ROV main body frame

Abstract

The utility model discloses an ROV main body frame, and belongs to the technical field of underwater robots. The ROV body frame comprises a bearing frame and an auxiliary frame. The bearing frame comprises a first layer frame, a second layer frame and a third layer frame which are connected in sequence, and the first layer frame, the second layer frame and the third layer frame are connected through vertical frames. The auxiliary frame is connected with the bearing frame, the auxiliary frame comprises a fourth shelf and a fifth shelf which are connected, and the fourth shelf and the fifth shelf are connected through a plurality of first rod pieces. Wherein the beams of the second shelf are connected with the beams of the fourth shelf in an inserted mode, and the beams of the third shelf are connected with the beams of the fifth shelf in an inserted mode, so that the bearing frame is located in the auxiliary frame. According to the ROV main body frame provided by the utility model, the load-bearing frame and the auxiliary frame can be made of different alloy materials according to load-bearing requirements, so that the overall mass is obviously reduced on the premise of ensuring reliable supporting force.

Description

Technical Field

[0001] This utility model belongs to the field of underwater robot technology, and in particular relates to a main frame for an ROV. Background Technology

[0002] With the booming development of the high-end marine equipment industry, remotely operated vehicles (ROVs) are playing an increasingly crucial role in deep-sea exploration and development. Among them, significant progress has been made in the research, development, manufacturing, and application of heavy-duty operational ROVs, and their importance in deep-sea scientific research, resource development, and many other aspects is self-evident.

[0003] The main frame structure of an ROV serves as the core support for all equipment and components, forming the foundation for its successful execution of complex operations and ensuring equipment safety in the harsh environment of the deep sea. However, current ROV frame structure designs have significant limitations, with most designs based solely on a single operational load and a single frame material. This design approach struggles to adapt to the increasingly diverse needs of deep-sea operations. Especially when facing complex tasks such as deep-sea geological exploration and in-situ seabed surveys, ROVs need to operate stably under varying seabed topographic conditions. A single frame structure design cannot effectively cope with variable load distributions and complex marine environmental stresses, limiting the improvement of overall ROV performance and the expansion of its application scenarios. Summary of the Invention

[0004] In view of the shortcomings of the related technologies, the purpose of this utility model is to provide a main frame for ROVs to solve the problems mentioned in the background.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A ROV main frame, comprising:

[0007] The load-bearing frame includes a first layer, a second layer, and a third layer connected in sequence, and the first layer, the second layer, and the third layer are connected by vertical frames;

[0008] An auxiliary frame is connected to the load-bearing frame. The auxiliary frame includes a connected fourth and fifth layer frame, which are connected by multiple first members.

[0009] The beams of the second and fourth layers are interlocked, and the beams of the third and fifth layers are interlocked, so that the load-bearing frame is located within the auxiliary frame.

[0010] In some embodiments, the load-bearing frame is made of high-strength alloy material.

[0011] In some embodiments, the auxiliary frame is made of a lightweight alloy material.

[0012] In some embodiments, one end of the fifth shelf is longer than the fourth shelf, and the end of the fifth shelf that is longer than the fourth shelf is the front end of the fifth shelf.

[0013] In some embodiments, the front end of the fifth shelf is provided with a stiffening member, which includes a second member and a third member. The second member, the third member, the fifth shelf, and the first member closest to the front end of the fifth shelf form a right-angled trapezoidal structure.

[0014] In some embodiments, the ROV main frame further includes a first circular hole pad and a second circular hole pad, the first circular hole pad being disposed on the inserted second and fourth layers of the frame, and the second circular hole pad being disposed on the inserted third and fifth layers of the frame.

[0015] In some embodiments, the ROV main frame also includes a leveling device fixed to a second circular hole pad, which is used to adjust and keep the ROV main frame level.

[0016] In some embodiments, the horizontal adjustment device includes four symmetrically arranged secondary telescopic hydraulic cylinders. Each secondary telescopic hydraulic cylinder includes a cylindrical tube, a front end cover, a rear end cover, a fixing plate, a primary piston rod, and a secondary piston rod. The front end cover has a front end cover oil port, and the rear end cover has a rear end cover oil port. The fixing plate is welded to the cylindrical tube and has fixing holes for fixing to a second circular hole pad. The primary and secondary piston rods are retracted inside the cylindrical tube when not in operation and extend out of the cylindrical tube when in operation.

[0017] In some embodiments, the secondary telescopic hydraulic cylinder further includes a rigid rubber base disposed at the end of the secondary piston rod.

[0018] In some embodiments, the first shelf is smaller than the second and third shelves.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. The ROV main frame provided by this utility model consists of a load-bearing frame and an auxiliary frame. The structure is simple, and different alloy materials can be selected to make the load-bearing frame and auxiliary frame according to the load-bearing requirements. Under the premise of ensuring reliable support, the overall weight is significantly reduced.

[0021] 2. The ROV main frame provided by this utility model has a layered design for the load-bearing frame and auxiliary frame, and each layer has a clear structural function and a clever and reasonable layout, which is both practical and economical, and expands its application prospects in many fields with dual requirements for structural quality and strength. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of one embodiment of the ROV main frame of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the ROV main frame of this utility model after mounting the circular hole pad and the two-stage telescopic hydraulic cylinder in one embodiment;

[0025] Figure 3 for Figure 2 Main view of the ROV's main frame structure;

[0026] Figure 4 for Figure 2 Enlarged schematic side view of the main frame of the ROV.

[0027] In the picture:

[0028] 1. Load-bearing frame; 11. First layer frame; 12. Second layer frame; 13. Third layer frame; 14. Vertical frame; 141. Fourth member; 2. Auxiliary frame; 21. Fourth layer frame; 22. Fifth layer frame; 221. Stiffening member; 2211. Second member; 2212. Third member; 23. First member; 3. First circular hole pad; 4. Second circular hole pad; 5. Second-stage telescopic hydraulic cylinder; 51. Cylindrical tube; 52. Front end cover; 521. Front end cover oil port; 53. Rear end cover; 531. Rear end cover oil port; 54. Fixing plate. Detailed Implementation

[0029] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0030] In the description of this utility model, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] See appendix Figures 1 to 4 This paper presents an illustrative embodiment of the ROV main frame proposed in this invention, which is composed of a load-bearing frame 1 and an auxiliary frame 2.

[0033] The load-bearing frame 1 includes a first shelf 11, a second shelf 12, and a third shelf 13 connected in sequence, which are connected by a vertical frame 14. In this embodiment, the vertical frame 14 consists of four fourth members 141 to securely connect the first shelf 11, the second shelf 12, and the third shelf 13. An auxiliary frame 2 is connected to the load-bearing frame 1. The auxiliary frame 2 includes a fourth shelf 21 and a fifth shelf 22 connected by multiple first members 23. The beams of the second shelf 12 and the fourth shelf 21 are interlocked, and the beams of the third shelf 13 and the fifth shelf 22 are interlocked, so that the load-bearing frame 1 is located within the auxiliary frame 2.

[0034] To ensure a stable connection and the strength of the ROV's main frame, in this embodiment, the various components of the load-bearing frame 1 are welded and fixed using raw material welding wire, as are the various components of the auxiliary frame 2. The beams of the second-layer frame 12 and the fourth-layer frame 21 are inserted and then secured with bolts; similarly, the beams of the third-layer frame 13 and the fifth-layer frame 22 are inserted and then secured with bolts.

[0035] The ROV's main frame is composed of 75mm×75mm square tubes of various thicknesses. Among them, the four fourth members 141 are 6mm thick, while the other beam structure square tubes are 4mm thick. The load-bearing frame 1 bears the main load, and the auxiliary frame 2 transfers the load to the load-bearing frame 1 through contact.

[0036] To further stabilize the connection, in this embodiment, the ROV main frame also includes square tube right-angle supports and thick right-angle supports. Multiple square tube right-angle supports are provided, each 4mm thick, which effectively reduces stress concentration at the frame structure connections. Four thick right-angle supports are provided, located at the connection points of the short crossbeams of the second-layer frame 12 and the short vertical beams of the fourth-layer frame 21, each 5mm thick.

[0037] The load-bearing frame 1 is made of high-strength alloy material. In this embodiment, the load-bearing frame 1 is made of titanium alloy. Titanium alloy has a series of excellent properties such as high strength, high temperature resistance, and corrosion resistance. It can stably support ROV, has high reliability, and long service life.

[0038] The auxiliary frame 2 is made of lightweight alloy material. In this embodiment, the auxiliary frame 2 is made of aluminum alloy. Aluminum alloy has the characteristic of low density, which can be used to reduce the weight of the main frame of ROV, while meeting certain mechanical performance requirements.

[0039] The load-bearing frame 1 and the auxiliary frame 2 are connected by insertion to form the main frame of the ROV. The first layer frame 11 is the upper frame, the second layer frame 12 and the fourth layer frame 21 (connected by insertion) are the middle frames, and the third layer frame 13 and the fifth layer frame 2 (connected by insertion) are the lower frames. The upper frame is the load-bearing layer for the float, propeller, junction box, light housing, light holder, gimbal, etc.; the middle frame is the load-bearing layer for the hydraulic pump, transformer, main control compartment, servo valve box, compensator, robotic arm, etc.; and the lower frame is the load-bearing layer for the operating equipment, buoyancy blocks, and work item containers, etc.

[0040] One end of the fifth shelf 22 is longer than the fourth shelf 21, and the end of the fifth shelf 22 that is longer than the fourth shelf 21 is the front end of the fifth shelf 22. In this embodiment, the front end of the fifth shelf 22 is 400mm longer than the end of the fourth shelf 21. This extended area is used to place a work item box to place work tools or store samples.

[0041] The front end of the fifth layer 22 is provided with a stiffening member 221. The stiffening member 221 includes a second member 2211 and a third member 2212. The second member 2211, the third member 2212, the fifth layer 22, and the first member 23 closest to the front end of the fifth layer 22 form a right trapezoidal structure.

[0042] The ROV main frame also includes a first circular hole pad 3 and a second circular hole pad 4. The first circular hole pad 3 is disposed on the inserted second layer 12 and fourth layer 21, and the second circular hole pad 4 is disposed on the inserted third layer 13 and fifth layer 22. In this embodiment, the thickness of the first circular hole pad 3 and the second circular hole pad 4 is 10mm.

[0043] In this embodiment, a 6mm diameter through hole is drilled every 200mm in all beams of the ROV main frame to ensure the safety of the main frame during operation in the high-pressure environment of the deep sea.

[0044] The ROV main frame also includes a leveling device, which is fixed to the second circular hole pad 4. The leveling device is used to adjust and keep the ROV main frame level. Specifically, the leveling device consists of four symmetrically arranged secondary telescopic hydraulic cylinders 5. Each secondary telescopic hydraulic cylinder 5 includes a cylindrical tube 51, a front end cover 52, a rear end cover 53, a fixing plate 54, a primary piston rod, and a secondary piston rod. The front end cover 52 has a front end cover oil port 521, and the rear end cover 53 has a rear end cover oil port 531. The fixing plate 54 is welded to the cylindrical tube 51 and has fixing holes for fixing to the second circular hole pad 4. Three fixing plates 54 are provided on one cylindrical tube 51, and the thickness of the fixing plate 54 is 25mm. In the non-working state, the primary and secondary piston rods are retracted inside the cylindrical tube 51; in the working state, the primary and secondary piston rods extend out of the cylindrical tube 51.

[0045] The secondary telescopic hydraulic cylinder 5 also includes a hard rubber base, which is located at the end of the secondary piston rod. The hard rubber base possesses good elasticity and cushioning properties, as well as a certain degree of roughness and coefficient of friction. When the ROV is mounted on the main frame and operating underwater, the hard rubber base provides significant friction and, through its elastic deformation, transforms the instantaneous impact force upon bottoming into a more gradual force transmitted to the ROV main frame and other components. This protects the precision parts inside the equipment from damage, reduces the failure rate, and extends its service life.

[0046] The first shelf 11 is smaller than the second shelf 12 and the third shelf 13. This provides a suitable spatial layout to enhance the load-bearing capacity of the ROV's main frame. In addition, the smaller first shelf 11 allows the center of gravity of the ROV's main frame to be relatively lower, maintaining stability when subjected to external forces or vibrations and impacts generated by its own operation, reducing the risk of damage caused by structural instability.

[0047] In the above illustrative embodiment, the ROV's main frame consists of a load-bearing frame and an auxiliary frame. The structure is simple, and different alloy materials can be selected to manufacture the load-bearing and auxiliary frames according to load-bearing requirements. This significantly reduces the overall weight while ensuring reliable support. The load-bearing and auxiliary frames are layered, with each layer having a clearly defined function and a clever and rational layout, combining practicality and economy, thus expanding its application prospects in many fields with dual requirements for structural quality and strength.

[0048] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0049] The above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A main frame for an ROV, characterized in that, include: A load-bearing frame, comprising a first shelf, a second shelf, and a third shelf connected in sequence, wherein the first shelf, the second shelf, and the third shelf are connected by vertical frames; An auxiliary frame is connected to the load-bearing frame. The auxiliary frame includes a connected fourth and fifth layer frame, which are connected by a plurality of first members. The beams of the second and fourth layers of the frame are interlocked, and the beams of the third and fifth layers of the frame are interlocked, so that the load-bearing frame is located within the auxiliary frame.

2. The ROV main frame according to claim 1, characterized in that, The load-bearing frame is made of high-strength alloy material.

3. The ROV main frame according to claim 2, characterized in that, The auxiliary frame is made of lightweight alloy material.

4. The ROV main frame according to claim 1, characterized in that, One end of the fifth shelf is longer than the fourth shelf, and the end of the fifth shelf that is longer than the fourth shelf is the front end of the fifth shelf.

5. The ROV main frame according to claim 4, characterized in that, The front end of the fifth layer is provided with a stiffening member, which includes a second member and a third member. The second member, the third member, the fifth layer, and the first member closest to the front end of the fifth layer form a right-angled trapezoidal structure.

6. The ROV main frame according to claim 1, characterized in that, It also includes a first circular hole pad and a second circular hole pad, the first circular hole pad being disposed on the second and fourth shelves that are connected, and the second circular hole pad being disposed on the third and fifth shelves that are connected.

7. The ROV main frame according to claim 6, characterized in that, It also includes a leveling device, which is fixed to the second circular hole pad and is used to adjust and keep the ROV main frame level.

8. The ROV main frame according to claim 7, characterized in that, The horizontal adjustment device includes four symmetrically arranged secondary telescopic hydraulic cylinders. Each secondary telescopic hydraulic cylinder includes a cylindrical tube, a front end cover, a rear end cover, a fixing plate, a primary piston rod, and a secondary piston rod. The front end cover has a front end cover oil port, and the rear end cover has a rear end cover oil port. The fixing plate is welded to the cylindrical tube and has fixing holes for fixing to the second circular hole pad. The primary and secondary piston rods are retracted inside the cylindrical tube when not in operation, and extend out of the cylindrical tube when in operation.

9. The ROV main frame according to claim 8, characterized in that, The secondary telescopic hydraulic cylinder also includes a hard rubber base, which is located at the end of the secondary piston rod.

10. The ROV main frame according to any one of claims 1-9, characterized in that, The first shelf is smaller than the second and third shelves.

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