmission between the motor 11 and the gear set, a protective cover can be covered outside the motor 11, and the motor 11 is also connected with the driving wheel 12 in a key mode.

It should be noted that the two ends of the linkage 3 are rigidly connected to the driving wheel 12 and the driven wheel 13 by screws, as shown in fig. 2. Therefore, when the driving pulley 12 and the driven pulley 13 rotate, the corresponding link rotates and pulls the link connected to the corresponding link to rotate so as to adjust the position of the balancing weight 2 and change the distance between the balancing weight 2 and the driving device 1.

For convenience of adjustment, it is necessary to ensure that the counterweight block 2 can move along a straight line, and at this time, besides that the link mechanism 3 needs to be set to be a bilaterally symmetric structure, it is also necessary to ensure that the relative deflection angles of the links are the same, that is, the tooth profiles of the driving wheel 12 and the driven wheel 13 are the same.

The four-bar mechanism 3, the driving wheel 12 and the driven wheel 13 which are symmetrically arranged and have the same tooth form can ensure that the bar mechanism 3 can stretch and move along a straight line when in work.

As an alternative embodiment, the length of the link in the link mechanism 3 connected to the counterweight 2 is not less than the length of the link near the motor 11.

In addition, in order to improve transmission accuracy, as an alternative embodiment, a rotary damper 4 is further installed below the driven wheel 13.

The rotary damper 4 can provide a reverse damping torque, and the damping torque can reduce vibration caused by gear transmission, ROV movement and motor 11 rotation, improve transmission precision and prolong the service life of the system.

Specifically, the rotary damper 4 includes a fixed end and a rotary end, the fixed end is rigidly connected to the rotating shaft portion of the driven wheel 13 (the fixed end is fixed), and the rotary end is rigidly connected to the rotating shaft portion of the driven wheel 13 (the rotary end can be realized by a screw), so that the rotary damper can provide a reverse damping torque when the driven wheel 13 rotates. The installation position of the rotary damper 4 is shown in fig. 3.

Similarly, in order to further improve the transmission precision, as an alternative embodiment, the link mechanism 3 is further provided with a tension spring 5, and when the link mechanism 3 moves, the tension spring 5 can stretch along with the movement of the link mechanism 3. The tension spring 5 is positioned as shown in fig. 2, and the tension spring 5 is positioned on the side of the link mechanism 3 close to the drive device 1.

The tension generated in the tension spring 5 can provide a pre-tightening torque for the gear set, so that the gear transmission clearance is eliminated, and the transmission precision is improved.

The utility model also provides a ROV equipment, including above-mentioned arbitrary focus adjusting device 10. The center of gravity of the ROV apparatus using the center of gravity adjusting apparatus 10 can be adjusted relatively quickly during operation. As shown in fig. 5 and 6, the center of gravity of the ROV apparatus changes as the counterweight 2 moves.

Through the gravity center adjusting device 10, after the ROV equipment is increased or decreased by devices (such as a front-end mechanical arm, a navigation cabin and the like), the gravity center position of the ROV equipment can be flexibly adjusted according to a motor without manual repeated adjustment, and the balance state can be quickly and conveniently adjusted.

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

1. The gravity center adjusting device is characterized by comprising a driving device (1), a balancing weight (2) and a connecting rod mechanism (3), wherein the connecting rod mechanism (3) is communicated with the balancing weight (2) and the driving device (1), and the connecting rod mechanism (3) is in transmission connection with the driving device (1); when the link mechanism (3) extends outwards or contracts inwards under the action of the driving device (1), the counterweight block (2) can move away from or close to the driving device (1) along with the movement of the link mechanism (3).

2. Centre of gravity adjustment arrangement according to claim 1, characterized in that the linkage (3) is a four-bar linkage (3), with a rotational connection between adjacent links.

3. The center of gravity adjusting device according to claim 2, wherein the driving device (1) comprises a motor (11) and a gear set in transmission connection, the gear set comprises a driving wheel (12) and a driven wheel (13) which are meshed with each other, and two ends of the link mechanism (3) are fixedly connected with the driving wheel (12) and the driven wheel (13) respectively.

4. A centre of gravity adjustment arrangement according to claim 3, wherein the driving wheel (12) and the driven wheel (13) are toothed identically.

5. A centre of gravity adjustment device according to claim 3, wherein a rotational damper (4) is also mounted below the driven wheel (13).

6. The gravity center adjusting device according to claim 2, wherein a tension spring (5) is further provided on the link mechanism (3), and when the link mechanism (3) moves, the tension spring (5) can be stretched along with the movement of the link mechanism (3).

7. Center of gravity adjustment arrangement according to claim 6, characterized in that the tension spring (5) is located on the side of the linkage (3) close to the drive device (1).

8. Center of gravity adjustment arrangement according to claim 2, characterized in that the four-bar linkage (3) is arranged symmetrically.

9. Center of gravity adjustment arrangement according to claim 2, characterized in that the length of the link mechanism (3) connected to the counterweight (2) is not less than the length of the link close to the drive device (1).

ROV apparatus comprising a centre of gravity adjustment device as claimed in any of claims 1 to 9.