CN104691727B - Underwater robot axial encoded data acquisition device rotary annular support - Google Patents
Underwater robot axial encoded data acquisition device rotary annular support Download PDFInfo
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- CN104691727B CN104691727B CN201510080164.4A CN201510080164A CN104691727B CN 104691727 B CN104691727 B CN 104691727B CN 201510080164 A CN201510080164 A CN 201510080164A CN 104691727 B CN104691727 B CN 104691727B
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- slip ring
- underwater robot
- runner shaft
- housing
- data acquisition
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Abstract
The invention discloses a kind of underwater robot axial encoded data acquisition device rotary annular support, including circular support, housing and control transmitting device, control transmitting device and be located in housing, circular support arranges many group video cameras and LED；Control transmitting device and include runner shaft, motor, driving gear, driven gear, slip ring and encoder, motor and encoder are connected and fixed in housing, slip ring is fixed in runner shaft, runner shaft external stability driven gear, the rotation of driven by motor driven gear, runner shaft, slip ring, the built-in brush of slip ring and conducting ring, slip ring is connected with video camera and LED, conducting ring and encoder are connected under water on joint, and brush rotates with slip ring, and camera signal is spread out of by slip ring.The many groups photographic head rearmounted when pinpointing the problems of front-facing camera of the present invention carries out careful observation, solves deposit and is stirred and causes the muddy observation of water the cleerest and the most peaceful target orientation problem, and work efficiency is greatly improved.
Description
Technical field
The present invention relates to a kind of underwater robot and carry out the device of confined space data acquisition, be applied to water conservancy
And other detection industry under water, belong to field of engineering technology.
Background technology
Undersea detection technology for oceanographic observation, is the important content of ocean observation technology the earliest, is also sea
The ingredient of ocean stereoscopic monitoring net, is mainly used in undersea monitoring.The waters of hydraulic engineering with
Maritime waters is from environment and builds gap very greatly, and territory, face, ocean is wide, and deepwater regions is huge, and water conservancy work
The many transformations through the mankind of journey or construction, engineering is various and complicated, detection technique in form, in method
There is similar part, but there is the biggest difference.At China's civil area, carry out having of detecting under water: measure
Ocean and the landform in river, border, the distribution of mud；Under ocean water, subsurface buoy is salvaged, Jellyfish monitors coral
Coral reef is investigated；Marine emergency guarantee, oil platform oil spilling check；Seabed engineering observation etc. and salvage
Salvaging, security etc..In recent years, hydraulic engineering detection technique under water was just risen in China, due to engineering
Complexity, detection technique research and application are in the starting stage, introduce import instruments and equipment for reservoir more
Observe before dam.Undersea detection Chief Technology Officer river institute of section and Hunan Province hydropower academy introduce underwater robot and are used for
Submerged structure is observed and dam observation etc..Also have as collection research and development of productss such as Harbin Institute of Technologys and be produced in the deep of one
The incorporated businesses such as marine site specialty underwater robot, underwater manipulator, cutting machine.
The artificial propeller of underwater drives, and observation device is front-facing camera, to object in traveling
It is observed, manipulates for convenience and enter the detections under water such as water and water-filled pipe detection, mostly using miniature water
Lower robot.This equipment is to rely on land telecommand and examines for Large Diameter Pipeline or bulky objects
Surveying, target of such as pinpointing the problems in traveling can not be screened in detail, and be there is problems in that (1) when being observed
Due to detection space relative closure, and there is certain drift, when problem target is only observed,
Generally require and move repeatedly rotation, easily deposit is stirred, cause the photographic head can not effective resolution target；
(2) because of shielding action, navigation and GPS alignment system lost efficacy, and equipment location can only rely on control cable long
Degree determines, equipment this may result in distortion after rotating；(3) if caliber is excessive or detection target volume mistake
Greatly, equipment can not be scanned efficiently.
Summary of the invention
The technical problem to be solved is the defect existed for prior art, it is provided that one is under water
Manipulator shaft, to encoded data acquisition device rotary annular support, solves under water and water-filled pipe cannot be seen in detail
The problem surveyed.
For solving this technical problem, the invention provides a kind of axial encoded data acquisition of underwater robot
Device rotary annular support, including circular support, housing, control transmitting device, video camera and LED,
Circular support is connected with controlling transmitting device, controls transmitting device and is arranged in housing, on circular support
Many group video cameras and LED are set；Described housing forward end is provided with axis hole, and rear end is provided with rear end cap, this axle
Being provided with bearing one in hole, be provided with the support of bearing in housing, the support of bearing is provided with bearing two；Described control
Transmitting device includes runner shaft, motor, driving gear, driven gear, slip ring and encoder, described turn
The middle part of wheel shaft is hollow cavity, and slip ring is fixed in the hollow cavity of runner shaft by its shell, runner
The external stability of axle has driven gear, and runner shaft is supported by bearing one and bearing two, described motor and volume
Code device is connected and fixed to enclosure interior, and the output shaft end of motor arranges driving gear and engages with driven gear,
Drive runner shaft to rotate by driven gear, and then drive slip ring to rotate simultaneously, be provided with in described slip ring
Brush and conducting ring, the cable conductor of slip ring is connected with video camera and LED, conducting ring and encoder
Cable conductor is connected on the joint under water being positioned on rear end cap, and brush rotates with slip ring simultaneously, slip ring center
Conducting ring and cable conductor do not rotate, the signal of video camera is uninterruptedly spread out of by slip ring.
It is provided with water seal between described housing forward end axis hole and runner shaft.
Described circular support is fixed on runner shaft end by flange.
Described video camera and LED arrange 4 groups, 6 groups or 8 groups.
Present invention also offers a kind of underwater multichannel data acquisition equipment, including underwater robot and preposition
Photographic head, the rear portion of robot is provided with underwater robot axial encoded data acquisition device rotary annular under water
Support, this rotary annular support is hinged on the connecting hole of underwater robot rear portion by hinge.
Beneficial effect: the present invention is compared with the front-facing camera that existing underwater robot configures, owing to taking the photograph
Rearmounted as, when front-facing camera finds doubtful problem, ground controller instructs to it, keeps in situ
Put former attitude constant, find at problem with rearmounted many groups photographic head, carry out careful observation, video recording,
Take pictures and investigate problem by zoom, owing to multi-cam works simultaneously, i.e. solving original deposit quilt
Agitation causes the muddy problem that can not observe of water, also solves problem target orientation problem, efficiently solves water
The problem that lower and water-filled pipe cannot be observed in detail, work efficiency is greatly improved, and definition, accuracy,
Reliability has big breakthrough, opens new detection method for detecting work under water.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation that the present invention controls transmitting device；
Fig. 3 is the left view structural representation of the present invention；
Fig. 4 is the use view of the present invention.
In figure: 1 water seal, 2 driven gears, 3 runner shafts, 4 slip rings, 5 under water joint, 6 rear end caps,
7 encoders, 8 motors, 9 drive gears, 10 bearing one, 11 video cameras, 12 brushes, 13 conducting rings,
14 housings, 15 circular supports, 16LED lamp, 17 control transmitting devices, 18 underwater robots, before 19
Put photographic head, 20 rotary annular supports, 21 shells, 22 bearings two.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the present invention is specifically described by embodiment.
Fig. 1 show the structural representation of the present invention.
The present invention includes housing 14, circular support 15, controls transmitting device 17, video camera 11 and LED
Lamp 16.
Described circular support 15 is connected with controlling transmitting device 17, controls transmitting device 17 and is arranged on housing
In 14, circular support 15 arranges video camera 11 and LED that many groups rotate.
Described housing 14 front end is provided with axis hole, and rear end is provided with rear end cap 6, is provided with bearing 1 in this axis hole,
Being provided with the support of bearing in housing 14, the support of bearing is provided with bearing 2 22.
Fig. 2 show the present invention and controls the structural representation of transmitting device.
Described control transmitting device 17 include runner shaft 3, motor 8, drive gear 9, driven gear 2,
Slip ring 4 and encoder 7.
The middle part of described runner shaft 3 is hollow cavity, and slip ring 4 is fixed on runner shaft 3 by its shell 21
Hollow cavity in, the external stability of runner shaft 3 has a driven gear 2, and runner shaft 3 is by bearing 1
Support with bearing 2 22.
Described motor 8 is connected and fixed in housing 14 with encoder 7, and the output shaft end of motor 8 is arranged
Drive gear 9 and engage with driven gear 2, driving runner shaft 3 to rotate by driven gear 2, and then
Drive slip ring 4 to rotate simultaneously.
Brush 12 and conducting ring 13, the cable conductor of slip ring 4 and video camera it is provided with in described slip ring 4
11 and LED 16 connect, the cable conductor of conducting ring 13 and encoder 7 is connected on and is positioned on rear end cap 6
Joint under water 5 on, brush 12 rotates with slip ring 4 simultaneously, the conducting ring 13 at slip ring 4 center and
Cable conductor does not rotates, and the signal of video camera 11 is uninterruptedly spread out of by slip ring 4.
It is provided with water seal 1 between described housing 14 front end axis hole and runner shaft 3.
Described circular support 15 is fixed on runner shaft 3 end by flange.
Fig. 3 show the left view structural representation of the present invention.
Considering the balance under water of underwater robot, described video camera 11 and LED 16 select even number set to set
Put, be 4 groups 6 groups or 8 groups.
Fig. 4 is the use view of the present invention.
Present invention also offers a kind of underwater multichannel data acquisition equipment, including underwater robot 18 and front
Putting photographic head 19, the rear portion of robot 18 is provided with the rotation of underwater robot axial encoded data acquisition device under water
Turned-in annular support 20, this rotary annular support 20 is hinged on underwater robot 18 rear portion by hinge and connects
Kong Shang.
The using method of the present invention:
The present invention is arranged on the rear portion preformed hole of underwater robot by articulated manner before use；Use
Time, underwater robot front-facing camera works, and when finding doubtful problem, ground controller instructs to it,
Keeping the former attitude of original position constant, start motor 8, the driving gear 9 on motor 8 drives driven gear 2
And runner shaft 3 rotates, the rearmounted many groups video camera 11 being positioned at circular support 15 and LED 16 are with turning
Wheel shaft 3 rotates, and carries out careful observation, records a video, take pictures and investigate problem by zoom.
The operation principle of the present invention:
The front-facing camera that present invention robot under water utilizes former machine to configure in advancing carries out Dynamic matrix control
And the interpretation pinpointed the problems, front-facing camera finds that doubtful problem is stagnated, utilizes rearmounted axial coded number
The many groups synchronous shooting photographic head placed on ring support according to harvester carries out synchronizing careful observation: motor 8
Drive gear 9, gear 9 drives driven gear 2 to rotate, driven gear 2 be fixed on runner shaft 3 and then
Driving runner shaft 3 to rotate, the slip ring 4 that shell is fixed in runner shaft 3 rotates simultaneously, the electricity of slip ring 4
Brush 12 rotates simultaneously, and slip ring 4 center conducting ring 13 and electric wire do not rotate, and the signal of video camera 11 is permissible
Uninterruptedly spread out of by slip ring 4.
The present invention is compared with the front-facing camera that existing underwater robot configures, owing to photographic head is rearmounted,
When front-facing camera finds doubtful problem, ground controller instructs to it, keeps the former attitude of original position not
Become, find at problem with rearmounted many groups photographic head, carry out careful observation, record a video, take pictures and logical
Crossing zoom investigation problem, i.e. in traveling, control speed well, multi-cam works simultaneously, i.e. solves
Originally deposit is stirred and causes the muddy problem that can not observe of water, also solves problem target orientation problem,
Efficiently solving under water and the problem that cannot observe in detail of water-filled pipe, work efficiency is greatly improved, and clearly
Clear degree, accuracy, reliability have big breakthrough, open new detection method for detecting work under water.
The embodiment above of the present invention, is merely illustrative, and is not only, all in the scope of the invention
Change that is interior or that be equal in the scope of the present invention is all surrounded by the present invention.
Claims (5)
1. a underwater robot axial encoded data acquisition device rotary annular support, it is characterised in that: include
Circular support (15), housing (14), control transmitting device (17), video camera (11) and LED
Lamp (16), circular support (15) is connected with controlling transmitting device (17), controls transmitting device
(17) it is arranged in housing (14), circular support (15) is arranged and organizes video camera (11) more
With LED (16)；Described housing (14) front end is provided with axis hole, and rear end is provided with rear end cap (6),
Being provided with bearing one (10) in this axis hole, housing is provided with the support of bearing, on the support of bearing in (14)
It is provided with bearing two (22)；Described control transmitting device (17) include runner shaft (3), motor (8),
Drive gear (9), driven gear (2), slip ring (4) and encoder (7), described runner shaft
(3) middle part is hollow cavity, and slip ring (4) is fixed on runner shaft (3) by its shell (21)
Hollow cavity in, the external stability of runner shaft (3) has driven gear (2), runner shaft (3)
Supported by bearing one (10) and bearing two (22), described motor (8) and encoder (7)
Being connected and fixed to housing (14) internal, the output shaft end of motor (8) arranges driving gear (9)
Engage with driven gear (2), drive runner shaft (3) to rotate by driven gear (2), enter
And drive slip ring (4) to rotate simultaneously, it is provided with brush (12) and conduction in described slip ring (4)
Ring (13), the cable conductor of slip ring (4) is connected with video camera (11) and LED (16),
The cable conductor of conducting ring (13) and encoder (7) is connected on and is positioned on rear end cap (6) under water
On joint (5), brush (12) rotates with slip ring (4) simultaneously, leading of slip ring (4) center
Electricity ring (13) and cable conductor thereof do not rotate, and the signal of video camera (11) uninterruptedly passes through slip ring
(4) spread out of.
Underwater robot the most according to claim 1 axial encoded data acquisition device rotary annular support,
It is characterized in that: between described housing (14) front end axis hole and runner shaft (3), be provided with water seal (1).
Underwater robot the most according to claim 1 axial encoded data acquisition device rotary annular support,
It is characterized in that: described circular support (15) is fixed on the end of runner shaft (3) by flange.
Underwater robot the most according to claim 1 axial encoded data acquisition device rotary annular support,
It is characterized in that: described video camera (11) and LED (16) arrange 4 groups, 6 groups or 8 groups.
5. the multi-channel data under water of the rotary annular support that a kind is provided with described in any one of claim 1-4 is adopted
Collection equipment, including underwater robot (18) and front-facing camera (19), it is characterised in that:
The rear portion of underwater robot (18) is provided with underwater robot axial encoded data acquisition device rotary annular
Support (20), this rotary annular support (20) is hinged on underwater robot (18) by hinge
On the connecting hole of rear portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510080164.4A CN104691727B (en) | 2015-02-13 | 2015-02-13 | Underwater robot axial encoded data acquisition device rotary annular support |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510080164.4A CN104691727B (en) | 2015-02-13 | 2015-02-13 | Underwater robot axial encoded data acquisition device rotary annular support |
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| Publication Number | Publication Date |
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| CN104691727A CN104691727A (en) | 2015-06-10 |
| CN104691727B true CN104691727B (en) | 2016-10-12 |
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| CN201510080164.4A Active CN104691727B (en) | 2015-02-13 | 2015-02-13 | Underwater robot axial encoded data acquisition device rotary annular support |
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Families Citing this family (1)
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| CN107063334A (en) * | 2016-08-15 | 2017-08-18 | 中国海洋石油总公司 | Suitable for the site monitoring system of deep water inner cupola formula single point mooring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100564157C (en) * | 2007-06-08 | 2009-12-02 | 山东大学 | The deep-sea is airborne carrier/device under water |
| US9080425B2 (en) * | 2008-10-17 | 2015-07-14 | Foro Energy, Inc. | High power laser photo-conversion assemblies, apparatuses and methods of use |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN103395488B (en) * | 2013-07-01 | 2016-01-20 | 河海大学常州校区 | Underwater measuring robots |
| CN103612728A (en) * | 2013-10-30 | 2014-03-05 | 上海交通大学 | Underwater three-dimensional detection gliding robot |
| CN203780778U (en) * | 2014-02-17 | 2014-08-20 | 武汉长江航道救助打捞局 | Underwater detector bracket |
| CN204489153U (en) * | 2015-02-13 | 2015-07-22 | 山东省水利科学研究院 | Under-water robot axial encoded data acquisition device rotary annular support |
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