CN102486251A - Underwater electric feedback cradle head without transport motion - Google Patents

Underwater electric feedback cradle head without transport motion Download PDF

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Publication number
CN102486251A
CN102486251A CN2010105718458A CN201010571845A CN102486251A CN 102486251 A CN102486251 A CN 102486251A CN 2010105718458 A CN2010105718458 A CN 2010105718458A CN 201010571845 A CN201010571845 A CN 201010571845A CN 102486251 A CN102486251 A CN 102486251A
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CN
China
Prior art keywords
cover plate
umbrella gear
motor
screw rod
sealed compartment
Prior art date
Application number
CN2010105718458A
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Chinese (zh)
Other versions
CN102486251B (en
Inventor
康守权
高世阳
何震
Original Assignee
中国科学院沈阳自动化研究所
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Application filed by 中国科学院沈阳自动化研究所 filed Critical 中国科学院沈阳自动化研究所
Priority to CN 201010571845 priority Critical patent/CN102486251B/en
Publication of CN102486251A publication Critical patent/CN102486251A/en
Application granted granted Critical
Publication of CN102486251B publication Critical patent/CN102486251B/en

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Abstract

An underwater electric feedback cradle head without transport motion is used for satisfying the carrying requirements of camera illuminating lamps on underwater robots and underwater construction equipment. The underwater electric feedback cradle head without transport motion comprises a sealed cabin body with a motor room and a bracket for containing a camera, wherein a watertight bonding plug for a cable to pass through is arranged on the sealed cabin body, and the underwater electric feedback cradle head further comprises an elevating gear and a swing mechanism which are arranged in the sealed cabin body and extend out of the sealed cabin body to be connected with the bracket; and a worm wheel of the swing mechanism is installed on a drive rod through a swing sleeve, the drive rod is installed on a screw rod through a crane which can be lifted and descended along the screw rod, the drive rod of the elevating gear extends out of a lower cover plate of the sealed cabin body to be connected with the bracket, the swing sleeve which is installed on the drive rod also extends out of the lower cover plate, and is connected with the bracket through a connection rod and a jacket, so elevating and swing motions are realized. When the underwater electric feedback cradle head is operated, the main structure is kept motionless, only the necessary output parts move relative to the main structure, so the winding intervention problem of cables and other vulnerable components are avoided, and the reliability of the equipment is improved.

Description

The electronic under water feedback cloud stand of no transport motion
Technical field
The present invention relates to a kind of electronic feedback cloud stand that does not have transport motion under water, be used to satisfy the lift-launch requirement of the vidicon camera lighting burner on underwater robot and the underwater construction equipment.
Technical background
At present, the most of mode that adopts the main structure body accompany movement of the electric platform that adopts in the underwater installation, advantage is simple in structure, weight is lighter.Though simplify the structure, the cable that is fixed on the main structure body is also followed rotation in operating process, in the process easily and surrounding devices tangle; Equipment failure takes place; And because need dodge rotatable parts, the space that The Cloud Terrace itself needs is bigger, has wasted limited space.
Summary of the invention
Technical problem to above-mentioned existence; The present invention provides a kind of electronic feedback cloud stand that does not have transport motion under water; It is static that the agent structure of this The Cloud Terrace keeps; The relative agent structure of the output block that only is necessary is moved, and has avoided the winding interference problem of vulnerable components such as cable, has improved the reliability of equipment.
To achieve these goals, technological scheme of the present invention is following:
The present invention includes the sealed compartment body that has motor room, place the carriage of vidicon camera, said sealed compartment body is provided with and is used for the underwater electrical connector that cable passes through, and also comprises placing in the sealed compartment body and stretching out luffing mechanism and the swirl gear that the sealed compartment body is connected with carriage;
Said luffing mechanism comprises fixed cover, screw rod, lifting frame, driveshaft, bearing, second feedback potentiometer, the 3rd umbrella gear, the 4th umbrella gear and second motor; The 4th umbrella gear is installed on second motor output shaft, is installed on the screw rod with the 3rd umbrella gear of its engagement, an end of screw rod is fixed through fixed cover and upper cover plate; The other end passes bearing and is connected with second feedback potentiometer; Lifting frame one end is connected with an end of driveshaft, and the other end is installed on the screw rod, and constitutes a pair of screw pair with screw rod; Move up and down along screw rod, the lower cover plate that the other end of driveshaft stretches out the cabin body is connected with carriage;
Said swirl gear comprises first motor, first umbrella gear, first feedback potentiometer, second umbrella gear, worm screw, linear bearing, turbine, bearing spider, revolving sleeve and the chuck that places motor room; First umbrella gear is installed on the output shaft of first motor; Be installed in the end of the worm screw that places bearing spider with second umbrella gear of its engagement; First feedback potentiometer is coaxial fixing with second umbrella gear; Revolving sleeve is sleeved on through linear bearing on the driveshaft of luffing mechanism, and the turbine that cooperates with worm screw is installed on the revolving sleeve, and is connected with linear bearing with revolving sleeve respectively; Said revolving sleeve stretches out the lower cover plate of sealed compartment, is fixed with the chuck that is connected with carriage through connecting rod on it.
Described sealed compartment body comprises upper cover plate, side, two cabins plate, two motor rooms and lower cover plate; Two motor rooms communicate; Be symmetrically set on the biside plate, the upper cover plate inboard has first, second groove that is used to place fixed cover and driveshaft termination gland, has the slotted eye that is used to install revolving sleeve on the lower cover plate; And also have the 3rd groove that is used to place second feedback potentiometer on its madial wall, on the side plate of sealed compartment body, also have the through hole that is used to install underwater electrical connector.
Beneficial effect of the present invention:
1. swirl gear of the present invention is through umbrella gear and turbine and worm transmission; Luffing mechanism drives driveshaft through screw rod, lifting frame and goes up and down, and turbine is installed on the driveshaft through linear bearing and revolving sleeve, compact structure; It is little to take up room, and has saved the limited space resources of underwater installation.
2. the present invention is in when work, and it is static that its agent structure keeps, the relative agent structure motion of the output block that only is necessary, and no transport motion has been avoided the winding interference problem of vulnerable components such as cable, has improved the reliability of equipment.It is reliable and stable that cable of the present invention connects the back, very suitable for the underwater construction environment of stressing Security, reliability.
3. the present invention is simple in structure, and reliable performance is easy to maintenance.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the generalized section of passing through electrical axis of Fig. 1.
Fig. 3 is a structure side-looking partial sectional view of the present invention.
Among the figure: 1. upper cover plate, 2. cabin body, 3. motor room, 4. fixed cover, 5. clutch shaft bearing, 6. linear bearing, 7. turbine; 8. floating bearing, 9. lower cover plate, 10. chuck, 11. revolving sleeves, 12. connecting rods, 13. driveshafts, 14. carriages; 15. first installation sleeve, 16. first motors, 17. first umbrella gear, 18. first feedback potentiometers, 19. second umbrella gear, 20. bearing spiders, 21. worm screws; 22. second bearing, 23. the 3rd umbrella gear, 24. the 4th umbrella gear, 25. second installation sleeves, 26. second motors, 27. screw rods, 28. lifting frames; 29. set screw nut, 30. glands, 31. axle sleeves, 32. the 3rd bearings, 33. the 4th bearings, 34. bearings, 35. fixing pins; 36. second feedback potentiometer, 37. underwater electrical connectors, 38. first grooves, 39 second grooves, 40 the 3rd grooves, 41. through holes.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Embodiment 1: like Fig. 1, shown in Figure 2; The present invention includes the sealed compartment body 2 that has motor room 3, the carriage 14 of placing vidicon camera; Said sealed compartment body 2 is provided with and is used for the underwater electrical connector 38 that cable passes through, and also comprises placing in the sealed compartment body 2 and stretching out luffing mechanism and the swirl gear that sealed compartment body 2 is connected with carriage 14;
Like Fig. 2, shown in Figure 3, said luffing mechanism comprises that fixed cover 4, screw rod 27, lifting frame 28, driveshaft 13, bearing 34, second feedback potentiometer 36, the 3rd umbrella gear 23, the 4th umbrella gear 24 and second motor, 26, the second motors 26 are fixed in the motor room 3 through second installation sleeve 25; The 4th umbrella gear 24 is installed on second motor, 26 output shafts; Be installed on the screw rod 27 with the 3rd umbrella gear 23 of its engagement, an end of screw rod 27 is fixing with upper cover plate 1 through fixed cover 4, and the other end passes bearing 34 and is connected with second feedback potentiometer 36; Said bearing 34 is installed on the screw rod 27 through the 4th bearing 34; Lifting frame 28 1 ends are connected with an end of driveshaft 13 through the 3rd bearing 32, and through axle sleeve 31 gland 30 are installed in the end, and are fixing through set screw nut 29; The other end is installed on the screw rod 27; And constitute a pair of screw pair with screw rod 27, and moving up and down along screw rod 27, the lower cover plate 9 that the other end of driveshaft 13 stretches out sealed compartment body 2 is connected with carriage 17; Second motor 26 drives the 4th umbrella gear 24 and rotates; Through the transmission of the 3rd umbrella gear 23, drive screw rod 27 and rotate, second feedback potentiometer 35 is the feedback rotation angle in real time; When screw rod 27 rotates; Lifting frame 28 is through carrying out elevating movement with the screw pair of screw rod 27 formations, and driveshaft 13 can axially go up and down when rotating, and then drives carriage 14 pitching movements that vidicon camera is installed.
Like Fig. 1, shown in Figure 2; Said swirl gear comprises first motor 16 that places motor room 3, first umbrella gear 17, first feedback potentiometer 18, second umbrella gear 19, bearing spider 20, worm screw 21, linear bearing 6, turbine 7, revolving sleeve 11 and chuck 10; First motor 16 is fixed in another motor room 3 through first installation sleeve 15; First umbrella gear 17 is installed on the output shaft of first motor 16, is installed in the end of worm screw 21 with second umbrella gear 19 of its engagement, and worm screw 21 is installed on the bearing spider 20; First feedback potentiometer 18 is coaxial fixing through fixing pin 37 with second umbrella gear 19; Driveshaft 13 1 ends are connected with the lifting frame 28 of luffing mechanism, and the other end stretches out lower cover plate 9 and is connected with carriage 14, and revolving sleeve 11 is sleeved on the driveshaft 13 through linear bearing 6; The turbine 7 that cooperates with worm screw 21 is installed on the revolving sleeve 11; And be connected with linear bearing 6 with revolving sleeve 11 respectively, said revolving sleeve 11 stretches out the lower cover plate 9 of sealed compartment 2, is fixed with the chuck 10 that is connected with carriage 14 through connecting rod 12 on it.Through the transmission of first, second umbrella gear 17,19, drive worm screw 21 and rotate, first feedback potentiometer 18 is the rotation angle of feedback worm screw 21 in real time.Worm screw 21 drives turbines 7 and rotates, and when turbine 7 rotated, revolving sleeve 11 can corresponding sports, owing to there is linear bearing 6, when revolving sleeve 11 motions, driveshaft 13 still can be along its axial free movement.Chuck 10 is fastening with linear bearing 6 through bolt and revolving sleeve 11, and drivening rod 12 promptly can drive the carriage 14 that vidicon camera is installed and swing at circumferencial direction in the circumferencial direction swing, has realized rotation motion.
This routine said sealed compartment body 2 comprises upper cover plate 1, side, two cabins plate, two motor rooms 3 and lower cover plate 9; Two motor rooms 3 communicate; Be symmetrically set on the biside plate; Upper cover plate 1 inboard has first, second groove 38,39 that is used to place fixed cover 4 and driveshaft 13 termination glands 30, has the slotted eye that is used to install revolving sleeve 11 on the lower cover plate 9, and also has the 3rd groove 40 that is used to place second feedback potentiometer 36 on its madial wall; On the side plate of sealed compartment body 2, also have the through hole 41 that underwater electrical connector 37 is installed, the elastic cable paper of first, second feedback potentiometer 18,36 and first, second motor 16,26 all is connected with outside through underwater electrical connector 37.
The present invention is when work, and it is static that its agent structure keeps, and realizes pitching and the motion of turning round both direction through luffing mechanism and swirl gear, makes the range of signal of camera acquisition bigger, has avoided the winding interference problem of vulnerable components such as cable.

Claims (2)

1. electronic under water feedback cloud stand that does not have transport motion; Comprise the sealed compartment body that has motor room, the carriage of placing vidicon camera; Said sealed compartment body is provided with and is used for the underwater electrical connector that cable passes through, and it is characterized in that: also comprise placing in the sealed compartment body and stretching out luffing mechanism and the swirl gear that the sealed compartment body is connected with carriage;
Said luffing mechanism comprises fixed cover, screw rod, lifting frame, driveshaft, bearing, second feedback potentiometer, the 3rd umbrella gear, the 4th umbrella gear and second motor; The 4th umbrella gear is installed on second motor output shaft, is installed on the screw rod with the 3rd umbrella gear of its engagement, an end of screw rod is fixed through fixed cover and upper cover plate; The other end passes bearing and is connected with second feedback potentiometer; Lifting frame one end is connected with an end of driveshaft, and the other end is installed on the screw rod, and constitutes a pair of screw pair with screw rod; Move up and down along screw rod, the lower cover plate that the other end of driveshaft stretches out the cabin body is connected with carriage;
Said swirl gear comprises first motor, first umbrella gear, first feedback potentiometer, second umbrella gear, worm screw, linear bearing, turbine, bearing spider, revolving sleeve and the chuck that places motor room; First umbrella gear is installed on the output shaft of first motor; Be installed in the end of the worm screw that places bearing spider with second umbrella gear of its engagement; First feedback potentiometer is coaxial fixing with second umbrella gear; Revolving sleeve is sleeved on through linear bearing on the driveshaft of luffing mechanism, and the turbine that cooperates with worm screw is installed on the revolving sleeve, and is connected with linear bearing with revolving sleeve respectively; Said revolving sleeve stretches out the lower cover plate of sealed compartment, is fixed with the chuck that is connected with carriage through connecting rod on it.
2. the electronic under water feedback cloud stand of no transport motion according to claim 1; It is characterized in that: described sealed compartment body comprises upper cover plate, side, two cabins plate, two motor rooms and lower cover plate; Two motor rooms communicate; Be symmetrically set on the biside plate, the upper cover plate inboard has first, second groove that is used to place fixed cover and driveshaft termination gland, has the slotted eye that is used to install revolving sleeve on the lower cover plate; And also have the 3rd groove that is used to place second feedback potentiometer on its madial wall, on the side plate of sealed compartment body, also have the through hole that is used to install underwater electrical connector.
CN 201010571845 2010-12-02 2010-12-02 Underwater electric feedback cradle head without transport motion CN102486251B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010571845 CN102486251B (en) 2010-12-02 2010-12-02 Underwater electric feedback cradle head without transport motion

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Application Number Priority Date Filing Date Title
CN 201010571845 CN102486251B (en) 2010-12-02 2010-12-02 Underwater electric feedback cradle head without transport motion

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CN102486251A true CN102486251A (en) 2012-06-06
CN102486251B CN102486251B (en) 2013-06-12

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102681305A (en) * 2012-06-12 2012-09-19 天津市联大通讯发展有限公司 Electric tripod head used in deep water
CN103388730A (en) * 2013-07-08 2013-11-13 张伯文 Gyroscope and gravity bistable cradle head
CN104754326A (en) * 2015-03-13 2015-07-01 北京科旭威尔科技有限公司 Mechanism capable of accurately positioning zooming position of camera
CN104864235A (en) * 2015-06-15 2015-08-26 湖北久之洋红外系统股份有限公司 Heavy-load high-precision two-dimensional electric cloud platform device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07101077B2 (en) * 1993-06-29 1995-11-01 光陽精機株式会社 Screw type telescopic multi-stage rod mechanism
CN201107531Y (en) * 2007-08-03 2008-08-27 中国石化集团石油工程西南有限公司工程作业分公司 Underwater camera shooting control cradle head
CN201218898Y (en) * 2008-07-10 2009-04-08 北京国体科技开发服务中心 Underwater multi-cam synchronous camera
CN201397443Y (en) * 2009-04-29 2010-02-03 威宝摄影器材有限公司 Two dimensional cradle head
CN201875378U (en) * 2010-12-02 2011-06-22 中国科学院沈阳自动化研究所 Underwater electric feedback cloud deck without bulk motion

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07101077B2 (en) * 1993-06-29 1995-11-01 光陽精機株式会社 Screw type telescopic multi-stage rod mechanism
CN201107531Y (en) * 2007-08-03 2008-08-27 中国石化集团石油工程西南有限公司工程作业分公司 Underwater camera shooting control cradle head
CN201218898Y (en) * 2008-07-10 2009-04-08 北京国体科技开发服务中心 Underwater multi-cam synchronous camera
CN201397443Y (en) * 2009-04-29 2010-02-03 威宝摄影器材有限公司 Two dimensional cradle head
CN201875378U (en) * 2010-12-02 2011-06-22 中国科学院沈阳自动化研究所 Underwater electric feedback cloud deck without bulk motion

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102681305A (en) * 2012-06-12 2012-09-19 天津市联大通讯发展有限公司 Electric tripod head used in deep water
CN102681305B (en) * 2012-06-12 2014-09-03 天津市联大通讯发展有限公司 Electric tripod head used in deep water
CN103388730A (en) * 2013-07-08 2013-11-13 张伯文 Gyroscope and gravity bistable cradle head
CN104754326A (en) * 2015-03-13 2015-07-01 北京科旭威尔科技有限公司 Mechanism capable of accurately positioning zooming position of camera
CN104754326B (en) * 2015-03-13 2017-05-24 北京科旭威尔科技股份有限公司 Mechanism capable of accurately positioning zooming position of camera
CN104864235A (en) * 2015-06-15 2015-08-26 湖北久之洋红外系统股份有限公司 Heavy-load high-precision two-dimensional electric cloud platform device
CN104864235B (en) * 2015-06-15 2016-10-05 湖北久之洋红外系统股份有限公司 A kind of heavy load high-precision two-dimensional electric platform device

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