Seabed surface walking distance measuring device

Abstract

The utility model provides a seabed surface walking distance measuring device, which relates to the field of underwater measuring equipment, and comprises a skid type support, a needle type grounding wheel and a grounding wheel transmission assembly, the needle type grounding wheel comprises a grounding wheel hub, a grounding wheel shaft and a plurality of grounding needles, the plurality of grounding needles are fixedly connected to the grounding wheel hub, and the grounding wheel shaft is fixedly connected to the grounding wheel hub. The two ends of the grounding wheel hub are fixedly connected with grounding wheel shafts, and the grounding wheel shafts are rotationally connected to the skid type support. The grounding wheel transmission assembly comprises an outer magnetic rotor, an inner magnetic rotor, an isolation sleeve and an encoder, a containing cavity is formed in the isolation sleeve, the inner magnetic rotor and the encoder are arranged in the containing cavity, and a shaft of the encoder is connected to the inner magnetic rotor and rotates along with the inner magnetic rotor to count; one side of the isolation sleeve is connected between the inner wall of the outer magnetic rotor and the outer wall of the inner magnetic rotor, the outer magnetic rotor and the inner magnetic rotor conduct force transmission through magnetic coupling, and a shaft of the outer magnetic rotor penetrates through the skid type support to be connected to a grounding wheel shaft and rotates along with the grounding wheel shaft. The utility model can effectively solve the problem of metering the soft substrate.

Description

Technical Field

[0001] This utility model relates to the field of underwater measuring equipment, and in particular to a seabed surface walking odometer. Background Technology

[0002] In underwater engineering operations, especially critical operations such as seabed mining, cable and pipeline installation and laying, tracked ROVs (Remotely Operated Vehicles) play a vital role. Accurately measuring the distance traveled by the ROV on the seabed is crucial in these operations, as it directly affects the accuracy and efficiency of the work. However, in practical applications, due to the complex and varied surface conditions of different seabed areas, especially in soft seabed conditions such as silt and sandy bottoms, traditional odometers have many problems. Most traditional odometers are designed for hard seabeds or general waters, but in soft seabeds, displacement measurement methods based on conventional wheeled or gliding principles often suffer from slippage and excessive sinking, severely affecting measurement accuracy and resulting in extremely low reliability. Furthermore, some odometers employing complex optical or acoustic measurement principles, while technologically advanced, are expensive, and their measurement results are often unsatisfactory due to the unique optical and acoustic characteristics of soft seabeds, failing to achieve the expected accuracy. Therefore, it is necessary to develop a seabed surface walking odometer that can adapt to various seabed surface conditions and is efficient and accurate. Utility Model Content

[0003] To address the aforementioned technical problem, a seabed surface walking distance measuring device is provided. The technical means employed in this invention are as follows:

[0004] A seabed surface walking distance measuring device includes: a skid-type support, a pin-type grounding wheel, and a grounding wheel transmission assembly. The pin-type grounding wheel includes a grounding wheel hub, a grounding wheel axle, and multiple grounding pins. The multiple grounding pins are fixedly connected to the grounding wheel hub in a circumferential direction and are used to contact the seabed. Both ends of the grounding wheel hub are coaxially fixedly connected to the grounding wheel axle, and the two grounding wheel axles on both sides are rotatably connected to the skid-type support.

[0005] The grounding wheel drive assembly includes an outer magnetic rotor, an inner magnetic rotor, an isolation sleeve, and an encoder. The isolation sleeve has a cavity inside, and the inner magnetic rotor and encoder are placed in the cavity of the isolation sleeve. The shaft of the encoder is connected to the inner magnetic rotor and counts as the inner magnetic rotor rotates. One side of the isolation sleeve is connected between the inner wall of the outer magnetic rotor and the outer wall of the inner magnetic rotor. The outer magnetic rotor and the inner magnetic rotor transmit force through magnetic coupling. The shaft of the outer magnetic rotor passes through a skid-type bracket and is connected to a grounding wheel shaft, and rotates with the grounding wheel shaft.

[0006] Furthermore, the grounding pin has multiple rings, each ring having multiple grounding pins. The multiple grounding pins in the same ring are evenly distributed along the circumference of the grounding wheel hub, and the grounding pins in adjacent rings are offset clockwise by a certain angle.

[0007] Furthermore, the grounding pin has 6 turns, with 8 grounding pins in each turn.

[0008] Furthermore, the two adjacent grounding pins are offset clockwise by 15°.

[0009] Furthermore, the grounding pin is made of a high-strength alloy material.

[0010] Furthermore, the lower part of the skid-type support adopts a hollow skid-type structure, and the upper end is provided with a support arm. The grounding wheel axle is rotatably connected to the support arm, and the grounding pin protrudes from the hollow position and contacts the bottom material.

[0011] Furthermore, the grounding wheel axle is mounted on a bearing housing, which is connected to the support arm via an elastic connector.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] 1. The seabed surface walking distance measuring device provided by this utility model effectively solves the problem of distance measuring on soft seabeds by means of a unique needle-type grounding wheel structure.

[0014] 2. The seabed surface walking odometer device provided by this utility model adopts a skid-type structure and an elastic structure to ensure that the needle-type grounding wheel can adapt to both soft and hard seabed and provide sufficient rotational force.

[0015] 3. The seabed surface walking odometer device provided by this utility model adopts the magnetic transmission principle to transmit the rotation of the needle ground wheel to the encoder, which is suitable for waterproof sealing in complex environments with soft bottom mud and sand in deep water.

[0016] Based on the above reasons, this utility model can be widely promoted in fields such as underwater measurement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0019] Figure 2This is a schematic diagram of the needle-type grounding wheel structure of this utility model.

[0020] Figure 3 This is a partial schematic diagram of the grounding wheel transmission assembly of this utility model.

[0021] Figure 4 This is a schematic diagram of the internal structure of the grounding wheel transmission assembly of this utility model.

[0022] In the diagram: 1. Skid-type bracket; 2. Pin-type grounding wheel; 2.1 Grounding wheel hub; 2.2 Grounding wheel axle; 2.3 Grounding pin; 3. Grounding wheel transmission assembly; 3.1 Outer magnetic rotor; 3.2 Inner magnetic rotor; 3.3 Isolation sleeve; 3.4 Encoder; 4. Elastic connector; 5. Bearing seat. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of 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 some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] This invention provides a seabed surface walking odometer device that effectively solves the problem of odometer measurement on soft seabeds with its unique needle-type grounding wheel structure, adapting to both soft and hard seabed surfaces and improving the accuracy, stability and reliability of measurements.

[0025] The seabed surface walking distance measuring device of this utility model is a water soft and hard bottom distance measuring device, including a skid-type support 1, a needle-type grounding wheel 2, a grounding wheel transmission assembly 3, an elastic connector 4, a bearing seat 5, and a main control unit.

[0026] 1. Pin-type grounding wheel 2: This includes a grounding wheel hub 2.1, a grounding wheel axle 2.2, and multiple grounding pins 2.3. The multiple grounding pins 2.3 are mounted on the grounding wheel hub 2.1. The grounding wheel axle 2.2 is coaxially mounted at both ends of the grounding wheel hub 2.1 and simultaneously mounted on a bearing seat 5. The bearing seat 5 is connected to the support arm of the skid-type bracket 1 via an elastic connector 4. There are a total of 6 rings of grounding pins 2.3. The first ring has 8 pins, evenly distributed along the circumference of the grounding wheel hub 2.1. The second ring also has 8 pins, evenly distributed along the circumference of the grounding wheel hub 2.1, offset clockwise by 15° from the first ring. The remaining 4 rings follow this pattern, ensuring that at least 2 grounding pins 2.3 contact both soft and hard substrates at every 15° interval. The grounding pins 2.3 are made of high-strength alloy material, capable of penetrating soft substrates and supporting the entire grounding wheel on hard substrates like mud and sand.

[0027] 2. Grounding wheel transmission assembly 3: Composed of an outer magnetic rotor 3.1, an inner magnetic rotor 3.2, an isolation sleeve 3.3, and an encoder 3.4, as follows... Figure 4 As shown, the shaft of encoder 3.4 (located in...) Figure 4 The outer magnetic rotor 3.1 (on the left side) is connected to the inner magnetic rotor 3.2 and counts as it rotates. An isolation sleeve 3.3 separates the outer magnetic rotor 3.1 and the inner magnetic rotor 3.2 (the left side of the isolation sleeve 3.3 is located between the right inner wall of the outer magnetic rotor 3.1 and the outer wall of the inner magnetic rotor 3.2). The interior of the isolation sleeve 3.3 is a water-proof cavity, preventing the inner magnetic rotor 3.2 and the encoder 3.4 from contacting seawater inside the isolation sleeve 3.3 (the inner magnetic rotor 3.2 and the encoder 3.4 are respectively located...). Figure 4 (On the left and right sides of the central cavity), the outer magnetic rotor 3.1 and the inner magnetic rotor 3.2 transmit force through magnetic coupling. The shaft of the outer magnetic rotor 3.1 (located on the left and right sides of the central cavity) Figure 4 The outer magnetic rotor 3.1 (on the left) passes through the skid bracket 1 and is connected to the grounding wheel axle 2.2, and rotates with the grounding wheel axle 2.2. The outer magnetic rotor 3.1 rotates outside the isolation sleeve 3.3, and the inner magnetic rotor 3.2 rotates inside the isolation sleeve 3.3.

[0028] The pin-type grounding wheel 2 and bearing seat 5 are mounted on the support arm of the skid-type bracket 1 using an elastic connector 4, so that the grounding pin 2.3 of the pin-type grounding wheel 2 can sink and contact the bottom. The elasticity of the elastic connector 4 allows the pin-type grounding wheel 2 to make good contact with the bottom on bottoms of different hardness. When the skid-type bracket 1 is slid, the pin-type grounding wheel 2 rotates and transmits the rotation to the grounding wheel transmission assembly 3. The grounding wheel transmission assembly 3 uses the principle of magnetic transmission to transmit the rotational displacement of the pin-type grounding wheel 2 to the encoder 3.4 for mileage measurement, which can adapt to waterproof sealing in deep water soft bottom mud and sand environments.

[0029] 3. Skid-type bracket 1: The lower part adopts a hollow skid-type structure, and the upper part has a support arm. The grounding wheel axle 2.2 is connected to the support arm of the skid-type bracket 1 through the bearing seat 5 and the elastic connector 4. The grounding pin 2.3 is exposed in the hollow position. The skid-type structure of the skid supports the entire walking distance measuring device.

[0030] Preferably, the grounding wheel axle 2.2 is connected to the support arm of the skid-type bracket 1 via the bearing seat 5 and the elastic connector 4. The grounding pin 2.3 in the pin-type grounding wheel 2 can be adaptively adjusted according to the softness of the substrate. For example, on a soft substrate, the grounding pin 2.3 will penetrate deeper according to its own weight to provide friction for the rotation of the pin-type grounding wheel 2. On a hard substrate, it will penetrate less, but can still provide friction for the rotation of the pin-type grounding wheel 2 through the pin structure. The distance exposed at the bottom of the skid-type bracket 1 ensures that the pin-type grounding wheel 2 makes stable contact in soft substrates without sinking excessively or detaching, while also providing cushioning protection when encountering harder obstacles.

[0031] 4. Main Control Unit: The main control unit is existing technology, including a high-performance microprocessor or single-chip microcomputer (existing equipment, such as STM32C8T6), used to receive the rotation counting signal of the pin-type grounding wheel 2 assembly from the encoder 3.4, and calculate the distance using the rotation information of the pin-type grounding wheel 2, the number of rotations, and the circumference of the outer edge of the grounding pin 2.3. The counting principle of the encoder 3.4 is existing technology.

[0032] In this embodiment, the encoder 3.4 is a PD-1503-SPI antimagnetic encoder.

[0033] The working principle of this utility model is as follows: The skid-type bracket 1 is connected to the tracked ROV that needs to be measured. The installation method is to drag. The pin-type grounding wheel 2 on the skid-type bracket 1 will insert into the ground according to its own weight. As the tracked ROV moves, the pin-type grounding wheel 2 will rotate and drive the outer magnetic rotor 3.1 to rotate at the same time. The outer magnetic rotor 3.1 drives the inner magnetic rotor 3.2 to rotate through magnetic force and transmits the rotation to the encoder 3.4. The encoder 3.4 rotates to record the number of rotations. At the same time, the distance is calculated based on the outer circumference of the pin-type grounding wheel 2.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A seabed surface travelling metering device, characterised in that, The utility model relates to a sledge type support (1), needle type ground wheel (2) and ground wheel transmission assembly (3), needle type ground wheel (2) includes ground wheel hub (2.1), ground wheel axle (2.2) and a plurality of ground needles (2.3), a plurality of ground needles (2.3) are fixedly connected on ground wheel hub (2.1) along the circumferential direction, and are used for contacting with the bottom material, both ends of ground wheel hub (2.1) are coaxially fixedly connected with ground wheel axle (2.2), and both sides ground wheel axle (2.2) is rotatably connected on sledge type support (1), Ground wheel transmission assembly (3) includes outer magnetic rotor (3.1), inner magnetic rotor (3.2), isolation sleeve (3.3) and encoder (3.4), the inside of isolation sleeve (3.3) has a cavity, inner magnetic rotor (3.2) and encoder (3.4) are placed in the cavity of isolation sleeve (3.3), the shaft of encoder (3.4) is connected to inner magnetic rotor (3.2), and rotates and counts along with inner magnetic rotor (3.2), one side of isolation sleeve (3.3) is connected between the inner wall of outer magnetic rotor (3.1) and the outer wall of inner magnetic rotor (3.2), outer magnetic rotor (3.1) and inner magnetic rotor (3.2) are coupled by magnetic force and are transmitted by force, the shaft of outer magnetic rotor (3.1) passes through sledge type support (1) and is connected to a ground wheel axle (2.2), and rotates along with ground wheel axle (2.2). The ground needle (2.3) is provided with multiple turns, each turn has a plurality of ground needles (2.3), the plurality of ground needles (2.3) of the same turn are uniformly distributed along the circumferential direction of the ground wheel hub (2.1), and the adjacent two turns of ground needles (2.3) are arranged by clockwise staggering a certain angle.

2. The seabed surface walking metering device according to claim 1, characterized in that, The ground needle (2.3) is provided with 6 turns, each turn has 8 ground needles (2.3).

3. The seabed surface walking metering device according to claim 2, wherein, The adjacent two turns of ground needles (2.3) are arranged by clockwise staggering 15°.

4. The seabed surface walking metering device according to claim 3, characterized in that, The material of the ground needle (2.3) is high-strength alloy material.

5. The seabed surface walking metering device according to claim 1, wherein, The lower part of the sledge type support (1) adopts a hollow ski type structure, the upper end is provided with a support arm, the ground wheel axle (2.2) is rotatably connected to the support arm, and the ground needle (2.3) is exposed in the hollow position and contacts with the bottom material.

6. The seabed surface walking metering device according to claim 1, wherein, The ground wheel axle (2.2) is assembled on the bearing seat (5), and the bearing seat (5) is connected to the support arm through the elastic connecting piece (4).

7. The seabed surface walking metering device according to claim 6, characterized in that ​

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