CN107990094A - A kind of oil-filled pressure-compensated formula underwater holder device - Google Patents
A kind of oil-filled pressure-compensated formula underwater holder device Download PDFInfo
- Publication number
- CN107990094A CN107990094A CN201711221860.8A CN201711221860A CN107990094A CN 107990094 A CN107990094 A CN 107990094A CN 201711221860 A CN201711221860 A CN 201711221860A CN 107990094 A CN107990094 A CN 107990094A
- Authority
- CN
- China
- Prior art keywords
- screw
- oil
- sets
- spring
- sealing ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008878 coupling Effects 0.000 claims abstract description 24
- 238000010168 coupling process Methods 0.000 claims abstract description 24
- 238000005859 coupling reaction Methods 0.000 claims abstract description 24
- 238000007789 sealing Methods 0.000 claims abstract description 23
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 238000005457 optimization Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/18—Turning devices for rotatable members, e.g. shafts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/02—Sealings between relatively-stationary surfaces
- F16J15/14—Sealings between relatively-stationary surfaces by means of granular or plastic material, or fluid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
- F21V21/14—Adjustable mountings
- F21V21/30—Pivoted housings or frames
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motor Or Generator Frames (AREA)
Abstract
The invention discloses a kind of oil-filled pressure-compensated formula underwater holder device, including semi-ring, the first screw, the second screw, the 3rd screw, the 4th screw, housing, watertight connector, fixed seat, the 5th screw, spring, piston, spring base, the first sealing ring, stepper motor, first shaft coupling, harmonic speed reducer, second shaft coupling, rotary transformer, the second sealing ring, plug, rolling bearing, end cap, output shaft, the 3rd sealing ring and clamp spring.The beneficial effects of the invention are as follows：Transformer oil is full of inside sealed housing assembly, electric elements inside can be avoided to be contacted with water, Power Component is arranged in sealed housing assembly, for controlling and driving output shaft to rotate, and it is capable of the angle of Real-time Feedback output shaft, oil-filled pressure-compensated component, is sealed housing assembly internal transformer oil increase pressure.The present invention has the characteristics that large torque, high accuracy, the rotation suitable for supporting the equipment such as video camera, headlamp deepwater environment.
Description
Technical field
The present invention relates to a kind of underwater holder device, is specially a kind of oil-filled pressure-compensated formula underwater holder device, belongs to
Submerged applications field.
Background technology
Underwater holder has a wide range of applications on remote underwater robot, it is commonly used in support Underwater Camera and water
Lower headlamp, so that remote underwater robot has the broader observation visual field.To realize the rotary motion under deepwater environment,
Emphasis is needed to solve the problems, such as the dynamic sealing of holder output shaft.Filling type pressure compensation mode solves the dynamic of underwater holder well
Sealing problem, but preferably to serve remote underwater robot, it is also necessary to consider how on the premise of volume minimizes, solution
The certainly large torque of underwater holder, high accuracy, closed-loop control problem.
The content of the invention
The purpose of the present invention is that to solve the above-mentioned problems and provides a kind of oil-filled pressure-compensated formula underwater holder dress
Put.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of oil-filled pressure-compensated formula underwater holder device,
Including housing, fixed seat is set above the housing, watertight connector is set inside the fixed seat, the shell one end is set
Spring base, the spring base inside set the 5th screw, and the spring base side sets spring, and the spring side, which is set, lives
Plug, the piston side set the first sealing ring, and described piston one end sets stepper motor, and described stepper motor one end sets the
One shaft coupling, the first shaft coupling side set harmonic speed reducer, and the second screw is set inside the harmonic speed reducer, described
Harmonic speed reducer side sets second shaft coupling, and the first screw, the second shaft coupling one are set inside the second shaft coupling
End sets rotary transformer, and the rotary transformer side sets the second sealing ring, plug is set above second sealing ring,
Rolling bearing is set above the plug, and the rolling bearing side sets end cap, and the end cap side sets output shaft, described
Output shaft side sets the 3rd sealing ring, and the 3rd sealing ring side sets clamp spring, and described clamp spring one end sets semi-ring.
Preferably, in order to make to be completely embedded between the first shaft coupling and the harmonic speed reducer, first shaft coupling
Connected between device and the harmonic speed reducer by the 3rd screw.
Preferably, in order to enable the spring base to support the spring, the spring base is designed as cylindrical cup-shaped knot
Structure, end face are designed with through hole.
Preferably, in order to make the stepper motor is convenient to install, the 4th is passed through between the stepper motor and the housing
Screw connects.
Preferably, exterior seawater enters enclosure interior in order to prevent, and the piston is under the active force of the spring along axis
To movement, ensure that the enclosure interior pressure moment is more than external seawater pressure.
The beneficial effects of the invention are as follows：Be full of transformer oil inside sealed housing assembly, can avoid electric elements inside and
Water contact, Power Component is arranged in sealed housing assembly, for controlling and driving output shaft to rotate, and can Real-time Feedback it is defeated
The angle of shaft, oil-filled pressure-compensated component, is sealed housing assembly internal transformer oil increase pressure.The present invention has big turn round
The features such as square, high accuracy, the rotation suitable for supporting the equipment such as video camera, headlamp deepwater environment.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is internal cross section structure diagram of the present invention；
In figure：1st, semi-ring, the 2, first screw, the 3, second screw, the 4, the 3rd screw, the 5, the 4th screw, 6, housing, 7, watertight
Connector, 8, fixed seat, the 9, the 5th screw, 10, spring, 11, piston, 12, spring base, the 13, first sealing ring, 14, stepping electricity
Machine, 15, first shaft coupling, 16, harmonic speed reducer, 17, second shaft coupling, 18, rotary transformer, the 19, second sealing ring, 20,
Plug, 21, rolling bearing, 22, end cap, 23, output shaft, the 24, the 3rd sealing ring, 25, clamp spring.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Please refer to Fig.1 shown in -2, a kind of oil-filled pressure-compensated formula underwater holder device, including housing 6, the top of housing 6 are set
Put fixed seat 8, the inside of fixed seat 8 sets watertight connector 7, and 6 one end of housing sets spring base 12, and the inside of spring base 12 sets the
Five screws 9,12 side of spring base set spring 10, and 10 side of spring sets piston 11, and 11 side of piston sets the first sealing ring
13,11 one end of piston sets stepper motor 14, and 14 one end of stepper motor sets first shaft coupling 15, and 15 side of first shaft coupling is set
Harmonic speed reducer 16 is put, the inside of harmonic speed reducer 16 sets the second screw 3, and 16 side of harmonic speed reducer sets second shaft coupling
17, the inside of second shaft coupling 17 sets the first screw 2, and 17 one end of second shaft coupling sets rotary transformer 18, rotary transformer
18 sides set the second sealing ring 19, and the top of the second sealing ring 19 sets plug 20, and the top of plug 20 sets rolling bearing 21, rolling
21 side of dynamic bearing sets end cap 22, and 22 side of end cap sets output shaft 23, and 23 side of output shaft sets the 3rd sealing ring 24, the
Three sealing rings, 24 side sets clamp spring 25, and 25 one end of clamp spring sets semi-ring 1.
As a kind of technical optimization scheme of the present invention, pass through the 3rd spiral shell between first shaft coupling 15 and harmonic speed reducer 16
The connection of nail 4.
As a kind of technical optimization scheme of the present invention, spring base 12 is designed as cylindrical cup-shaped structure, and end face is designed with
Through hole.
As a kind of technical optimization scheme of the present invention, connected between stepper motor 14 and housing 6 by the 4th screw 5.
As a kind of technical optimization scheme of the present invention, piston 11 can be axially movable under 10 active force of spring.
In the use of the present invention, first, housing 6 is process using 6061 aluminium alloys, appearance is in cylinder, and both sides are distinguished
Threaded hole and jump-ring slot are designed with, indoor design has irregular step, and easy to the assembling and fastening with each component, its side has one
Through hole, easy to 7 cabling of watertight connector.Fixed seat 8 is process using 6061 aluminium alloys, and upper surface is smooth flat, following table
Face is arc-shaped curved surface, can be fitted with 6 external cylindrical surface of housing, carries out soldering with housing 6 along being bonded at edge joint, ensures
The leakproofness of welding, is designed with a threaded hole in fixed seat 8, comes round with 6 upper side through hole of housing, and threaded hole is connected for watertight
The installation of device 7 is fixed.End cap 22 is used to support the rotary motion of output shaft 23, is respectively designed with its side and middle circular-hole internal-wall
Two seals groove, is designed with two through holes on its end face, is respectively used to realize vacuum pumping and oil-filled operation；Plug 20 is fixed
In on end cap 22, after vacuum pumping and oil-filled operation is completed, blocking through hole on end cap 22 prevents transformer oil from revealing, and takes out true
Sky manipulates can external vacuum pump completion.Clamp spring 25 is installed on housing 6, using 316L stainless steels, for limiting end cap 22
Axial movement.Stepper motor 14 selects the serial two-phase stepper motor in general 42, it is arranged inside housing 6, is output shaft
The power source of 23 rotary motions.First shaft coupling 15 is process using 316L stainless steels, is subtracted for stepper motor 14 with harmonic wave
The power transmission of fast device 16 (model LCD-17-50-C-I-ST), the centre of first shaft coupling 15 are D-shaped hole and stepper motor 14
It is engaged.The stator of rotary transformer 18 (model TS2640N321E64) passes through interference fit and housing 6 by two semi-rings 1
Fixed, its rotor is fixed by being interference fitted with output shaft 23, it is used for the absolute angle of Real-time Feedback output shaft 23.Watertight connects
Device 7 (the flat 10 core watertight connector of model SeaconFAWM-10P-BC-R/A types) is connect, for rotary transformer 18 and stepping
The transmission of 14 electric signal of motor.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of oil-filled pressure-compensated formula underwater holder device, including housing (6), it is characterised in that：Set above the housing (6)
Fixed seat (8) to be put, watertight connector (7) is set inside the fixed seat (8), described housing (6) one end sets spring base (12),
5th screw (9) is set inside the spring base (12), and spring base (12) side sets spring (10), the spring (10)
Side sets piston (11), and piston (11) side sets the first sealing ring (13), and described piston (11) one end sets stepping
Motor (14), described stepper motor (14) one end set first shaft coupling (15), and first shaft coupling (15) side sets humorous
Ripple retarder (16), the harmonic speed reducer (16) is internal to set the second screw (3), and harmonic speed reducer (16) side is set
Second shaft coupling (17), the second shaft coupling (17) is internal to set the first screw (2), and described second shaft coupling (17) one end is set
Rotary transformer (18) is put, rotary transformer (18) side sets the second sealing ring (19), second sealing ring (19)
Top sets plug (20), and rolling bearing (21) is set above the plug (20), and rolling bearing (21) side sets end
Cover (22), end cap (22) side sets output shaft (23), and output shaft (23) side sets the 3rd sealing ring (24), institute
State the 3rd sealing ring (24) side and clamp spring (25) is set, described clamp spring (25) one end sets semi-ring (1).
A kind of 2. oil-filled pressure-compensated formula underwater holder device according to claim 1, it is characterised in that：Described first
It is connected between axis device (15) and the harmonic speed reducer (16) by the 3rd screw (4).
A kind of 3. oil-filled pressure-compensated formula underwater holder device according to claim 1, it is characterised in that：The spring base
(12) cylindrical cup-shaped structure is designed as, end face is designed with through hole.
A kind of 4. oil-filled pressure-compensated formula underwater holder device according to claim 1, it is characterised in that：The stepping electricity
It is connected between machine (14) and the housing (6) by the 4th screw (5).
A kind of 5. oil-filled pressure-compensated formula underwater holder device according to claim 1, it is characterised in that：The piston
(11) can be axially movable under the spring (10) active force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711221860.8A CN107990094B (en) | 2017-11-29 | 2017-11-29 | A kind of oil-filled pressure-compensated formula underwater holder device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711221860.8A CN107990094B (en) | 2017-11-29 | 2017-11-29 | A kind of oil-filled pressure-compensated formula underwater holder device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107990094A true CN107990094A (en) | 2018-05-04 |
| CN107990094B CN107990094B (en) | 2019-11-29 |
Family
ID=62033975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711221860.8A Expired - Fee Related CN107990094B (en) | 2017-11-29 | 2017-11-29 | A kind of oil-filled pressure-compensated formula underwater holder device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107990094B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087089A (en) * | 2020-09-09 | 2020-12-15 | 哈尔滨工业大学 | Large-torque deep sea motor |
| CN113619757A (en) * | 2021-08-02 | 2021-11-09 | 西北工业大学 | Pressure self-adaptation oil-filled steering engine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| KR20100111151A (en) * | 2009-04-06 | 2010-10-14 | (주) 파티마엔지니어링 | Device for washing front window of underwater moving-camera |
| CN104595647A (en) * | 2015-01-19 | 2015-05-06 | 上海海事大学 | Underwater cloud deck device and control method |
| KR20150143927A (en) * | 2014-06-13 | 2015-12-24 | (주)디. 앤. 엠 | Pan tilt system by wire power transmission mechanism for under water condition |
| CN106927005A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot propulsion plant |
| CN107202232A (en) * | 2017-07-07 | 2017-09-26 | 上海海洋大学 | The complete deep digitlization electric platform in sea |
-
2017
- 2017-11-29 CN CN201711221860.8A patent/CN107990094B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| KR20100111151A (en) * | 2009-04-06 | 2010-10-14 | (주) 파티마엔지니어링 | Device for washing front window of underwater moving-camera |
| KR20150143927A (en) * | 2014-06-13 | 2015-12-24 | (주)디. 앤. 엠 | Pan tilt system by wire power transmission mechanism for under water condition |
| CN104595647A (en) * | 2015-01-19 | 2015-05-06 | 上海海事大学 | Underwater cloud deck device and control method |
| CN106927005A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot propulsion plant |
| CN107202232A (en) * | 2017-07-07 | 2017-09-26 | 上海海洋大学 | The complete deep digitlization electric platform in sea |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087089A (en) * | 2020-09-09 | 2020-12-15 | 哈尔滨工业大学 | Large-torque deep sea motor |
| CN113619757A (en) * | 2021-08-02 | 2021-11-09 | 西北工业大学 | Pressure self-adaptation oil-filled steering engine |
| CN113619757B (en) * | 2021-08-02 | 2023-02-28 | 西北工业大学 | Pressure self-adaptation oil-filled steering engine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107990094B (en) | 2019-11-29 |
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