JPS6136095A - Trim adjusting apparatus for underwater robot - Google Patents
Trim adjusting apparatus for underwater robotInfo
- Publication number
- JPS6136095A JPS6136095A JP15729784A JP15729784A JPS6136095A JP S6136095 A JPS6136095 A JP S6136095A JP 15729784 A JP15729784 A JP 15729784A JP 15729784 A JP15729784 A JP 15729784A JP S6136095 A JPS6136095 A JP S6136095A
- Authority
- JP
- Japan
- Prior art keywords
- weight
- camera
- container
- pressure vessel
- underwater robot
- 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.)
- Pending
Links
Abstract
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は海中ロボットのトリム調整装置に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a trim adjustment device for an underwater robot.
従来、船から海中に吊り下げられ、船上からの遠隔操作
により海底探索や調査を行う海中ロボットには、ＴＶカ
メラが積み込まれており、海中ロボットに備えられたラ
イトの光で海中や海底の状態をＴＶカメラで撮影し、そ
の画像により海上の観測者は海中ロボットを操作してい
た。Conventionally, underwater robots that are suspended from a ship into the sea and used to explore and investigate the seabed by remote control from the ship are equipped with a TV camera, and the conditions of the sea and seabed can be seen using the light provided on the underwater robot. was photographed by a TV camera, and observers on the sea operated the underwater robot using the images.
ところが、従来の海中ロボットにおいては、海中撮影用
のＴＶカメラをチルトさせていたので、カメラのチルト
角が大きくなると、ライトの光の弱い部分を写すことに
なって画像が不鮮明になったり、ＴＶカメラがライトの
照らす範囲を外れて撮影不能となってしまい、撮影範囲
が狭くなるという欠点があった。また、ＴＶカメラのチ
ルト機構は構造が複雑でコストが高いという問題もあっ
た。However, in conventional underwater robots, the TV camera for underwater photography was tilted, so if the tilt angle of the camera became large, the image would become unclear because it would capture areas where the light was weak, and the TV camera would This had the disadvantage that the camera could no longer take pictures because it was out of the range illuminated by the light, resulting in a narrower shooting range. Furthermore, the tilt mechanism of the TV camera has a complicated structure and is expensive.
本発明の目的は前記従来の海中ロボットにおける撮影時
の欠点を解消し、機構が簡素であり、かつＴＶカメラと
ライトの方向とが常に一致して、ＴＶカメラの撮影範囲
を拡げることができる優れた海中ロボットのトリム調整
装置を提供することである。The purpose of the present invention is to eliminate the disadvantages of the conventional underwater robot when taking pictures, and to have an advantage in that the mechanism is simple, the direction of the TV camera and the light always match, and the shooting range of the TV camera can be expanded. An object of the present invention is to provide a trim adjustment device for an underwater robot.
前記目的を達成する本発明の海中ロボットのトリム調整
装置は、海上から遠隔繰作される海中口ボットの耐圧容
器内に、耐圧容器の前後方向に移動可能な重りを設け、
この重りはモータにより前記耐圧容器内を前後に移動さ
せるように構成したことを特徴としている。A trim adjustment device for an underwater robot according to the present invention that achieves the above object includes providing a weight movable in the longitudinal direction of the pressure vessel in a pressure vessel of an underwater mouth bot that is operated remotely from the sea;
This weight is characterized in that it is configured to be moved back and forth within the pressure container by a motor.
以下添付図面を用いて本考案の実施例を説明する。 Embodiments of the present invention will be described below with reference to the accompanying drawings.
第１図および第２図は本発明の海中ロボットのトリム調
整装置の一実施例の構成を示すものであり、耐圧容器が
シリンダ状の場合の実施例を示すものである。FIGS. 1 and 2 show the structure of an embodiment of the trim adjustment device for an underwater robot according to the present invention, and show an embodiment in which the pressure-resistant container is cylindrical.
この実施例では海中ロボットＲの耐圧容器ｌＯ内に、車
輪２により前後方向に移動可能な重り３を設ける。また
、前記耐圧容器１０の前後部に、この耐圧容器１０の幅
方向の軸線を有する回動軸４ａ、 ５ａを備えたプーリ
４，５を設け、このプーリ４，５には、両端が前記重り
３の前部３ａおよび後部３ｂに接続されたワイヤ６をた
るみなく架は渡す。In this embodiment, a weight 3 that can be moved forward and backward by wheels 2 is provided in a pressure vessel IO of an underwater robot R. In addition, pulleys 4 and 5 having rotating shafts 4a and 5a having an axis in the width direction of the pressure vessel 10 are provided at the front and rear of the pressure vessel 10, and the pulleys 4 and 5 have both ends attached to the weights. The wire 6 connected to the front part 3a and rear part 3b of 3 is passed through the rack without slack.
そして、前記回動軸４ａ、 ５ａの内の一方、例えば回
動軸５ａを正逆転可能なモータ７に直結あるいは減速ギ
ヤを介して連結する。このモータ７は制御ワイヤ８によ
って海上の船に連絡され、船上からの遠隔操作ににより
正転、逆転およびその回転量が制御できるようにする。One of the rotating shafts 4a and 5a, for example, the rotating shaft 5a, is connected to a motor 7 capable of forward and reverse rotation, either directly or via a reduction gear. This motor 7 is connected to a ship on the sea by a control wire 8, so that normal rotation, reverse rotation, and the amount of rotation thereof can be controlled by remote control from the ship.
１はＴＶカメラ、９は撮影用のライトをそれぞれ示して
いる。Reference numeral 1 indicates a TV camera, and reference numeral 9 indicates a light for photographing.
以上のように構成された本発明の海中ロボットのトリム
調整装置は、第３図に示すように船上からの指令により
モータ７が正逆転し、重り３を耐圧容器ｌＯ内で前後方
向に移動させる。従って、重り３が前部に移動させられ
た時には耐圧容器１０は下を向き、重り３が中央部に位
置させられた時には耐圧容器１０は水平を保ち、重り３
が耐圧容器１０の後部に移動させられた時には耐圧容器
１０は上を向くことになる。In the underwater robot trim adjustment device of the present invention configured as described above, as shown in FIG. 3, the motor 7 is rotated forward and backward in response to a command from the ship, and the weight 3 is moved forward and backward within the pressure vessel IO. . Therefore, when the weight 3 is moved to the front, the pressure vessel 10 faces downward, and when the weight 3 is positioned in the center, the pressure vessel 10 remains horizontal, and the weight 3
When the pressure vessel 10 is moved to the rear of the pressure vessel 10, the pressure vessel 10 faces upward.
このように本発明では重り３の移動だけで耐圧容器１０
を前後に傾けることができるので、ＴＶカメラ１のチル
ト機構は不要となり、ＴＶカメラ１は海中ロボットＲに
取り付けられたライト９の光軸方向に合わせて海中ロボ
ットＲ内に固定しておけば良い。従って、本発明の海中
ロボットＲではＴＶカメラ１とライト９との方向が常に
同一方向にあるため、ＴＶカメラ１がライト９の照射範
囲から外れることがなくなり、常にライティングの良い
鮮明な直線を船上の観測者に送ることができる。In this way, in the present invention, the pressure vessel 10 can be moved simply by moving the weight 3.
Since the TV camera 1 can be tilted forward and backward, a tilt mechanism for the TV camera 1 is not required, and the TV camera 1 can be fixed inside the underwater robot R in accordance with the optical axis direction of the light 9 attached to the underwater robot R. . Therefore, in the underwater robot R of the present invention, the TV camera 1 and the light 9 are always in the same direction, so the TV camera 1 does not go out of the illumination range of the light 9, and a clear straight line with good lighting is always maintained on the ship. can be sent to observers.
なお、この実施例におけるプーリはスプロケットでも良
く、この場合はワイヤの代わりにチェノを使用すれば良
い。Note that the pulley in this embodiment may be a sprocket, and in this case, a chino may be used instead of a wire.
第４図は本発明の海中ロボットのトリム調整装置の別の
実施例を示すものであり、これは耐圧容器１０が球状を
している場合の実施例である。FIG. 4 shows another embodiment of the trim adjustment device for an underwater robot according to the present invention, and this is an embodiment in which the pressure vessel 10 has a spherical shape.
この実施例では球状耐圧容器１０の中心点を通線上に回
動軸１４を有するバラスト支持フレーム１１を設ける。In this embodiment, a ballast support frame 11 having a rotation shaft 14 is provided on a line passing through the center point of the spherical pressure vessel 10.
このバラスト支持フレーム１１は前記回動軸１４から球
状の耐圧容器１０の内周面に沿った円弧状に形成し、そ
の中央部に重り部２０を設ける。この重り部２０にはゴ
ムローラ１５を取り付けた正逆転可能なモータ７を取り
付け、ゴムローラ１５が耐圧容器ｌＯの内周面に密着す
るようにする。The ballast support frame 11 is formed in an arc shape along the inner circumferential surface of the spherical pressure vessel 10 from the rotation shaft 14, and a weight portion 20 is provided in the center thereof. A reversible motor 7 equipped with a rubber roller 15 is attached to this weight portion 20, so that the rubber roller 15 is brought into close contact with the inner circumferential surface of the pressure container IO.
なお、この実施例ではモータ７およびゴムローラ１５を
取り付けるために重り部２０でバラスト支持フレーム１
１をコの字状に曲げであるが、モータ７およびゴムロー
ラ１５は前記バラスト支持フレーム１１の湾曲形状に沿
うようなハウジングを用いてバラスト支持フレーム１１
に取り付けても良いものである。In addition, in this embodiment, in order to attach the motor 7 and the rubber roller 15, the weight part 20 is attached to the ballast support frame 1.
1 is bent into a U-shape, but the motor 7 and the rubber roller 15 are mounted on the ballast support frame 11 using a housing that follows the curved shape of the ballast support frame 11.
It can also be attached to.
さらに、第５図および（第６図は前記実施例の変形実施
例を示すものであり、前記ゴムローラ１５０代ｔ）りに
歯車（ピニオン）１６をモータ７の回転軸に取り付け、
一方、バラスト支持フレーム１１の回動によるこの歯車
１６の移動軌跡に、耐圧容器１０の内周面に合わせてラ
ック１７を設け、このラック１７を前記歯車１６にかみ
合わせたものである。Furthermore, FIGS. 5 and 6 show a modified embodiment of the above embodiment, in which a gear (pinion) 16 is attached to the rotating shaft of the motor 7,
On the other hand, a rack 17 is provided along the movement locus of this gear 16 due to the rotation of the ballast support frame 11 in alignment with the inner peripheral surface of the pressure vessel 10, and this rack 17 is meshed with the gear 16.
前記２つの実施例においても、モータ７の回転制御を船
上から行えば、モータ７の回転によりゴムローラ１５ま
たは歯車１６が耐圧容器１０の内周面を耐圧容器１０の
前後方向に移動する。即ち、モータ７およびゴムローラ
１５または歯車１６からなる重り部２０が耐圧容器１０
の前後方向に移動することになる。よって、バラスト支
持フレーム１１が耐圧容器１０の前方に移動した時には
耐圧容器１０が前傾し、バラスト支持フレーム１１が耐
圧容器１０の後方に移動した時には耐圧容器１０は後傾
するので、この実施例においてもＴＶカメラ１のチルト
機構は不要であり、ＴＶカメラ１をライト９の光軸方向
に向けて設置すれば、あとはＴＶカメラ１は常にライト
９の照射範囲の光量の多い部分を撮影することができる
ので、常に鮮明な画像を海上の観察者に送ることができ
る。In the above two embodiments as well, if the rotation of the motor 7 is controlled from the ship, the rubber roller 15 or the gear 16 moves on the inner circumferential surface of the pressure vessel 10 in the longitudinal direction of the pressure vessel 10 due to the rotation of the motor 7. That is, the weight part 20 consisting of the motor 7 and the rubber roller 15 or the gear 16 is connected to the pressure vessel 10.
It will move in the front and back direction. Therefore, when the ballast support frame 11 moves to the front of the pressure vessel 10, the pressure vessel 10 tilts forward, and when the ballast support frame 11 moves to the rear of the pressure vessel 10, the pressure vessel 10 tilts backward. Also, the tilt mechanism of the TV camera 1 is not necessary, and if the TV camera 1 is installed facing the optical axis direction of the light 9, then the TV camera 1 will always take pictures of the area illuminated by the light 9 with a large amount of light. As a result, clear images can always be sent to observers at sea.
以上説明したように本発明の海中ロボットのトリム調整
装置は、海上から遠隔操作される海中ロボットの耐圧容
器内に、耐圧容器の前後方向に移動可能な重りを設け、
この重りはモータにより前記耐圧容器内を前後に移動さ
せるように構成したことにより、重り°を動かすだけで
耐圧容器の前後方向のチルト角を制御することができる
ので、Ｔ’Ｖカメラにチルト機構およびライトのチルト
機構が不要となって、耐圧容器の構造が簡単になり、コ
ストが安くなると共に、ＴＶカメラを固定したことによ
りライトの光軸にＴＶカメラを合わせれば、海上の観察
者に鮮明な画像をおくることができるという効果がある
。As explained above, the trim adjustment device for an underwater robot according to the present invention includes a weight movable in the longitudinal direction of the pressure vessel, which is provided in the pressure vessel of the underwater robot that is remotely operated from the sea.
Since this weight is configured to be moved back and forth within the pressure vessel by a motor, the tilt angle of the pressure vessel in the front and back direction can be controlled simply by moving the weight. This eliminates the need for a tilting mechanism for the light, which simplifies the structure of the pressure vessel and reduces costs.In addition, by fixing the TV camera, by aligning the TV camera with the optical axis of the light, observers at sea can see clear images. This has the effect of allowing you to send beautiful images.
第１図は本発明の海中ロボットのトリム調整装置の一実
施例の構成を示す海中ロボットの前後方向の縦断面図、
第２図は重り３の移動機構の構成を示す斜視図、第３図
（Ａ）、 （Ｂ）。
（Ｃ）は本発明の海中ロボットのトリム調整装置により
耐圧容器が前傾、水平、後傾する状態をそれぞれ示す説
明図、第４図は本発明の海中ロボットのトリム調整装置
の別の実施例の構成を示す斜視図、第５図は第４図の変
形実施例の構成を示す斜視図、第６図は第５図の■部の
部分断面図である。
Ｒ・・・海中ロボット、■・・・ＴＶカメラ、３・・・
重り、４，５・・・プーリ、７・・・モータ、９・・・
ライト、１０・・・耐圧容器、１１・・・バラスト支持
フレーム、１５・・・ゴムローラ、１６・・・歯車、１
７・・・ランク、２０・・・重り部。FIG. 1 is a longitudinal cross-sectional view of an underwater robot in the front-rear direction showing the configuration of an embodiment of the trim adjustment device for an underwater robot according to the present invention;
FIG. 2 is a perspective view showing the structure of the moving mechanism for the weight 3, and FIGS. 3(A) and 3(B). (C) is an explanatory diagram showing the states in which the pressure vessel is tilted forward, horizontally, and tilted backwards by the trim adjustment device for the underwater robot of the present invention, and FIG. 4 is another embodiment of the trim adjustment device for the underwater robot of the present invention. FIG. 5 is a perspective view showing the structure of a modified embodiment of FIG. 4, and FIG. 6 is a partial cross-sectional view of section 2 in FIG. 5. R... Undersea robot, ■... TV camera, 3...
Weight, 4, 5...Pulley, 7...Motor, 9...
Light, 10...Pressure container, 11...Ballast support frame, 15...Rubber roller, 16...Gear, 1
7...Rank, 20...Weight section.
Claims (1)
耐圧容器の前後方向に移動可能な重りを設け、この重り
はモータにより前記耐圧容器内を前後に移動させるよう
に構成したことを特徴とする海中ロボットのトリム調整
装置。Inside the pressure vessel of an underwater robot that is remotely controlled from the sea,
1. A trim adjustment device for an underwater robot, characterized in that a weight movable in the longitudinal direction of a pressure vessel is provided, and the weight is configured to be moved back and forth within the pressure vessel by a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15729784A JPS6136095A (en) | 1984-07-30 | 1984-07-30 | Trim adjusting apparatus for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15729784A JPS6136095A (en) | 1984-07-30 | 1984-07-30 | Trim adjusting apparatus for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6136095A true JPS6136095A (en) | 1986-02-20 |
Family
ID=15646582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15729784A Pending JPS6136095A (en) | 1984-07-30 | 1984-07-30 | Trim adjusting apparatus for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6136095A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4947782A (en) * | 1988-08-30 | 1990-08-14 | Mitsui Engineering & Shipbuilding Co., Ltd. | Remotely operated vehicle |
| JPH02216389A (en) * | 1989-02-17 | 1990-08-29 | Toshiba Corp | Underwater inspecting device |
| JPH03271092A (en) * | 1990-03-20 | 1991-12-03 | Kyushu Univ | Submersible ocean exploration robot |
| JPH0427692A (en) * | 1990-05-22 | 1992-01-30 | Shigeo Nakao | Submerged observation system |
| JP2007276609A (en) * | 2006-04-06 | 2007-10-25 | Osaka Prefecture Univ | Underwater glider |
| KR100834289B1 (en) * | 2007-02-08 | 2008-05-30 | 현대중공업 주식회사 | Ships without ballast tanks |
| JP2008261807A (en) * | 2007-04-13 | 2008-10-30 | Toshiba Corp | Underwater remote operation vehicle for nuclear reactor inside inspection |
| DE102008024815B3 (en) * | 2008-05-23 | 2009-07-30 | Technische Universität Berlin | Trimming device for e.g. autonomous underwater vehicle, in oil and gas industry, has bellow trimming unit with two bellows, where bellows are formed from wall made of flexible material for changing volumes of bellows |
| JP2012245944A (en) * | 2011-05-31 | 2012-12-13 | Sugino Gomu Kagaku Kogyosho:Kk | Seabed exploration apparatus |
| CN106143848A (en) * | 2016-05-10 | 2016-11-23 | 中国海洋大学 | A kind of submarine navigation device Calculate Ways |
| NL2017111B1 (en) * | 2016-07-05 | 2018-01-12 | Fugro N V | An unmanned underwater vehicle, a method for controlling a stable orientation and a computer program product |
-
1984
- 1984-07-30 JP JP15729784A patent/JPS6136095A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4947782A (en) * | 1988-08-30 | 1990-08-14 | Mitsui Engineering & Shipbuilding Co., Ltd. | Remotely operated vehicle |
| JPH02216389A (en) * | 1989-02-17 | 1990-08-29 | Toshiba Corp | Underwater inspecting device |
| JPH03271092A (en) * | 1990-03-20 | 1991-12-03 | Kyushu Univ | Submersible ocean exploration robot |
| JPH0427692A (en) * | 1990-05-22 | 1992-01-30 | Shigeo Nakao | Submerged observation system |
| JP2007276609A (en) * | 2006-04-06 | 2007-10-25 | Osaka Prefecture Univ | Underwater glider |
| KR100834289B1 (en) * | 2007-02-08 | 2008-05-30 | 현대중공업 주식회사 | Ships without ballast tanks |
| JP2008261807A (en) * | 2007-04-13 | 2008-10-30 | Toshiba Corp | Underwater remote operation vehicle for nuclear reactor inside inspection |
| DE102008024815B3 (en) * | 2008-05-23 | 2009-07-30 | Technische Universität Berlin | Trimming device for e.g. autonomous underwater vehicle, in oil and gas industry, has bellow trimming unit with two bellows, where bellows are formed from wall made of flexible material for changing volumes of bellows |
| JP2012245944A (en) * | 2011-05-31 | 2012-12-13 | Sugino Gomu Kagaku Kogyosho:Kk | Seabed exploration apparatus |
| CN106143848A (en) * | 2016-05-10 | 2016-11-23 | 中国海洋大学 | A kind of submarine navigation device Calculate Ways |
| NL2017111B1 (en) * | 2016-07-05 | 2018-01-12 | Fugro N V | An unmanned underwater vehicle, a method for controlling a stable orientation and a computer program product |
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