Deep-sea rov spotlight angle micro-adjustment device

Abstract

The utility model relates to a kind of deep-sea ROV spotlight angle micro small adjusting device, including driving mechanism, lighting mechanism and self-locking transmission assembly, driving mechanism is rotated by self-locking transmission assembly and drives spotlight component, lighting mechanism includes spotlight and pivot assembly, self-locking transmission assembly includes first transmission part and second transmission part, first transmission part is worm that is coaxially arranged on output shaft, second transmission part is worm wheel that is coaxially arranged on pivot assembly.The utility model is driven by "worm-worm wheel" self-locking transmission, the driving of driving mechanism for lighting mechanism rotation is realized, and it can be self-locked when power off, and additional brake is exempted from being set;Spotlight centroid is placed on pivot axis, eccentric moment is eliminated, driving power and volume are greatly reduced, meet deep-sea micro small, low power consumption demand.

Description

Technical Field

[0001] This utility model belongs to the field of marine engineering equipment technology, and in particular relates to a micro-adjustment device for the angle of a deep-sea ROV spotlight. Background Technology

[0002] The Deep-Sea ROV (Remotely Operated Vehicle) is a core piece of equipment for conducting deep-sea scientific research, resource exploration, and emergency rescue operations. Its operations are highly dependent on underwater vision systems. Due to the "dark, cold, and high-pressure" environment of the deep sea, the ROV must carry high-power spotlights to provide illumination; and the real-time changes in target distance, hovering attitude, and ocean current direction require the spotlights to be able to adjust their illumination angle underwater to ensure that the camera and operational field of vision remain clear at all times.

[0003] To meet the above requirements, deep-sea ROVs are typically equipped with spotlight angle adjustment mechanisms. Existing spotlight angle adjustment structures generally adopt electric or hydraulic gimbal solutions: a small servo motor, stepper motor, or hydraulic cylinder is installed between the lamp body and the ROV frame, and remote rotation is achieved through gear pairs, chains, or direct drive, with O-rings or oil-filled compensation used for dynamic sealing.

[0004] However, existing electric or hydraulic gimbal solutions have significant shortcomings: the entire drive chain requires the motor, reducer, hydraulic valve group, and high-pressure pipeline to be arranged inside a pressure-resistant housing, resulting in large size and weight, directly encroaching on the already limited load and space of the ROV, and raising the overall center of gravity; gear pairs or chain drives lack self-locking characteristics, and are prone to reverse slippage under the impact load and vortex-induced vibration of deep sea, requiring additional power-off brakes or hydraulic locking mechanisms, leading to a simultaneous increase in system complexity and failure rate; at the same time, the center of gravity of the lamp body is generally deviated from the rotation axis, generating additional eccentric torque, forcing an increase in drive power and a decrease in adjustment accuracy. Utility Model Content

[0005] This utility model aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, one aspect of this application proposes a miniature adjustment device for the angle of a deep-sea ROV spotlight, comprising: Drive mechanism, used for fixed installation on deep-sea ROV; A lighting mechanism for movably connecting to the deep-sea ROV; the lighting mechanism includes: A rotating shaft assembly is rotatably mounted on the deep-sea ROV; A spotlight is fixedly mounted on the rotating shaft assembly to adjust its angle as the rotating shaft assembly rotates. A self-locking transmission assembly is disposed between the drive mechanism and the lighting mechanism, so that the drive mechanism drives the spotlight assembly to rotate via the self-locking transmission assembly; the self-locking transmission assembly includes: The first transmission component is fixedly mounted on the output shaft of the drive mechanism; The second transmission component is fixedly mounted on the rotating shaft assembly and is connected to the first transmission component in a transmission manner; The output shaft of the drive mechanism is arranged along a horizontal first direction, and the rotating shaft assembly is arranged along a horizontal and perpendicular second direction. The first transmission component is a worm gear coaxially mounted on the output shaft, and the second transmission component is a worm wheel coaxially mounted on the rotating shaft assembly, so that the first transmission component and the second transmission component mesh with each other; The center of mass of the spotlight is located on the axis of the rotating shaft assembly.

[0007] In the technical solution, the structural design uses a worm gear-worm wheel self-locking transmission to drive the rotation of the lighting mechanism. It can self-lock and stop when the power is cut off, eliminating the need for an additional brake. By placing the center of gravity of the spotlight on the axis of rotation, the eccentric torque is eliminated, and the driving power and volume are greatly reduced, meeting the requirements of miniaturization and low power consumption in deep sea. The driving mechanism is arranged in the first direction (usually the forward direction of the deep-sea ROV), and the water flow is parallel to the axis of the driving mechanism, which significantly reduces the frontal area and vortex shedding force of the driving mechanism, reduces water resistance, flutter and sediment intrusion, thereby reducing the impact on the service life of the driving mechanism.

[0008] In some embodiments, the deep-sea ROV is provided with a forward flow deflector, which is arranged along a second direction; One end of the output shaft is movably connected to the positive baffle, and the self-locking transmission assembly is located on the side of the positive baffle closer to the drive mechanism in the first direction.

[0009] In the technical solution, the structural design adds a positive baffle plate along the second direction on the deep-sea ROV, turning the cantilever end of the output shaft into a simply supported one. This significantly suppresses shaft deflection and worm gear backlash changes under deep-sea impact loads, improving transmission accuracy and lifespan. At the same time, the positive baffle plate blocks the direct scouring of the positive ocean current on the worm gear-worm, reducing sand and gravel intrusion and salt mud deposition, maintaining self-locking performance, and reducing maintenance frequency.

[0010] In some embodiments, the deep-sea ROV is provided with a lateral baffle, which is arranged along a first direction; The rotating shaft assembly is movably connected to the side baffle, and the self-locking transmission assembly is located in the second direction on the side of the side baffle closer to the lighting mechanism.

[0011] In the technical solution, the structural design sets a lateral baffle on the deep-sea ROV along the first direction. The lateral baffle isolates the worm gear-worm from the lateral ocean current, suppresses silt and eddy scouring, maintains meshing accuracy and self-locking reliability, and extends the fault-free operation cycle of the whole machine in the complex current environment of the deep sea. At the same time, the lateral baffle is used to support one end of the shaft assembly, so that the deep-sea ROV can eliminate the traditional second shaft seat, reducing the number of parts and sealing interfaces.

[0012] In some embodiments, the lighting mechanism is located at one end of the deep-sea ROV in the first direction; The drive mechanism is disposed on a lateral baffle plate of the deep-sea ROV along the first direction, and the drive mechanism is located on the side of the lateral baffle plate closer to the lighting mechanism in the second direction.

[0013] In the technical solution, the structural design makes the lateral baffle both a mounting base for the drive mechanism and a shield for the lateral water flow, so that the entire drive mechanism is located inside the baffle, avoiding direct exposure to the external flow field and significantly reducing the risk of lateral impact force, vortex-induced vibration and accidental collision.

[0014] In some embodiments, in the first direction, a positive baffle is provided at the end of the lateral baffle away from the drive mechanism, and the positive baffle extends toward the lighting mechanism along the second direction.

[0015] In this technical solution, the structural design allows the front end of the lateral baffle to extend into a forward baffle, forming an "L"-shaped integrated enclosure. The drive mechanism is completely concealed inside. When the deep-sea ROV moves forward, laterally, or turns, both the forward and lateral currents are blocked and diverted, preventing sand-laden seawater from directly impacting the drive mechanism and its dynamic seal interface, significantly reducing the risk of sediment intrusion. Simultaneously, the water flow is depressurized in advance, greatly reducing the axial water thrust on the output shaft, thereby reducing the continuous compensation force required for axial compensation, extending the life of the dynamic seal, and reducing power consumption.

[0016] In some embodiments, the lighting mechanism has a plurality of spotlights, and the plurality of spotlights are spaced apart along the second direction; The rotating shaft assembly includes a rotating connector and an intermediate connector; adjacent spotlights are connected by the intermediate connector; the lighting mechanism has rotating connectors at both ends in the second direction, and the rotating connectors are connected to the adjacent spotlights and are rotatably connected to the deep-sea ROV.

[0017] In the technical solution, the structure is designed to have multiple spotlights arranged at intervals along the second direction and sharing the same drive-shaft system, achieving synchronous angle adjustment for "one-to-many" operation and saving on the number of motors and seals. The shaft assembly adopts a segmented structure, with each segment connecting only adjacent spotlights without penetrating the lamp body, keeping the spotlight housing intact. There is no need to open additional dynamic sealing holes for shaft passage, reducing the risk of leakage. The segmented shafts are short in length and small in diameter, significantly reducing the overall weight and moment of inertia, and simultaneously reducing the drive torque and power consumption, thus meeting the requirements of multi-lamp lighting, structural integrity, and miniaturization.

[0018] In some embodiments, the rotating connector includes a rotating shaft and a rotating shaft fixing plate disposed at one end of the rotating shaft, the other end of the rotating shaft is disposed on the deep-sea ROV, and the rotating shaft fixing plate is fixed to the corresponding spotlight by mounting bolts; The intermediate connecting component includes a connecting rod and two intermediate fixing plates disposed at both ends of the connecting rod; both intermediate fixing plates are fixed to the corresponding spotlights by mounting bolts.

[0019] In the technical solution, the structural design uses a combination of shafts and plates to form a connector, which takes into account both rotation and force transmission functions, replacing the traditional integral structure. This simplifies the multi-lamp series structure, reduces weight, and retains sufficient flexibility to accommodate assembly errors, achieving lightweight, modular, and synchronous angle adjustment.

[0020] In some embodiments, the rotating shaft and the connecting rod are coaxially arranged along the second direction; the rotating shaft fixing plate and the intermediate fixing plate are both provided with adjustment holes, and the mounting bolts are all disposed in the corresponding adjustment holes; the adjustment holes are all arc-shaped holes centered on the axis of the rotating shaft assembly.

[0021] In the technical solution, the structure is designed with arc-shaped adjustment holes centered on the axis on both the rotating shaft fixing plate and the middle fixing plate. Each spotlight can independently adjust its angle position and lock it in place, realizing the "personalized initial angle" setting of multiple lights connected in series, and expanding the overall illumination coverage of the lighting mechanism.

[0022] In some embodiments, the drive mechanism includes: A pressure-resistant shell is fixedly installed on the deep-sea ROV; The motor is fixedly installed inside the pressure-resistant housing; The speed reducer is fixedly installed inside the pressure-resistant housing and connected to the motor; An output shaft is rotatably disposed within the pressure-resistant housing, with one end connected to the reducer; the end of the output shaft away from the reducer extends out of the pressure-resistant housing and is connected to the first transmission component. The motor, the reducer, and the output shaft are coaxially arranged in the first direction.

[0023] In the technical solution, the structural design allows the motor, reducer and output shaft to be coaxially encapsulated in a pressure-resistant housing, forming a "linear" deep-sea electric actuator with the shortest structural length and the optimal pressure-resistant path, achieving a highly integrated, miniaturized, and high-pressure-resistant drive module; the output shaft extends outward at one end and has only one dynamic seal, reducing leakage points and improving pressure-resistant reliability.

[0024] In some embodiments, a support flange is provided around the outer peripheral surface of the output shaft; a thrust bearing is sleeved on the output shaft, the thrust bearing being located on the side of the support flange closer to the reducer; the support flange presses the thrust bearing against a radially arranged stepped surface inside the pressure-resistant housing.

[0025] In the technical solution, the structural design uses the outer peripheral support flange of the output shaft to cooperate with the stepped surface of the housing, so that the external axial water thrust is directly transmitted to the pressure-resistant housing. The reducer gear is exempt from axial load, the axial position of the output shaft is stable, and the meshing backlash of the worm gear pair remains constant. Since the axial force is borne by the housing, the output shaft does not need additional pressure compensation, the compensation structure inside the pressure-resistant housing is eliminated, the space utilization is improved, and the drive module is further miniaturized.

[0026] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] 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: Figure 1 This is an assembly drawing of a miniature adjustment device for the angle of a deep-sea ROV spotlight according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a micro-adjustment device for the angle of a deep-sea ROV spotlight according to an embodiment of this application; Figure 3 This is a schematic diagram of the drive mechanism and self-locking transmission assembly of the deep-sea ROV spotlight angle micro-adjustment device according to an embodiment of this application. Figure 4 This is an exploded structural diagram of the lighting mechanism of the micro-adjustment device for the angle of a deep-sea ROV spotlight according to an embodiment of this application; Figure 5 This is a cross-sectional view of the drive mechanism of the micro-adjustment device for the angle of a deep-sea ROV spotlight according to an embodiment of this application.

[0028] In the picture: 100. Deep-sea ROV; 200. Cable; 300. Shaft mount; 1. Drive mechanism; 101. Output shaft; 102. Pressure-resistant housing; 103. Motor; 104. Reducer; 105. Support flange; 106. Thrust bearing; 107. Stepped surface; 2. Lighting mechanism; 21. Rotating shaft assembly; 211. Rotating connector; 211-1. Rotating shaft; 211-2. Rotating fixing plate; 212. Intermediate connector; 212-1. Connecting rod; 212-2. Intermediate fixing plate; 213. Adjusting hole; 214. Mounting bolt; 22. Spotlight; 3. Self-locking transmission assembly; 301. First transmission component; 302. Second transmission component; 401. Frontal baffle; 402. Lateral baffle. 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] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0032] 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.

[0033] It should be noted that a deep-sea ROV (Remotely Operated Vehicle) is an unmanned submersible that is remotely controlled from the water surface via an umbilical cable and is specifically designed for deep-sea operations. Its main body is usually composed of floating body materials, a pressure-resistant electronic cabin, a thruster assembly, a robotic arm, and a lighting and camera system. It relies on multiple vertical and horizontal thrusters to achieve six degrees of freedom of movement and can carry out scientific research, exploration, or emergency operations at depths of up to 1,000 meters.

[0034] like Figures 1 to 5 As shown in the schematic embodiment of the deep-sea ROV spotlight angle micro-adjustment device of this utility model, the deep-sea ROV spotlight angle micro-adjustment device includes a drive mechanism 1, an illumination mechanism 2, and a self-locking transmission component 3.

[0035] The drive mechanism 1 is an electric actuator placed on the deep-sea ROV100. It is usually electrically connected to the controller of the deep-sea ROV100 through wires. Under the power supply and control of the controller, it converts electrical energy into controllable rotational power and provides the required torque and positioning to external devices through the output shaft 101 set by the drive structure.

[0036] The lighting mechanism 2 includes a rotating shaft assembly 21 and a spotlight 22. The spotlight 22 is a high-pressure, high-brightness deep-sea lighting unit, featuring a pressure-resistant housing, a light-emitting module, and a watertight connector. The controller of the deep-sea ROV 100 is typically connected to a cable 200, whose plug usually connects to the watertight connector, electrically connecting the controller to the spotlight 22 and controlling it to provide stable illumination at depths of up to 1000 meters. Both ends of the rotating shaft assembly 21 are typically mounted on the bearing 300 of the deep-sea ROV 100, allowing the assembly to rotate around its own axis. The spotlight 22 is fixed to the rotating shaft assembly 21, enabling it to rotate with the assembly and change its illumination angle.

[0037] The self-locking transmission assembly 3 includes a first transmission member 301 and a second transmission member 302. The first transmission member 301 is fixedly mounted on the output shaft 101 of the drive mechanism 1, enabling both to rotate synchronously. The second transmission member 302 is fixedly mounted on the rotating shaft assembly 21, enabling both to rotate synchronously. The first transmission member 301 and the second transmission member 302 are connected by a transmission link, allowing the rotating output shaft 101 of the drive mechanism 1 to drive the rotating shaft assembly 21 and the spotlight 22 to rotate synchronously via the transmission between the first transmission member 301 and the second transmission member 302, thereby adjusting the illumination angle of the spotlight 22.

[0038] The output shaft 101 of the drive mechanism 1 is arranged along a horizontal first direction, and the rotating shaft assembly 21 is arranged along a horizontal second direction perpendicular to the first direction, such that the output shaft 101 and the rotating shaft assembly 21, which serves as the driven shaft, are perpendicular to each other. Furthermore, the first transmission member 301 is a worm gear coaxially mounted on the output shaft 101, and the second transmission member 302 is a worm wheel coaxially mounted on the rotating shaft assembly 21. Through the meshing of the worm and the worm wheel, a transmission connection is achieved between the first transmission member 301 and the second transmission member 302, thereby realizing the transmission between the mutually perpendicular output shaft 101 and the rotating shaft assembly 21.

[0039] This structural design achieves transmission connection through a worm gear-worm wheel structure. Utilizing the low lead angle and sliding friction characteristics of its helical teeth, the worm gear-worm wheel structure automatically generates a reverse resistance torque when the worm stops rotating, preventing the worm wheel from driving the worm to rotate. That is, when the drive mechanism 1 connected to the worm stops, the rotating shaft assembly 21 connected to the worm cannot rotate, thus achieving a self-locking function without an external braking device. This reduces the number of mechanisms required for the deep-sea ROV100, allowing for the miniaturization of the spotlight 22 angle adjustment device. Furthermore, since the deep-sea ROV100's forward direction is typically the first direction, setting the drive mechanism 1 along this first direction ensures that it is aligned with the ROV100's direction of travel. With the water flow parallel to the axis of the drive mechanism 1, the frontal area and vortex shedding force of the drive mechanism 1 are significantly reduced, lowering water resistance and flutter. This also reduces the amount of sediment entering the drive mechanism 1 through the gap between the drive shaft and the housing, extending the service life of the drive mechanism 1 and improving the smoothness of the deep-sea ROV100's movement.

[0040] Furthermore, the center of mass of the spotlight 22 is located on the axis of the rotating shaft assembly 21. This structural design ensures that the center of mass of the spotlight 22 is precisely aligned with the axis of the rotating shaft assembly 21. The lever arm generated by gravity, buoyancy, and inertia on the shaft is zero, and theoretically, the eccentric torque approaches zero. Therefore, the drive mechanism 1 only needs to provide a very small torque to overcome friction with water and angular acceleration to achieve pitch adjustment. The rated power of the motor 103 in the drive mechanism 1, the specifications of the reducer 104 connected to the motor 103, or the specifications of other components in the drive mechanism 1 can be proportionally reduced, allowing the drive mechanism 1 to use more miniaturized components and reduce its size. This enables the realization of a miniaturized, low-power spotlight 22 angle adjustment device in the high-pressure environment of the deep sea.

[0041] In some embodiments, the deep-sea ROV 100 is provided with a forward baffle 401, which is arranged along a second direction. The forward baffle 401 typically has a shaft hole, in which one end of an output shaft 101 is disposed, such that one end of the output shaft 101 is connected to the power element of the drive mechanism 1, and the other end is rotatably connected to the forward baffle 401. The self-locking transmission assembly 3 is located on the side of the forward baffle 401 closer to the drive mechanism 1 in the first direction, thus, in the first direction, the self-locking transmission assembly 3 is located between the forward baffle 401 and the drive mechanism 1.

[0042] Since the deep-sea ROV100 typically moves along a first direction, causing water to flow across its surface in that direction, this structural design adds a positive baffle 401 along a second direction to the deep-sea ROV100. The surface of the positive baffle 401 faces the first direction, allowing it to directly withstand the scouring of the water flow generated by the ROV100's forward or backward movement at one end. Similarly, the drive mechanism 1 at the other end also directly withstands the scouring of the water flow using the end face of its outer casing, thus ensuring the positive flow in the first direction... Both forward and reverse flow reductions can decrease the impact of water flow or guide water flow past the side of the self-locking transmission assembly 3, thereby reducing or even preventing water flow from scouring the worm gear-worm shaft and preventing them from rotating under the scouring of water flow. This provides positional self-locking performance. Simultaneously, the forward baffle 401's obstruction of the forward water flow reduces or prevents sand and gravel from entering the assembly gap between the worm gear and worm shaft, preventing salt and mud deposition, reducing the maintenance frequency of the self-locking transmission assembly 3, and ensuring the deep-sea ROV100 can operate underwater for extended periods. Furthermore, the output shaft 101, previously connected to the drive element at only one end, is now connected to both the drive element and the forward baffle 401 at both ends. This changes the output shaft 101 from a cantilever structure to a simply supported structure, providing more stable support and preventing deformation during rotation. This stabilizes the positional relationship between the worm and worm gear, thus maintaining transmission stability.

[0043] In some embodiments, the deep-sea ROV 100 is provided with a lateral baffle 402, which is arranged along a first direction. The lateral baffle 402 typically has a shaft hole, and one end of a rotating shaft assembly 21 is typically disposed on a bearing seat 300 on the deep-sea ROV 100, while the other end of the rotating shaft assembly 21 is disposed in the shaft hole, allowing the rotating shaft assembly 21 to be rotatably connected to the lateral baffle 402. The self-locking transmission assembly 3 is located in a second direction on the side of the lateral baffle 402 closer to the lighting mechanism 2, thus, in the second direction, the self-locking transmission assembly 3 is located between the lateral baffle 402 and the lighting mechanism 2.

[0044] When the deep-sea ROV100 turns, it usually moves in the second direction, causing the water flow to act on the deep-sea ROV100 in the second direction to a certain extent. The structural design sets a lateral baffle 402 on the deep-sea ROV100 along the first direction, so that the surface of the lateral baffle 402 faces the second direction. The lateral baffle 402 can directly bear the scouring of the water flow generated by the deep-sea ROV100 turning on one side and the lighting mechanism 2 on the other side. In this way, the impact force of the water flow can be reduced in both the left and right directions of the second direction, the worm gear structure is isolated from the side, the silt and vortex scouring are suppressed, the meshing accuracy and self-locking reliability are maintained, and the fault-free operation cycle of the whole machine in the complex flow environment of the deep sea is extended. In addition, one side of the rotating shaft assembly 21 is supported by the lateral baffle 402, and the other side is supported by the bearing 300 on the deep-sea ROV100. Compared with the original deep-sea ROV100 which required two bearings 300, one bearing 300 is reduced, thereby reducing the number of parts and facilitating the miniaturization of the device.

[0045] In some embodiments, the lighting mechanism 2 is disposed at one end of the deep-sea ROV 100 in the first direction, such that the lighting mechanism 2 is at the front end of the deep-sea ROV 100 in the direction of travel, so as to provide illumination for the travel of the deep-sea ROV 100.

[0046] Furthermore, when a lateral deflector 402 is provided on the deep-sea ROV100 along the first direction, the drive mechanism 1 is fixed to the lateral deflector 402 and located on the side of the lateral deflector 402 in the second direction closer to the lighting mechanism 2, so that the drive mechanism is located on the inner side of the lateral deflector 402, closer to the center of the deep-sea ROV100, while the lateral deflector 402 is located on the outer side.

[0047] This structural design allows the lateral baffle 402 to serve as both the mounting base for the drive mechanism 1 and a lateral water flow shield on the outside, so that the drive mechanism 1 is located inside the lateral baffle 402, preventing the drive mechanism 1 from being directly exposed to the outer flow field. This reduces the impact of the lateral water flow and vortex-induced vibration, and also prevents the external structure from colliding with the drive mechanism 1, thus improving the safety of the device.

[0048] In some embodiments, when a forward deflector 401 is provided on a deep-sea ROV 100 along a second direction, the forward deflector 401 is disposed at one end of the lateral deflector 402 in a first direction, and the forward deflector 401 extends toward the lighting mechanism 2 along the second direction, such that the drive mechanism 1 is opposite to the forward deflector 401 in the first direction, and the drive mechanism 1 is located behind the forward deflector 401.

[0049] This structural design allows the cabin baffle and the forward baffle 401 to form an L-shaped enclosure structure, completely concealing the drive structure inside the enclosure structure. When the deep-sea ROV100 moves forward, sideways, or turns, both the forward and lateral ocean currents are blocked outside the enclosure structure or diverted and moved away from the drive mechanism 1. This prevents sandy seawater from directly impacting the drive mechanism 1 and its dynamic sealing interface (usually the gap around the outer periphery of the output shaft 101), thereby significantly reducing the risk of sediment intruding into the drive mechanism 1. In addition, since the water pressure is usually greater than the pressure inside the housing of the drive mechanism 1, the water pressure acts on the output shaft 101 and pushes it into the housing of the drive mechanism 1. The housing of the drive mechanism 1 is usually equipped with a pressure compensation structure, which supports and prevents the output shaft 101 from moving into the housing of the drive mechanism 1. The water flow is blocked by the positive baffle 401 in the direction of the deep-sea ROV 100's travel, thus reducing the impact pressure. This reduces the impact of the water flow on the output shaft 101 in the axial direction, reduces the support pressure of the pressure compensation structure, that is, reduces the continuous compensation force required for axial compensation, extends the life of the dynamic seal around the output shaft 101, and reduces power consumption.

[0050] In some embodiments, the lighting mechanism 2 has a plurality of spotlights 22 arranged one by one along the second direction, and there is usually a gap between adjacent spotlights 22, so that the spotlights 22 are fully distributed in the length direction of the lighting mechanism 2, thereby increasing the width of the illumination range produced by all the spotlights 22 in the second direction.

[0051] The rotating shaft assembly 21 includes a rotating connector 211 and an intermediate connector 212. Adjacent spotlights 22 are connected via the intermediate connector 212. The rotating shaft assembly 21 typically has only two rotating connectors 211, which are usually located at opposite ends of the lighting mechanism 2 in the second direction, and are typically connected to two spotlights 22 at their respective ends. Both rotating connectors 211 are rotatably connected to the deep-sea ROV 100, thereby enabling the rotating shaft assembly 21 to rotate, allowing the spotlights 22 to rotate vertically and change their illumination angle.

[0052] This structural design allows multiple spotlights 22 to be connected in series along the second direction via an intermediate connector 212, with rotating connectors 211 at both ends to achieve rotation of the spotlights 22. This enables the rotating shaft assembly 21 to drive the multiple spotlights 22 to adjust their angles synchronously, thus requiring only a single drive mechanism 1 to drive the rotation of the rotating shaft assembly 21, saving the number of motors 103 and reducing the number of dynamic seals that need to be processed. Secondly, the rotating shaft assembly 21 adopts a segmented structure, with each segment connecting only adjacent spotlights 22 without penetrating the lamp body. The spotlight 22 housing remains intact, eliminating the need for additional dynamic seal holes for shaft passage and reducing the risk of leakage. In addition, the segment lengths and diameters of the rotating shaft assembly 21 are short, resulting in a lighter weight and reduced moment of inertia compared to a longer rotating shaft. This reduces the torque and power consumption required to drive its rotation, thereby reducing the demand on the drive mechanism 1 and allowing it to be adopted in a smaller size, thus balancing the needs of multi-lamp lighting, structural integrity, and miniaturization.

[0053] In some embodiments, the rotating connector 211 includes a rotating shaft 211-1 and a rotating fixing plate 211-2. The rotating shaft 211-1 is typically vertically fixed to the center of the rotating fixing plate 211-2, such that one end of the rotating shaft 211-1 is connected to the rotating fixing plate 211-2. The end of the rotating shaft 211-1 away from the rotating fixing plate 211-2 is typically disposed on the bearing 300 of the deep-sea ROV 100, thereby realizing a rotatable connection between the rotating connector 211 and the deep-sea ROV 100. The rotating shaft fixing plate is typically attached to the side surface of the corresponding spotlight 22 and is pre-fixed by mounting bolts 214.

[0054] The intermediate connector 212 includes a connecting rod 212-1 and an intermediate fixing plate 212-2. The two intermediate fixing plates 212-2 are typically fixed to both ends of the connecting rod 212-1, with the connecting rod 212-1 perpendicular to the two intermediate fixing plates 212-2, making the two intermediate fixing plates 212-2 parallel to each other. The intermediate fixing plates 212-2 are typically attached to the side surface of the corresponding spotlight 22 and pre-fixed using mounting bolts 214.

[0055] In this structural design, the rotating shaft 211-1 and the connecting rod 212-1 are both shafts, and the rotating fixed plate 211-2 and the intermediate fixed plate 212-2 are both plates. The combination of shafts and plates forms a connector, which takes into account both rotation and force transmission functions, replacing the traditional integral structure. This simplifies the multi-lamp series structure, reduces weight, and retains sufficient flexibility to adapt to assembly errors, achieving lightweight, modular, and synchronous angle adjustment.

[0056] In some embodiments, the rotating shaft 211-1 and the connecting rod 212-1 are coaxially arranged along the second direction. Adjustment holes 213 are provided on both the rotating shaft fixing plate and the intermediate fixing plate 212-2, and these adjustment holes 213 penetrate the rotating shaft fixing plate or the intermediate fixing plate 212-2 in the second direction. Mounting bolts 214 are all disposed in the corresponding adjustment holes 213, allowing the mounting bolts 214 to pass through the corresponding adjustment holes 213 and be threadedly connected to the corresponding spotlights 22. The adjustment holes 213 are all arc-shaped holes centered on the axis of the rotating shaft assembly 21. Loosening the mounting bolts 214 allows them to slide within the adjustment holes 213, thereby causing the spotlights 22 to rotate relative to the fixing plate. After the spotlights 22 rotate to the desired state, tightening the mounting bolts 214 completes the fixation, thus adjusting the mounting angle of the spotlights 22 on the rotating shaft assembly 21.

[0057] This structural design features arc-shaped adjustment holes 213 centered on the axis on both the rotating shaft fixing plate and the intermediate fixing plate 212-2. Each spotlight 22 can independently adjust its angle position and be locked in place, achieving a "personalized initial angle" setting for multiple lights connected in series. Furthermore, since the lighting mechanism 2 typically has multiple spotlights 22, these spotlights 22 can be fixed at different installation angles, allowing each spotlight 22 of the lighting mechanism 2 to be aligned with different angular directions, thereby expanding the overall illumination coverage of the lighting mechanism 2.

[0058] In some embodiments, the drive mechanism 1 includes a pressure-resistant housing 102, a motor 103, a reducer 104, and an output shaft 101. The motor 103 and reducer 104 are typically fixed inside the pressure-resistant housing 102. One end of the pressure-resistant housing 102 is typically fitted with a watertight connector, the outer end of which is connected to a plug of a cable 200, thereby electrically connecting to the controller of the deep-sea ROV 100; the inner end of the watertight connector is connected to the motor 103 via a wire, thereby controlling the operation of the motor 103. The output shaft 101 typically extends from the other end of the pressure-resistant housing 102 and is rotary sealed by a dynamic seal. The drive shaft of the motor 103 is typically connected to the reducer 104, thereby driving the reducer 104 to rotate; the reducer 104 is further connected to the output shaft 101, thereby driving the output shaft 101 to rotate. The reducer 104 is a mechanical device that reduces speed and amplifies torque through multi-stage gear meshing. It is used to convert the high-speed, low-torque output of the motor 103 into a low-speed, high-torque output suitable for load driving. The motor 103, the reducer 104, and the output shaft 101 are coaxially arranged in the first direction. This structural design allows the motor 103, the reducer 104, and the output shaft 101 to be coaxially encapsulated in a pressure-resistant housing 102, forming a "linear" deep-sea electric actuator with the shortest structural length and optimal pressure-resistant path, achieving a highly integrated, miniaturized, and high-pressure-resistant drive module. The output shaft 101 extends outward at one end and has only one dynamic seal, reducing leakage points and improving pressure-resistant reliability.

[0059] In some embodiments, a support flange 105 is provided around the outer peripheral surface of the output shaft 101. A thrust bearing 106 is sleeved on the output shaft 101, and the thrust bearing 106 is located on the side of the support flange 105 closer to the reducer 104. The support flange 105 presses the thrust bearing 106 against a radially arranged stepped surface 107 inside the pressure housing 102, so that the pressure housing 102 supports the output shaft 101 axially through the stepped surface 107, the thrust bearing 106, and the support flange 105. This structural design, through the cooperation between the outer peripheral support flange 105 of the output shaft 101 and the stepped surface 107 of the housing, directly transmits the external axial water thrust to the pressure housing, exempting the gears of the reducer 104 from axial load, stabilizing the axial position of the output shaft 101, and keeping the meshing backlash of the worm gear pair constant. In addition, since the axial force is entirely borne by the pressure-resistant housing 102, the output shaft 101 does not require additional pressure compensation. The pressure compensation structure inside the pressure-resistant housing can be omitted, improving space utilization and further miniaturizing the drive module.

[0060] 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.

[0061] 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 miniature angle adjustment device for a deep-sea ROV spotlight, characterized in that, include: Drive mechanism, used for fixed installation on deep-sea ROV; Lighting mechanism, for active connection to the deep-sea ROV; The lighting mechanism includes: A rotating shaft assembly is rotatably mounted on the deep-sea ROV; A spotlight is fixedly mounted on the rotating shaft assembly to adjust its angle as the rotating shaft assembly rotates. A self-locking transmission assembly is disposed between the drive mechanism and the lighting mechanism, so that the drive mechanism drives the spotlight assembly to rotate via the self-locking transmission assembly; the self-locking transmission assembly includes: The first transmission component is fixedly mounted on the output shaft of the drive mechanism; The second transmission component is fixedly mounted on the rotating shaft assembly and is connected to the first transmission component in a transmission manner; The output shaft of the drive mechanism is arranged along a horizontal first direction, and the rotating shaft assembly is arranged along a horizontal and perpendicular second direction. The first transmission component is a worm gear coaxially mounted on the output shaft, and the second transmission component is a worm wheel coaxially mounted on the rotating shaft assembly, so that the first transmission component and the second transmission component mesh with each other; The center of mass of the spotlight is located on the axis of the rotating shaft assembly.

2. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 1, characterized in that, The deep-sea ROV is equipped with a forward flow deflector, which is arranged along the second direction; One end of the output shaft is movably connected to the positive baffle, and the self-locking transmission assembly is located on the side of the positive baffle closer to the drive mechanism in the first direction.

3. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 1, characterized in that, The deep-sea ROV is equipped with a lateral baffle, which is arranged along a first direction; The rotating shaft assembly is movably connected to the side baffle, and the self-locking transmission assembly is located in the second direction on the side of the side baffle closer to the lighting mechanism.

4. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 1, characterized in that, The lighting mechanism is located at one end of the deep-sea ROV in the first direction; The drive mechanism is disposed on a lateral baffle plate of the deep-sea ROV along the first direction, and the drive mechanism is located on the side of the lateral baffle plate closer to the lighting mechanism in the second direction.

5. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 4, characterized in that, In the first direction, a positive baffle is provided at the end of the lateral baffle away from the drive mechanism, and the positive baffle extends toward the lighting mechanism along the second direction.

6. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 1, characterized in that, The lighting mechanism has a plurality of spotlights, and the plurality of spotlights are spaced apart along the second direction; The rotating shaft assembly includes a rotating connector and an intermediate connector; adjacent spotlights are connected by the intermediate connector; the lighting mechanism has rotating connectors at both ends in the second direction, and the rotating connectors are connected to the adjacent spotlights and are rotatably connected to the deep-sea ROV.

7. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 6, characterized in that, The rotating connector includes a rotating shaft and a rotating shaft fixing plate disposed at one end of the rotating shaft. The other end of the rotating shaft is disposed on the deep-sea ROV. The rotating shaft fixing plate is fixed to the corresponding spotlight by mounting bolts. The intermediate connecting component includes a connecting rod and two intermediate fixing plates disposed at both ends of the connecting rod; both intermediate fixing plates are fixed to the corresponding spotlights by mounting bolts.

8. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 7, characterized in that, The rotating shaft and the connecting rod are both coaxially arranged along the second direction; the rotating shaft fixing plate and the intermediate fixing plate are both provided with adjustment holes, and the mounting bolts are all set in the corresponding adjustment holes; the adjustment holes are all arc-shaped holes centered on the axis of the rotating shaft assembly.

9. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 1, characterized in that, The drive mechanism includes: A pressure-resistant shell is fixedly installed on the deep-sea ROV; The motor is fixedly installed inside the pressure-resistant housing; The speed reducer is fixedly installed inside the pressure-resistant housing and connected to the motor; An output shaft is rotatably disposed within the pressure-resistant housing, with one end connected to the reducer; the end of the output shaft away from the reducer extends out of the pressure-resistant housing and is connected to the first transmission component. The motor, the reducer, and the output shaft are coaxially arranged in the first direction.

10. The micro-adjustment device for the angle of the deep-sea ROV spotlight according to claim 9, characterized in that, A support flange is provided around the outer circumference of the output shaft; a thrust bearing is sleeved on the output shaft, and the thrust bearing is located on the side of the support flange closer to the reducer; the support flange presses the thrust bearing against the radially arranged stepped surface inside the pressure-resistant housing.

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