ROV pose adjusting device for offshore wind power underwater detection

Abstract

The utility model discloses an ROV position and posture adjusting device for offshore wind power underwater detection, which relates to the technical field of wind power detection and comprises a detection equipment body, lifting propellers are mounted on the front and back of the left and right sides of the detection equipment body, and front and back propellers are mounted on the left and right of the rear side of the detection equipment body. The upper side of the rear part of the detection equipment body is fixedly provided with a steady flow seat, the upper side of the steady flow seat is rotatably connected with a round seat, and the upper side of the round seat is fixedly provided with a vertical rudder wing. The rudder wing driving module, the flow direction sensing module and the attitude control unit are integrated, the incident flow angle is adjusted in real time through transmission linkage of the cross-shaped rudder wing and the gear, the attitude stability of the ROV in different water flow environments is ensured, and compared with a traditional multi-propeller scheme, the device remarkably reduces energy consumption and reduces cost. And through the synergistic effect of passive adjustment and active propulsion of the rudder wings, water turbidity caused by disturbance of the propellers is reduced, the optical camera shooting and sonar imaging definition is improved, and therefore it is guaranteed that the posture of the ROV is rapidly adjusted under the dynamic water flow, and tasks are stably executed.

Description

Technical Field

[0001] This utility model relates to the field of wind power detection technology, and in particular to an ROV attitude adjustment device for underwater detection of offshore wind power. Background Technology

[0002] ROVs (Remotely Operated Vehicles) for underwater inspection of offshore wind farms are essential tools specifically designed for underwater inspection and maintenance of offshore wind farms and their facilities. In this environment, ROVs are primarily used for inspecting and monitoring underwater equipment and collecting relevant data to ensure the safe and stable operation of offshore wind turbines and other related facilities. In complex ocean currents, traditional ROVs are easily disturbed by the current, affecting their stability and inspection accuracy. Traditional ROVs typically adjust their attitude using thrusters, but these thrusters are difficult to respond quickly or overly reliant on the direction of the current, failing to effectively address the impact of ocean currents and other factors on ROV stability, thus hindering their ability to accurately complete tasks. Therefore, this invention proposes an ROV attitude adjustment device for underwater inspection of offshore wind farms to address the problems mentioned in the background. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing an ROV attitude adjustment device for underwater detection of offshore wind power.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A ROV attitude adjustment device for underwater inspection of offshore wind power includes an inspection equipment body. Lifting thrusters are installed on the left and right sides, front and rear of the inspection equipment body. Front and rear thrusters are installed on the left and right sides of the rear of the inspection equipment body. A flow stabilizer is fixedly installed on the upper rear part of the inspection equipment body. A circular seat is rotatably connected to the upper side of the flow stabilizer. A vertical rudder is fixedly installed on the upper side of the circular seat. Horizontal rudders are provided on both sides of the vertical rudder. A flow direction sensor is installed on the upper front part of the inspection equipment body. A flow velocity sensor is installed on the rear side of the flow direction sensor.

[0006] Preferably, the vertical rudder is rotatably connected to a second rotating shaft, a second bevel gear is fixed around the second rotating shaft, and the two horizontal rudders are respectively fixed to the two ends of the second rotating shaft.

[0007] Preferably, a rotating shaft is rotatably connected inside the vertical rudder wing, and a bevel gear is fixed at the upper end of the rotating shaft, which meshes with the bevel gear above.

[0008] Preferably, a small motor is installed inside both the current stabilizer and the circular seat. The output shaft of the small motor inside the current stabilizer is connected to the circular seat via a transmission connection, and the output shaft of the small motor inside the circular seat is connected to the rotating shaft via a transmission connection.

[0009] Preferably, the detection equipment body front side is installed with several monitoring heads.

[0010] Preferably, the detection equipment body lower side is installed with a chassis, and the detection equipment body rear side is fixedly installed with a horizontal tail wing.

[0011] Compared with the prior art, the utility model has the beneficial effects that:

[0012] 1、The utility model discloses a modular structure design, integrates rudder wing drive module, flow direction sensing module and attitude control unit, wherein the rudder wing drive module adopts cross rudder wing and gear transmission mechanism linkage, adjusts the flow angle in real time through the watertight motor drive rudder wing, cooperates the magnetic coupling feedback mechanism of magnetic mark disc and non-contact sensor in the flow direction sensing module, realizes the millisecond level response of water flow direction, ensures that ROV can keep the best attitude in different water flow environment, thereby improving the precision and efficiency of task completion.

[0013] 3、The utility model discloses device energy consumption is significantly reduced compared with the traditional multi-propeller scheme, through the synergistic effect of passive adjustment and active propulsion of rudder wing, makes ROV still keep ± 2's attitude stability precision under 3 flow rate, reduces the water turbidity caused by propeller disturbance significantly, improves the definition of optical camera and sonar imaging, makes ROV can rapidly react and adjust the attitude under the dynamic water flow environment, ensures stable task execution. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 The utility model discloses a kind of ROV pose adjustment devices for offshore wind power underwater detection, as shown in the structure diagram Figure 1 ;

[0015] Figure 2 The utility model discloses a kind of ROV pose adjustment devices for offshore wind power underwater detection, as shown in the structure diagram Figure 2 ;

[0016] Figure 3 The utility model discloses a kind of ROV pose adjustment devices for offshore wind power underwater detection, as shown in the front structure diagram of structure;

[0017] Figure 4 The utility model discloses a kind of ROV pose adjustment devices for offshore wind power underwater detection, as shown in the connection structure diagram of cross rudder wing.

[0018] In the figure: 1, detection device body; 2, lifting propeller; 3, front and rear propeller; 4, monitoring head; 5, flow direction sensor; 6, flow rate sensor; 7, vertical fin; 8, horizontal tail; 9, steady flow seat; 10, round seat; 11, underframe; 12, rotating shaft one; 13, bevel gear one; 14, rotating shaft two; 15, bevel gear two; 16, rudder wing. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0020] Reference Figures 1-4 A ROV pose adjusting device for offshore wind power underwater detection, comprising a detection device body 1, the detection device body 1 is provided with lifting propellers 2 on the left and right sides and front and rear, the detection device body 1 is provided with front and rear propellers 3 on the left and right sides at the back, the detection device body 1 is provided with a plurality of monitoring heads 4 at the front side, the detection device body 1 is provided with an underframe 11 at the lower side, and the detection device body 1 is provided with a horizontal tail 8 at the back, the main function of the lifting propeller 2 is to adjust the movement of the ROV in the vertical direction, that is, to go up and down, by controlling the lifting propeller 2 and the front and rear propellers 3, the direction of the ROV in the water is controlled, which is arranged at the back of the ROV, can provide strong propulsion for the equipment, and ensure that the equipment can advance stably in the environment with strong water flow, the monitoring head 4 is arranged at the front of the ROV, responsible for obtaining the data of the underwater environment, such as water temperature, salinity, transparency, flow rate and other information, these data are very important for the detection of wind power equipment;

[0021] The detection device body 1 is provided with a flow direction sensor 5 at the upper side of the front part, and the detection device body 1 is provided with a flow rate sensor 6 at the back of the flow direction sensor 5, the designed flow direction sensor 5 and flow rate sensor 6 are combined into a water area flow direction sensing module, cooperate with the internal attitude control unit, realize the millisecond level reaction of the water flow direction, the flow direction sensor 5 is used for sensing the direction of water flow, helping the ROV to judge the current water flow direction, so as to better adjust the attitude and avoid the interference of water flow to the equipment, the flow rate sensor 6 is used for sensing the speed of water flow, in the area with strong water flow, the ROV may be affected by a large external force, the flow rate sensor 6 can feedback the flow rate data in real time, helping the attitude control system to adjust;

[0022] The detection equipment body 1 is fixedly installed on the upper side of the rear part of the detection equipment body 1. The vertical rudder wing 7 is fixedly installed on the upper side of the circular seat 10. The vertical rudder wing 7 is provided on the left and right sides of the vertical rudder wing 7. The vertical rudder wing 7 is rotatably connected with the rotating shaft two 14. The bevel gear two 15 is fixedly connected with the rotating shaft two 14. The two horizontal rudder wings 16 are fixedly connected with the rotating shaft two 14. The rotating shaft one 12 is rotatably connected with the vertical rudder wing 7. The bevel gear one 13 is fixedly connected with the rotating shaft one 12. The bevel gear one 13 is engaged with the upper bevel gear two 15. The small motor is installed in the stable flow seat 9 and the circular seat 10. The output shaft of the small motor in the stable flow seat 9 is in transmission connection with the circular seat 10. The output shaft of the small motor in the circular seat 10 is in transmission connection with the rotating shaft one 12. The design integrates the rudder wing driving module, the flow direction sensing module and the attitude control unit. The rudder wing driving module is connected with the cross rudder wing and the gear transmission mechanism. The water-tight motor drives the rudder wing to adjust the flow angle in real time. The detection equipment body 1 reaches a better flow propulsion attitude in the water area. The main function of the stable flow seat 9 is to improve the stability of the ROV in the water. The circular seat 10 is the core component for connecting the stable flow seat 9 and the vertical rudder wing 7. The circular seat 10 can be adjusted in rotation according to the instruction of the control system. The vertical rudder wing 7 can adjust the direction of the ROV in real time through the linkage with the rotating shaft and the gear system. The ROV can cope with different water flow environments.

[0023] The small motor in the stable flow seat 9 controls the rotation of the circular seat 10 fixedly connected on the upper side. The vertical rudder wing 7 and the horizontal tail wing 8 on the upper side of the circular seat 10 are adjusted. The left and right adjustment of the cross rudder wing is realized. The small motor in the circular seat 10 is controlled to work. The small motor controls the rotation of the rotating shaft one 12 connected on the upper side. The rotating shaft one 12 drives the rotation of the bevel gear one 13 fixedly connected on the upper side. The bevel gear two 15 engaged with the bevel gear one 13 is rotated. The bevel gear two 15 drives the rotation of the rotating shaft two 14 connected with the bevel gear two 15. The two horizontal rudder wings 16 of the rotating shaft two 14 are adjusted in pitch. The adjustment of the pitch angle of the horizontal rudder wing is realized. The real-time flow angle of the cross rudder wing is adjusted. The stable operation attitude of the detection equipment is maintained. The detection equipment accurately completes the task. The adjustment of the rudder wing is the key part of the ROV attitude control. The design of the cross rudder wing can control the pitch and lateral swing of the equipment at the same time. The ROV can maintain a stable attitude in different water flow environments. The angle of the rudder wing is adjusted through the precise gear transmission system. This transmission mode can realize efficient and accurate real-time adjustment. The motion trajectory of the ROV is optimized. The precision of the task completion is improved. The real-time adjustment of the rudder wing ensures that the ROV can make the optimal attitude adjustment according to the current water flow direction and speed. The navigation of the ROV is stable and efficient. The underwater detection task is completed.

[0024] The above merely describes a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any skilled person in the art, according to the technical scheme and the inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A ROV attitude adjustment device for underwater inspection of offshore wind power, comprising an inspection equipment body (1), characterized in that, The detection equipment body (1) is equipped with lifting thrusters (2) on the left and right sides and front and rear sides. The detection equipment body (1) is equipped with front and rear thrusters (3) on the left and right sides of the rear side. The detection equipment body (1) is fixedly installed with a flow stabilizer (9) on the upper rear side. A circular seat (10) is rotatably connected to the upper side of the flow stabilizer (9). A vertical rudder wing (7) is fixedly installed on the upper side of the circular seat (10). A horizontal rudder wing (16) is provided on both the left and right sides of the vertical rudder wing (7). A flow direction sensor (5) is installed on the upper front side of the detection equipment body (1). A flow velocity sensor (6) is installed on the detection equipment body (1) on the rear side of the flow direction sensor (5).

2. The ROV attitude adjustment device for underwater detection of offshore wind power according to claim 1, characterized in that, The vertical rudder (7) is rotatably connected to a second rotating shaft (14), and a second bevel gear (15) is fixed around the second rotating shaft (14). The two horizontal rudders (16) are respectively fixed to the two ends of the second rotating shaft (14).

3. The ROV attitude adjustment device for underwater detection of offshore wind power according to claim 2, characterized in that, The vertical rudder wing (7) is rotatably connected to a rotating shaft (12), and a bevel gear (13) is fixed at the upper end of the rotating shaft (12). The bevel gear (13) meshes with the bevel gear (15) above.

4. The ROV attitude adjustment device for underwater detection of offshore wind power according to claim 1, characterized in that, Both the current stabilizer (9) and the round seat (10) are equipped with small motors. The output shaft of the small motor in the current stabilizer (9) is connected to the round seat (10) in a transmission connection, and the output shaft of the small motor in the round seat (10) is connected to the rotating shaft (12) in a transmission connection.

5. The ROV attitude adjustment device for underwater detection of offshore wind power according to claim 1, characterized in that, Several monitoring heads (4) are installed on the front side of the main body (1) of the detection equipment.

6. The ROV attitude adjustment device for underwater detection of offshore wind power according to claim 1, characterized in that, The detection equipment body (1) is equipped with a base frame (11) on its lower side, and a horizontal tail fin (8) is fixedly installed on the rear side of the detection equipment body (1).

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