CN111702808A

CN111702808A - Tripod head device capable of internally routing and three-dimensional scanning equipment robot

Info

Publication number: CN111702808A
Application number: CN202010537181.7A
Authority: CN
Inventors: 陶泽文; 杨元鹏; 祝元林; 陶一锐; 王亚丽; 杜阳; 刘研峰
Original assignee: Future Offshore Intelligent Equipment Shandong Co ltd
Current assignee: Future Offshore Intelligent Equipment Shandong Co ltd
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2020-09-25

Abstract

The invention relates to the field of underwater mechanical equipment, in particular to a tripod head device capable of internally wiring and a three-dimensional scanning equipment robot, the tripod head device capable of internally wiring comprises a support frame, an electric cabin, a cable, a tripod head and scanning equipment are arranged on the support frame, a rotary wiring mechanism is arranged between the tripod head and the scanning equipment, the rotary wiring mechanism comprises a through main shaft, a base, a sliding ring bearing seat, a driven gear, a guide bearing seat, a first watertight plug, a sliding ring, a connecting frame, a bearing, a second watertight plug, a rotary fixing plate, a scanning equipment cable, a driving gear and a driving motor, the through main shaft is hollow, one end of the scanning equipment cable is connected with a control system, the other end of the scanning equipment cable passes through the tripod head and is connected with the scanning equipment, the three-dimensional scanning equipment robot comprises a rack, a propeller and a floating body are fixedly arranged on the rack, the lower, the invention can lead the cable to the inside, avoid the cable winding, and has safe use and high efficiency.

Description

Tripod head device capable of internally routing and three-dimensional scanning equipment robot

Technical Field

The invention relates to the field of underwater mechanical equipment, in particular to a tripod head device capable of routing wires internally and a three-dimensional scanning equipment robot.

Background

In recent years, with the development of economy, more and more underwater projects are put into construction, in the process of underwater project construction, an underwater detection robot is widely used for underwater environment monitoring, project progress and quality monitoring and the like, an underwater imaging robot is widely used for completing tasks such as military strategic deployment, sea area safety inspection and the like besides being used for underwater project monitoring, and imaging systems of the underwater detection robot are generally divided into two categories, namely underwater optical imaging and underwater sonar imaging. Underwater sonar imaging is a technology for imaging by electroacoustic conversion and information processing by utilizing the transmission and reflection characteristics of sound waves in water, and Chinese patent CN207423824U discloses a device for detecting underwater vertical surface scouring defects, which is characterized in that: the device comprises a carrying platform, a holder and detection equipment; the carrying platform is a remote control unmanned submersible vehicle and comprises a frame, a buoyancy block, a propeller and a control system; the platform is a mechanical rotating platform, the detection equipment comprises an optical camera and a three-dimensional imaging sonar, the carrying platform is provided with vertical side fences at two sides of a frame, a horizontal partition plate frame is arranged in the middle of the frame, a control system is fixed on the partition plate frame and is arranged between the mechanical rotating platform and a buoyancy block, the control system is electrically connected with the mechanical rotating platform, the detection equipment and a propeller through cables, the mechanical rotating platform can horizontally rotate 180 degrees, a rotating arm capable of vertically rotating 360 degrees is arranged at the upper part of the mechanical rotating platform, when the device is used, the control system on water transmits electric power and control signals to an underwater robot through an umbilical cable with a certain length and uploads data signals to the control system and outputs the data signals, the detection equipment can realize adjustment of up-down detection elevation angles, and underwater horizontal scanning and 360-degree spherical scanning are ensured, the disadvantages of the above patents: firstly, the control system is electrically connected with the mechanical rotating cradle head, the detection equipment and the propeller through cables, the cables are scattered on the carrying platform and the cradle head, the occupied space is large, the cables are easily wound when the cradle head or the rotating arm rotates, the operation is very inconvenient, the rotation of the cradle head or the rotating arm can be blocked, the shooting sight line is shielded, and the arrangement of personnel is needed, so that the time and the labor are wasted; secondly, although the detection device in the above patent can realize horizontal scanning and 360 ° spherical scanning, at a specific position or angle, it may not be able to pause or further scan; thirdly, the underwater environment is complicated and changeable, more barriers are inevitable, cables can be blocked or wound, and the robot cannot pass through.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides a tripod head device capable of internally wiring, which can internally lead cables, avoid cable winding and sight shielding, is safe and convenient to use, has high working efficiency and wide application range, and a three-dimensional scanning equipment robot.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a cloud platform device of line can inside walk, includes the support frame, be equipped with electric cabin, cable, cloud platform and scanning equipment on the support frame, be equipped with control system in the electric cabin, control system is connected its characterized in that through cable and control box on water: a rotary wiring mechanism is arranged between the holder and the scanning device, the rotary wiring mechanism comprises a wire main shaft, a driven gear, a guide bearing seat, a rotary fixing plate, a driving gear and a driving motor, the wire main shaft is arranged on the support frame, the lower end of the wire main shaft is fixedly connected with the support frame, the wire main shaft is hollow so as to facilitate the cables of each part and the cables of the water control box to pass through the wire main shaft to be connected with a control system, the driven gear and the guide bearing seat are arranged on the wire main shaft, the upper end of the driven gear is fixedly connected with the guide bearing seat, the driven gear is meshed with the driving gear, the driving gear is driven by the driving motor, the driving motor is connected with the control system, the driving motor is fixed on the support frame, the guide bearing seat is fixedly connected with the wire main shaft through a bearing, one end of, the other end is fixedly connected with the scanning equipment so as to be beneficial to driving the driving gear to rotate through the driving motor, the driven gear rotates due to meshing, and then the guide bearing seat is driven to rotate, the guide bearing seat drives the scanning equipment to rotate through the rotating fixing plate, and the scanning and monitoring of the scanning equipment are facilitated.

The invention can also be realized by the following technical scheme:

the utility model provides a cloud platform device of line can inside walk, includes the support frame, be equipped with electric cabin, cable, cloud platform and scanning equipment on the support frame, be equipped with control system in the electric cabin, control system is connected its characterized in that through cable and control box on water: a rotary wiring mechanism is arranged between the holder and the scanning equipment, the rotary wiring mechanism comprises a wiring main shaft, a base, a sliding ring bearing seat, a driven gear, a guide bearing seat, a first watertight plug, a sliding ring, a connecting frame, a bearing, a second watertight plug, a rotary fixing plate, a scanning equipment cable, a driving gear and a driving motor, the supporting frame is provided with a wiring main shaft, the lower end of the wiring main shaft is fixedly connected with the supporting frame, the wiring main shaft is hollow so as to facilitate the cable of an overwater control box to pass through the wiring main shaft to be connected with a control system, the outer wall of the wiring main shaft is sequentially provided with the base, the sliding ring bearing seat, the driven gear and the guide bearing seat from bottom to top, the lower end of the base is fixedly connected with the wiring main shaft in a sealing way, the lower end of the base is fixedly provided with the first watertight plug, the slip ring inner ring is fixedly connected with the lead wire main shaft, the slip ring outer ring is fixedly connected with a slip ring bearing seat through a connecting frame, the lower end of the slip ring bearing seat is hermetically connected with the base through a bearing, the upper end of the slip ring bearing seat is fixedly connected with the lower end of the driven gear, the slip ring bearing seat is hermetically connected with the lead wire main shaft, a lead wire hole is formed in the slip ring bearing seat, a second watertight plug is arranged at the upper end of the slip ring bearing seat, watertight plug through holes are respectively formed in the driven gear and the guide bearing seat, the second watertight plug penetrates through the watertight plug through holes to be fixedly connected with the slip ring bearing seat, one end of a cable of the scanning equipment is connected with the control system through a first watertight plug, the other end of the cable penetrates through the lead wire hole in the base to be connected with the slip, Scanning equipment cable and scanning equipment synchronous revolution, no cable winding phenomenon, driven gear upper end and direction bearing frame fixed connection, driven gear and drive gear meshing, drive gear is driven by driving motor, driving motor is connected with control system, driving motor fixes on the support frame, direction bearing frame is through bearing and lead to line main shaft fixed connection, rotatory fixed plate one end and direction bearing frame fixed connection, the other end and scanning equipment fixed connection to it is rotatory to do benefit to drive gear through driving motor, and driven gear is rotatory because of the meshing, and then drives direction bearing frame, sliding ring bearing frame rotatory, and the direction bearing frame drives scanning equipment rotatory, makes things convenient for scanning equipment scanning and monitoring.

The invention is characterized in that an X-direction rotating mechanism is arranged between a rotating fixed plate and scanning equipment, the X-direction rotating mechanism comprises a sleeve, an X-direction driving motor, a rotating main shaft, a sensor rotating shaft, a bearing seat, an X-axis angle sensor, a sensor fixed cylinder and a connecting plate, the outer wall of the sleeve is fixedly connected with the rotating fixed plate, the sleeve is internally provided with the X-direction driving motor and the X-axis angle sensor, one end of the sleeve is provided with the rotating main shaft, the other end of the sleeve is provided with the sensor rotating shaft, the X-direction driving motor is connected with a control system, the X-direction driving motor is fixedly connected with the inner wall of the sleeve, the rotating main shaft is fixedly connected with an output shaft of the X-direction driving motor, the rotating main shaft is hermetically connected with the inner wall of the sleeve through the bearing and the bearing seat, the sensor rotating shaft, x axle angle sensor is through the fixed section of thick bamboo of sensor and sleeve fixed connection, X axle angle sensor is connected with control system, the connecting plate is the U type, the sleeve is arranged in between the connecting plate both ends, connecting plate both ends and rotating spindle and sensor rotation axis fixed connection, in the middle of the connecting plate with scanning device fixed connection to do benefit to through X rotatory to driving motor drive rotating spindle, rotating spindle drives the connecting plate rotatory, and the connecting plate drives scanning device rotatory, realizes that scanning device is rotatory around the sleeve axle center, detects X through X axle angle sensor simultaneously to driving motor's rotation angle.

The lower end of the support frame is provided with the travelling mechanism which is a crawler travelling mechanism or a wheel type travelling mechanism, so that the whole device can travel according to the operation requirement.

The walking mechanism comprises a driving motor cabin, a crawler driving wheel, crawler supporting beams, crawler supporting wheels and a crawler, wherein the crawler supporting beams are respectively arranged on two sides of the supporting frame and fixedly connected with the supporting frame, the crawler supporting beams are provided with the crawler supporting wheels matched with the crawler at intervals, the crawler supporting wheels are connected with the crawler supporting beams through supporting shafts and bearings, the crawler driving wheel is meshed with the crawler, the crawler driving wheel is arranged on the crawler supporting beams and driven by a motor in a driving motor cabin, and the driving motor cabin is connected with a control system so as to be beneficial to driving the whole device to walk or cross obstacles through the crawler.

The driving motor is provided with the angle detection mechanism, the angle detection mechanism comprises a transmission mechanism, a connecting shaft and a rotation angle sensor, the transmission mechanism is driven by the driving motor, the connecting shaft of the rotation angle sensor is connected with the transmission mechanism, the rotation angle sensor is fixed on a shell of the driving motor, and the rotation angle sensor is connected with a control system so as to be beneficial to detecting the rotation angle of the driving motor through the rotation angle sensor.

The transmission mechanism comprises a sensor driving gear and a sensor driven gear, the sensor driving gear is fixedly connected with an output shaft of a driving motor, the sensor driving gear and the sensor driven gear are meshed with each other or are connected through a belt for synchronous transmission, a connecting shaft of the rotation angle sensor is fixedly connected with the sensor driven gear so as to facilitate the rotation of the sensor driven gear along with the sensor driving gear, and the rotation angle sensor detects the rotation angle of the driving motor through the driven gear.

The rotary wiring mechanism also comprises a supporting sleeve and a balancing weight, wherein the supporting sleeve is positioned between the sliding ring bearing seat and the driven gear, the upper end of the supporting sleeve is fixedly connected with the driven gear, the lower end of the supporting sleeve is fixedly connected with the sliding ring bearing seat, the balancing weight is arranged on the opposite side of the scanning equipment on the sliding ring bearing seat, and the balancing weight is fixedly connected with the sliding ring bearing seat, so that when the scanning equipment rotates, the balancing weight rotates along with the sliding ring bearing seat, the gravity center of the scanning equipment and the cloud platform is ensured to be always positioned on the Z-direction rotating axis of the cloud platform, and the.

The invention is characterized in that a motor sleeve is arranged on a driving motor, a driving gear protective shell is arranged on the driving gear, a driven gear protective mechanism is arranged on the driven gear, the driving motor is fixed in the motor sleeve, the lower end of the motor sleeve is fixedly connected with a support frame, the driving gear protective shell covers the driving gear, the lower end of the driving gear protective shell is fixedly connected with the motor sleeve, the driven gear protective mechanism comprises a left protective shell, a right protective shell and a shell support, the lower end of the shell support is fixedly connected with the support frame, the left protective shell and the right protective shell are oppositely covered on the driven gear, one end of the left protective shell and one end of the right protective shell are respectively hinged with the shell support, the other end of the left protective shell and the other end of the right protective shell are oppositely, through protective housing protection gear, when the gear needs the maintenance simultaneously, rotate scanning apparatus to casing support end, take off the fixed pin, can open left protective housing or right protective housing, directly carry out the gear and maintain.

According to the invention, the upper end of the wire main shaft is provided with the hoisting frame, and the lower end of the hoisting frame is fixedly connected with the wire main shaft, so that integral hoisting is facilitated.

The utility model provides a three-dimensional scanning equipment robot, includes the frame, fixed propeller and the body that is equipped with in the frame, its characterized in that: the lower end of the rack is provided with the above cradle head device capable of routing inside, the upper end of the support frame is fixedly connected with the rack, the rotary fixing plate and the scanning equipment are arranged at the upper end of the rack, the propeller is connected with the control system so as to be beneficial to realizing the actions of floating, sinking, advancing, retreating, left-right bow turning and depth setting of the robot through the propeller, and the depth of the robot in water is adjusted through the floating body.

The camera and the illuminating lamp are arranged on the frame and are respectively connected with the control system, so that the illuminating lamp can illuminate the frame, and the camera can shoot underwater images.

By adopting the structure, the invention has the advantages of internal cable communication, cable winding prevention, sight line shielding, safe and convenient use, high working efficiency, wide application range and the like.

Drawings

Fig. 1 is a schematic structural diagram of a pan/tilt head device capable of routing wires internally according to the present invention.

Fig. 2 is a schematic structural diagram of a pan/tilt head and a scanning device according to the present invention.

Fig. 3 is a cross-sectional view of the head of fig. 2 in accordance with the present invention.

Fig. 4 is a schematic structural diagram of the angle detecting mechanism of the present invention.

Fig. 5 is a schematic structural view of the X-direction rotating mechanism of the present invention.

FIG. 6 is a side view of FIG. 1 of the present invention

Fig. 7 is a bottom view of fig. 1 of the present invention.

Fig. 8 is a schematic structural diagram of a three-dimensional scanning apparatus robot in the present invention.

Fig. 9 is a schematic structural diagram of a camera and an illumination lamp in the three-dimensional scanning device robot in the invention.

Fig. 10 is another schematic structure diagram of the pan/tilt head and the scanning device of the present invention.

In the figure: the device comprises a support frame 1, an electric cabin 2, a tripod head 3, a scanning device 4, a rotary wiring mechanism 5, a wire passing spindle 6, a base 7, a slip ring bearing seat 8, a driven gear 9, a guide bearing seat 10, a first watertight plug 11, a slip ring 12, a connecting frame 13, a second watertight plug 14, a rotary fixing plate 15, a scanning device cable 16, a driving gear 17, a driving motor 18, a wire passing hole 19, a watertight plug through hole 20, a detection angle mechanism 21, a sensor driving gear 22, a sensor driven gear 23, a rotation angle sensor 24, an X-direction rotation mechanism 25, a sleeve 26, an X-direction driving motor 27, a rotary spindle 28, a sensor rotary shaft 29, an X-axis angle sensor 30, a sensor fixing cylinder 31, a connecting plate 32, a walking mechanism 33, a driving motor cabin 34, a track driving wheel 35, a track supporting beam 36, a track supporting wheel 37, a, balancing weight 40, motor sleeve 41, drive gear protective housing 42, driven gear protection mechanism 43, left protective housing 44, right protective housing 45, shell support 46, hoist and mount frame 47, frame 48, propeller 49, camera 50, light 51.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

The utility model provides a cloud platform device of line can inside walk, includes support frame 1, be equipped with electric cabin 2, cable, cloud platform 3 and scanning equipment 4 on the support frame 1, be equipped with control system in the electric cabin 2, control system is connected its characterized in that through cable and control box on water: a rotary wiring mechanism 5 is arranged between the holder 3 and the scanning device 4, the rotary wiring mechanism 5 comprises a wire main shaft 6, a driven gear 9, a guide bearing seat 10, a rotary fixing plate 15, a driving gear 17 and a driving motor 18, the wire main shaft 6 is arranged on the support frame 1, the lower end of the wire main shaft 6 is fixedly connected with the support frame 1, the wire main shaft 6 is hollow so as to facilitate the cables of all the parts and the cables of the water control box to pass through the wire main shaft to be connected with a control system, the driven gear 9 and the guide bearing seat 10 are arranged on the wire main shaft 6, the upper end of the driven gear 9 is fixedly connected with the guide bearing seat 10, the driven gear 9 is meshed with the driving gear 17, the driving gear 17 is driven by the driving motor 18, the driving motor 18 is connected with the control system, and the driving motor 18 is fixed on, the direction bearing frame 10 is through bearing and 6 fixed connection of full line main shaft, 15 one ends of rotatory fixed plate and direction bearing frame 10 fixed connection, the other end and scanning equipment 4 fixed connection to it is rotatory to do benefit to drive gear through driving motor, and driven gear is rotatory because of the meshing, and then drives the direction bearing frame rotatory, and the direction bearing frame drives scanning equipment rotatory through rotation fixed plate, makes things convenient for scanning equipment scanning and monitoring.

The invention can also be realized by the following technical scheme:

the utility model provides a cloud platform device of line can inside walk, includes support frame 1, be equipped with electric cabin 2, cable, cloud platform 3 and scanning equipment 4 on the support frame 1, be equipped with control system in the electric cabin 2, control system is connected its characterized in that through cable and control box on water: a rotary wiring mechanism 5 is arranged between the holder 3 and the scanning device 4, the rotary wiring mechanism 5 comprises a wire main shaft 6, a base 7, a sliding ring bearing seat 8, a driven gear 9, a guide bearing seat 10, a first watertight plug 11, a sliding ring 12, a connecting frame 13, a bearing, a second watertight plug 14, a rotary fixing plate 15, a scanning device cable 16, a driving gear 17 and a driving motor 18, the supporting frame 1 is provided with the wire main shaft 6, the lower end of the wire main shaft 6 is fixedly connected with the supporting frame 1, the wire main shaft 6 is hollow so as to facilitate a cable of an above-water control box to pass through the wire main shaft and be connected with a control system, the outer wall of the wire main shaft 6 is sequentially provided with the base 7, the sliding ring bearing seat 8, the driven gear 9 and the guide bearing seat 10 from bottom to top, the lower end of the base 7 is fixedly connected with the wire main shaft 6 in a sealing way, the base 7 is provided with a through hole 19, a slip ring 12 is arranged between the base 7 and the through main shaft 6, the inner ring of the slip ring 12 is fixedly connected with the through main shaft 6, the outer ring of the slip ring 12 is fixedly connected with a slip ring bearing seat 8 through a connecting frame 13, the lower end of the slip ring bearing seat 8 is hermetically connected with the base 7 through a bearing, the upper end of the slip ring bearing seat 8 is fixedly connected with the lower end of a driven gear 9, the slip ring bearing seat 8 is hermetically connected with the through main shaft 6, the slip ring bearing seat 8 is provided with the through hole 19, the upper end of the slip ring bearing seat 8 is provided with a second watertight plug 14, watertight plug through holes 20 are respectively arranged on the driven gear 9 and a guide bearing seat 10, the second watertight plug 14 passes through the watertight plug through hole 20 to be fixedly connected with the slip ring bearing seat 8, one end of a cable 16 of the scanning device is connected, the through hole 19 penetrating through the sliding ring bearing seat 8 is connected with the scanning device 4 through the second watertight plug 14, so that the sliding ring bearing seat drives the connecting frame, the sliding ring outer ring, a scanning device cable and the scanning device to synchronously rotate without a cable winding phenomenon, the upper end of the driven gear 9 is fixedly connected with the guide bearing seat 10, the driven gear 9 is meshed with the driving gear 17, the driving gear 17 is driven by the driving motor 18, the driving motor 18 is connected with the control system, the driving motor 18 is fixed on the supporting frame 1, the guide bearing seat 10 is fixedly connected with the through main shaft 6 through a bearing, one end of the rotary fixing plate 15 is fixedly connected with the guide bearing seat 10, the other end of the rotary fixing plate is fixedly connected with the scanning device 4, so that the driving gear is driven to rotate through the driving motor, the driven gear rotates due to meshing, and then, the guide bearing seat drives the scanning equipment to rotate, and the scanning and monitoring of the scanning equipment are facilitated.

An X-direction rotating mechanism 25 is arranged between a rotating fixing plate 15 and a scanning device 4, the X-direction rotating mechanism 25 comprises a sleeve 26, an X-direction driving motor 27, a rotating main shaft 28, a sensor rotating shaft 29, a bearing seat, an X-axis angle sensor 30, a sensor fixing barrel 31 and a connecting plate 32, the outer wall of the sleeve 26 is fixedly connected with the rotating fixing plate 15, the X-direction driving motor 27 and the X-axis angle sensor 30 are arranged in the sleeve 26, one end of the sleeve 26 is provided with the rotating main shaft 28, the other end of the sleeve 26 is provided with the sensor rotating shaft 29, the X-direction driving motor 27 is connected with a control system, the X-direction driving motor 27 is fixedly connected with the inner wall of the sleeve 26, the rotating main shaft 28 is fixedly connected with an output shaft of the X-direction driving motor 27, the rotating main shaft 28 is hermetically connected with the, Bearing frame and sleeve 26 inner wall sealing connection, X axle angle sensor 30's connecting axle and sensor rotation axis 29 fixed connection, X axle angle sensor 30 is through the fixed section of thick bamboo 31 of sensor and sleeve 26 fixed connection, X axle angle sensor 30 is connected with control system, connecting plate 32 is the U type, sleeve 26 is arranged in between connecting plate 32 both ends, connecting plate 32 both ends and rotating spindle 28 and sensor rotation axis 29 fixed connection, and connecting plate 32 middle and scanning device 4 fixed connection to it is rotatory to the driving motor drive rotating spindle to do benefit to through X, and rotating spindle drives the connecting plate rotatory, and the connecting plate drives scanning device rotatory, realizes that scanning device is rotatory around the sleeve axle center, detects X through X axle angle sensor simultaneously to driving motor's rotation angle.

The lower end of the support frame is provided with the travelling mechanism 33, and the travelling mechanism 33 is a crawler travelling mechanism or a wheel type travelling mechanism, so that the whole device can travel according to the operation requirement.

The walking mechanism 33 comprises a driving motor cabin 34, a track driving wheel 35, track supporting beams 36, track supporting wheels 37 and a track 38, wherein the track supporting beams 36 are respectively arranged at two sides of the support frame 1, the track supporting beams 36 are fixedly connected with the support frame 1, the track supporting beams 36 are provided with the track supporting wheels 37 matched with the track 38 at intervals, the track supporting wheels 37 are connected with the track supporting beams 36 through supporting shafts and bearings, the track driving wheel 35 is meshed with the track 38, the track driving wheel 35 is arranged on the track supporting beams 36 and driven by a motor in the driving motor cabin 34, and the driving motor cabin 34 is connected with a control system so as to be beneficial to driving the whole device to walk or cross obstacles through the track.

The driving motor 18 is provided with a detection angle mechanism 21, the detection angle mechanism 21 comprises a transmission mechanism, a connecting shaft and a rotation angle sensor 24, the transmission mechanism is driven by the driving motor 18, the connecting shaft of the rotation angle sensor 24 is connected with the transmission mechanism, the rotation angle sensor 24 is fixed on the shell of the driving motor 18, and the rotation angle sensor 24 is connected with a control system so as to be beneficial to the rotation angle sensor to detect the rotation angle of the driving motor.

The transmission mechanism comprises a sensor driving gear 22 and a sensor driven gear 23, the sensor driving gear 22 is fixedly connected with an output shaft of the driving motor 18, the sensor driving gear 22 and the sensor driven gear 23 are meshed with each other or are connected through a belt for synchronous transmission, a connecting shaft of the rotation angle sensor 24 is fixedly connected with the sensor driven gear 23, the sensor driven gear can rotate along with the sensor driving gear, and the rotation angle sensor can detect the rotation angle of the driving motor through the driven gear.

The rotary routing mechanism 5 further comprises a supporting sleeve 39 and a balancing weight 40, the supporting sleeve 39 is located between the sliding ring bearing seat 8 and the driven gear 9, the upper end of the supporting sleeve 39 is fixedly connected with the driven gear 9, the lower end of the supporting sleeve is fixedly connected with the sliding ring bearing seat 8, the balancing weight 40 is arranged on the opposite side, located on the scanning equipment 4, of the sliding ring bearing seat 8, and the balancing weight 40 is fixedly connected with the sliding ring bearing seat 8, so that when the scanning equipment rotates, the balancing weight rotates along with the sliding ring bearing seat, the gravity center of the scanning equipment and the cradle head is ensured to be always located on the Z-direction rotating axis of the cradle head.

According to the invention, a motor sleeve 41 is arranged on a driving motor 18, a driving gear protective shell 42 is arranged on a driving gear 17, a driven gear protective mechanism 43 is arranged on a driven gear 9, the driving motor 18 is fixed in the motor sleeve 41, the lower end of the motor sleeve 41 is fixedly connected with a support frame 1, the driving gear protective shell 42 covers the driving gear 17, the lower end of the driving gear protective shell 42 is fixedly connected with the motor sleeve 41, the driven gear protective mechanism 43 comprises a left protective shell 44, a right protective shell 45 and a shell support 46, the lower end of the shell support 46 is fixedly connected with the support frame 1, the left protective shell 44 and the right protective shell 45 are relatively covered on the driven gear 9, one end of the left protective shell 44 and one end of the right protective shell 45 are respectively hinged with the shell support 46, the other end of the left protective shell 44 and the other end, in order to do benefit to through motor sleeve protection driving motor, through protective housing protection gear, when the gear needs the maintenance simultaneously, rotate scanning apparatus to casing support end, take off the fixed pin, can open left protective housing or right protective housing, directly carry out the gear and maintain.

The upper end of the main line shaft 6 is provided with a hoisting frame 47, and the lower end of the hoisting frame 47 is fixedly connected with the main line shaft 6, so that integral hoisting is facilitated.

A three-dimensional scanning equipment robot, includes frame 48, fixed propeller 49 and the body that is equipped with on frame 48, its characterized in that: the lower end of the frame 48 is provided with the above cradle head device capable of routing inside, the upper end of the support frame 1 is fixedly connected with the frame 48, the rotary fixing plate 15 and the scanning equipment 4 are arranged at the upper end of the frame 48, and the propeller 49 is connected with the control system, so that the robot can float, sink, advance, retreat, turn left and right and perform fixed-depth actions through the propeller, and the depth of the robot in water can be adjusted through the floating body.

The frame 48 is provided with a camera 50 and an illuminating lamp 51, the camera 50 and the illuminating lamp 51 are respectively connected with a control system, so that illumination through the illuminating lamp is facilitated, and the camera shoots underwater images.

FIG. 1-FIG. 7 are schematic views of the tripod head device with internal wiring according to the present invention, wherein the cradle head device has two wiring manners, one is that the cables of the components on the frame, such as the scanning device and the water control box, pass through the main shaft of the wiring and enter the support frame to be connected with the control system, the other is that the cables of the water control box are connected with the control system through the main shaft of the wiring, the cables of the scanning device are connected with the slip ring through the second watertight plug and then are connected with the control system through the first watertight plug, the cables of the scanning device can rotate synchronously with the scanning device, in addition, the cables between the control system and the water control box can also be connected with the cable car to facilitate the control of the cables, the scanning device can be a sonar or a camera, the lower end of the main shaft of the wiring can be provided with a shaft baffle plate, the middle of the shaft baffle plate is provided with a through hole, the lower end is fixedly connected with the support frame, the lower end of the base is fixedly connected with the shaft baffle and the through wire main shaft, the through wire holes can be formed in the base and the shaft baffle, one end of a scanning device cable on the scanning device is connected with the control system through a first watertight plug, the other end of the scanning device cable penetrates through the through wire holes in the base and the shaft baffle to be connected with the sliding ring, and then the through wire holes in the sliding ring bearing seat are connected with the scanning device through a second watertight plug, so that the scanning device cable is wired in the cradle head, the external space cannot be occupied, the scanning device cable and the scanning device rotate synchronously, the cable winding phenomenon cannot occur, and the rotation of the scanning device cannot be shielded or blocked, compared with the prior art, the invention has the advantages: firstly, cables connected between the overwater control box and a control system of the tripod head device capable of routing wires inside and scanning equipment cables between the control system and the scanning equipment can be arranged inside the tripod head, so that the cables are prevented from occupying external space, meanwhile, the cables cannot be wound due to rotation of the tripod head, and in addition, because the cables are arranged inside the tripod head, underwater obstacles such as aquatic weeds and the like cannot be wound, time and labor are saved, and the underwater scanning and monitoring efficiency is indirectly improved; the scanning equipment is provided with an angle detection mechanism and an X-direction rotating mechanism, so that the specific angle and position of the scanning equipment can be stopped and rotated, and the scanning and shooting at any angle can be realized; thirdly, the travelling mechanism is arranged below the support frame, so that the tripod head device capable of internally wiring can cross various obstacles through the travelling mechanism when facing complicated underwater working conditions, and scanning and shooting of scanning equipment are facilitated; FIG. 8-FIG. 9 are schematic structural views of a three-dimensional scanning device robot, the robot body is provided with six propellers, four horizontal propellers and two vertical propellers, the robot can realize the actions of floating, sinking, advancing, retreating, turning left and right, and depthkeeping, a camera comprises a motor cabin and a camera, a laser scale can be additionally arranged as required to measure the size of an underwater target object, the camera and the laser scale can rotate 360 degrees along a Z axis and can rotate 90 degrees to 90 degrees along an X axis, a camera device can feed back an underwater small-range image to a control box, the three-dimensional scanning device can feed back a large-range underwater image to the control box, the scanning device can rotate 360 degrees along with a rotating fixing plate and can rotate 90 degrees to 90 degrees along the X axis through a sleeve, FIG. 10 is another schematic structural view of a cradle head and the scanning device, and can be installed on the three-dimensional scanning device robot, the support sleeve is additionally arranged between the sliding ring bearing seat and the driven gear, so that the cradle head can conveniently penetrate through the rack, the upper end of the cradle head is exposed out of the rack, meanwhile, the balancing weight is additionally arranged, the balancing weight rotates along with the sliding ring bearing seat, the gravity center of the scanning device and the cradle head is ensured to be always positioned on the Z-direction rotating axis of the cradle head, the gravity center is ensured not to be deviated, in addition, the lower end of the rack of the robot can be provided with a walking mechanism according to needs, the walking mechanism can realize the walking of the robot and the climbing over various obstacles, the robot can also be provided with an optical transceiver according to the cable length required by.

Claims

1. The utility model provides a cloud platform device of line can inside walk, includes support frame (1), be equipped with electric cabin (2), cable, cloud platform (3) and scanning equipment (4) on support frame (1), be equipped with control system in electric cabin (2), control system is connected its characterized in that through cable and above-water control box: the cradle head (3) is provided with a rotary wiring mechanism (5), the rotary wiring mechanism (5) comprises a wire passing main shaft (6), a driven gear (9), a guiding bearing seat (10), a rotary fixing plate (15), a driving gear (17) and a driving motor (18), the supporting frame (1) is provided with the wire passing main shaft (6), the lower end of the wire passing main shaft (6) is fixedly connected with the supporting frame (1), the wire passing main shaft (6) is hollow, the wire passing main shaft (6) is provided with the driven gear (9) and the guiding bearing seat (10), the upper end of the driven gear (9) is fixedly connected with the guiding bearing seat (10), the driven gear (9) is meshed with the driving gear (17), the driving gear (17) is driven by the driving motor (18), the driving motor (18) is connected with a control system, the driving motor (18) is fixed on the supporting frame (1), the guide bearing seat (10) is fixedly connected with the wire main shaft (6) through a bearing, one end of the rotary fixing plate (15) is fixedly connected with the guide bearing seat (10), and the other end of the rotary fixing plate is fixedly connected with the scanning equipment (4).

2. The utility model provides a cloud platform device of line can inside walk, includes support frame (1), be equipped with electric cabin (2), cable, cloud platform (3) and scanning equipment (4) on support frame (1), be equipped with control system in electric cabin (2), control system is connected its characterized in that through cable and above-water control box: the cradle head (3) is provided with a rotary wiring mechanism (5), the rotary wiring mechanism (5) comprises a main wire connecting shaft (6), a base (7), a sliding ring bearing seat (8), a driven gear (9), a guide bearing seat (10), a first watertight plug (11), a sliding ring (12), a connecting frame (13), a bearing, a second watertight plug (14), a rotary fixing plate (15), a scanning equipment cable (16), a driving gear (17) and a driving motor (18), the support frame (1) is provided with the main wire connecting shaft (6), the lower end of the main wire connecting shaft (6) is fixedly connected with the support frame (1), the main wire connecting shaft (6) is hollow, the outer wall of the main wire connecting shaft (6) is sequentially provided with the base (7), the sliding ring bearing seat (8), the driven gear (9) and the guide bearing seat (10) from bottom to top, the lower end of the base (7) is fixedly connected with the main wire connecting shaft, a first watertight plug (11) is fixedly arranged at the lower end of the base (7), a through hole (19) is formed in the base (7), a sliding ring (12) is arranged between the base (7) and the through main shaft (6), the inner ring of the sliding ring (12) is fixedly connected with the through main shaft (6), the outer ring of the sliding ring (12) is fixedly connected with a sliding ring bearing seat (8) through a connecting frame (13), the lower end of the sliding ring bearing seat (8) is hermetically connected with the base (7) through a bearing, the upper end of the sliding ring bearing seat is fixedly connected with the lower end of the driven gear (9), the sliding ring bearing seat (8) is hermetically connected with the through main shaft (6), the through hole (19) is formed in the sliding ring bearing seat (8), a second watertight plug (14) is arranged at the upper end of the sliding ring bearing seat (8), watertight plug through holes (20) are respectively formed in, the second watertight plug (14) penetrates through a watertight plug through hole (20) to be fixedly connected with a slip ring bearing seat (8), one end of a scanning device cable (16) is connected with a control system through a first watertight plug (11), the other end of the scanning device cable penetrates through a through hole (19) in a base (7) to be connected with a slip ring (12), the scanning device cable penetrates through the through hole (19) in the slip ring bearing seat (8) to be connected with a scanning device (4) through the second watertight plug (14), the upper end of a driven gear (9) is fixedly connected with a guide bearing seat (10), the driven gear (9) is meshed with a driving gear (17), the driving gear (17) is driven by a driving motor (18), the driving motor (18) is connected with the control system, the driving motor (18) is fixed on a support frame (1), and the guide bearing seat (10) is fixedly connected with a through main shaft (6) through a bearing, one end of the rotary fixing plate (15) is fixedly connected with the guide bearing seat (10), and the other end of the rotary fixing plate is fixedly connected with the scanning equipment (4).

3. An internally routable pan-tilt apparatus according to claim 1 or 2, wherein: an X-direction rotating mechanism (25) is arranged between the rotary fixing plate (15) and the scanning device (4), the X-direction rotating mechanism (25) comprises a sleeve (26), an X-direction driving motor (27), a rotary main shaft (28), a sensor rotating shaft (29), a bearing seat, an X-axis angle sensor (30), a sensor fixing barrel (31) and a connecting plate (32), the outer wall of the sleeve (26) is fixedly connected with the rotary fixing plate (15), the sleeve (26) is internally provided with the X-direction driving motor (27) and the X-axis angle sensor (30), one end of the sleeve (26) is provided with the rotary main shaft (28), the other end of the sleeve (26) is provided with the sensor rotating shaft (29), the X-direction driving motor (27) is connected with a control system, the X-direction driving motor (27) is fixedly connected with the inner wall of the sleeve (26), and the rotary main shaft (28) is fixedly, rotatory main shaft (28) are through bearing, bearing frame and sleeve (26) inner wall sealing connection, sensor rotation axis (29) are through bearing, bearing frame and sleeve (26) inner wall sealing connection, the connecting axle and sensor rotation axis (29) fixed connection of X axle angle sensor (30), X axle angle sensor (30) are through the fixed section of thick bamboo of sensor (31) and sleeve (26) fixed connection, X axle angle sensor (30) are connected with control system, connecting plate (32) are the U type, connecting plate (32) are arranged in between connecting plate (26) both ends in sleeve (26), connecting plate (32) both ends and rotatory main shaft (28) and sensor rotation axis (29) fixed connection, in the middle of connecting plate (32) and scanning apparatus (4) fixed connection.

4. An internal routing pan-tilt apparatus according to claim 3, wherein: the lower end of the support frame is provided with a traveling mechanism (33), and the traveling mechanism (33) is a crawler traveling mechanism or a wheel type traveling mechanism.

5. An internal routing pan-tilt apparatus according to claim 4, wherein: running gear (33) are including driving motor cabin (34), track drive wheel (35), track supporting beam (36), track supporting wheel (37) and track (38), support frame (1) both sides are equipped with track supporting beam (36) respectively, track supporting beam (36) and support frame (1) fixed connection, interval installation has track supporting wheel (37) with track (38) matched with on track supporting beam (36), and track supporting wheel (37) are connected with track supporting beam (36) through back shaft, bearing, track drive wheel (35) mesh mutually with track (38), install on track supporting beam (36) track drive wheel (35) and by the motor drive in driving motor cabin (34), driving motor cabin (34) are connected with control system.

6. An internal routing pan-tilt apparatus according to claim 5, wherein: be equipped with on driving motor (18) and detect angle mechanism (21), it includes drive mechanism, connecting axle and rotation angle sensor (24) to detect angle mechanism (21), drive mechanism is driven by driving motor (18), the connecting axle of rotation angle sensor (24) is connected with drive mechanism, rotation angle sensor (24) are fixed on driving motor (18) shell, rotation angle sensor (24) are connected with control system.

7. An internal routing pan-tilt apparatus according to claim 6, wherein: the transmission mechanism comprises a sensor driving gear (22) and a sensor driven gear (23), the sensor driving gear (22) is fixedly connected with an output shaft of the driving motor (18), the sensor driving gear (22) and the sensor driven gear (23) are meshed with each other or are connected through a belt for synchronous transmission, and a connecting shaft of the rotation angle sensor (24) is fixedly connected with the sensor driven gear (23).

8. The internal routing pan-tilt apparatus according to claim 2, wherein: rotatory line mechanism (5) of walking still includes supporting sleeve (39) and balancing weight (40), supporting sleeve (39) are located between sliding ring bearing frame (8) and driven gear (9), supporting sleeve (39) upper end and driven gear (9) fixed connection, lower extreme and sliding ring bearing frame (8) fixed connection, the offside that sliding ring bearing frame (8) are located scanning apparatus (4) is equipped with balancing weight (40), balancing weight (40) and sliding ring bearing frame (8) fixed connection.

9. An internally routable pan-tilt apparatus according to claim 4, 5, 6, 7 or 8, wherein: the automatic bearing driving device is characterized in that a motor sleeve (41) is arranged on the driving motor (18), a driving gear protective shell (42) is arranged on the driving gear (17), a driven gear protective mechanism (43) is arranged on the driven gear (9), the driving motor (18) is fixed in the motor sleeve (41), the lower end of the motor sleeve (41) is fixedly connected with the supporting frame (1), the driving gear protective shell (42) covers the driving gear (17), the lower end of the driving gear protective shell (42) is fixedly connected with the motor sleeve (41), the driven gear protective mechanism (43) comprises a left protective shell (44), a right protective shell (45) and a shell support (46), the lower end of the shell support (46) is fixedly connected with the supporting frame (1), the left protective shell (44) and the right protective shell (45) cover the driven gear (9) relatively, one end of the left protective shell (44) and one end of the right protective shell (45) are respectively hinged, the other end of the left protective shell (44) and the other end of the right protective shell (45) are relatively abutted against the motor sleeve (41) and fixed through a fixing pin.

10. An internal routable pan-tilt apparatus according to claim 9, wherein: the upper end of the main line shaft (6) is provided with a hoisting frame (47), and the lower end of the hoisting frame (47) is fixedly connected with the main line shaft (6).

11. The utility model provides a three-dimensional scanning equipment robot, includes frame (48), fixed propeller (49) and the body of being equipped with on frame (48), its characterized in that: the internal routing cradle head device of any one of claims 1, 2, 4-8 and 10 is arranged at the lower end of the rack (48), the upper end of the support frame (1) is fixedly connected with the rack (48), the rotary fixing plate (15) and the scanning device (4) are arranged at the upper end of the rack (48), and the propeller (49) is connected with a control system.

12. A three-dimensional scanning device robot according to claim 11, wherein: the frame (48) is provided with a camera (50) and an illuminating lamp (51), and the camera (50) and the illuminating lamp (51) are respectively connected with a control system.