CN201875378U - Underwater electric feedback cloud deck without bulk motion - Google Patents

Abstract

The utility model relates to an underwater electric feedback pan-tilt with no implicated movement, which is used to meet the requirements for carrying camera lights on underwater robots and underwater construction equipment. It includes a sealed cabin with a motor cabin and a bracket for placing the camera. The sealed cabin is provided with a watertight connector for the passage of cables, and it also includes a Pitching mechanism and slewing mechanism; the turbine of the slewing mechanism is installed on the driving rod through the slewing sleeve, and the driving rod is installed on the screw rod through the lifting frame that can be lifted along the screw rod. The driving rod of the pitching mechanism extends out of the lower cover plate and support of the sealed cabin It is connected with the frame, and the rotary sleeve installed on it also extends out of the lower cover, and is connected with the bracket through the connecting rod and the jacket to realize pitching and rotary motion. When the utility model is working, the main structure remains static, and only the necessary output parts move relative to the main structure, which avoids the problem of entanglement and interference of fragile parts such as cables, and improves the reliability of the equipment.

Description

An underwater electric feedback gimbal without implicated motion

technical field

The invention relates to an underwater electric feedback platform with no implicated movement, which is used to meet the requirements for carrying camera lighting lamps on underwater robots and underwater construction equipment.

technical background

At present, most of the electric pan/tilts used in underwater equipment adopt the method of following the movement of the main body of the structure, which has the advantages of simple structure and light weight. Although the structure is simplified, the cables fixed on the main body of the structure also follow the rotation during operation, which is easy to get entangled with the surrounding equipment during the process, causing equipment failure, and because the rotating parts need to be avoided, the pan/tilt itself needs a lot of space, which is wasteful limited space.

Contents of the invention

Aiming at the above-mentioned technical problems, the present invention provides an underwater electric feedback pan-tilt without implicated movement. The main structure of this pan-tilt remains static, and only necessary output components move relative to the main structure, avoiding damage to fragile components such as cables. The winding interference problem is improved, and the reliability of the equipment is improved.

In order to achieve the above object, the technical scheme of the present invention is as follows:

The invention includes a sealed cabin body with a motor cabin and a bracket for placing a camera. The sealed cabin body is provided with a watertight connector for the passage of cables. Connected pitch mechanism and slewing mechanism;

The pitching mechanism includes a fixed cover, a screw, a lifting frame, a drive rod, a support, a second feedback potentiometer, a third bevel gear, a fourth bevel gear and a second motor, and the fourth bevel gear is installed on the output shaft of the second motor The gear and the third bevel gear meshed with it are installed on the screw rod. One end of the screw rod is fixed to the upper cover plate through the fixed cover, and the other end is connected to the second feedback potentiometer through the support. One end of the lifting frame is connected to one end of the driving rod. The other end is installed on the screw rod, and forms a pair of screw pair with the screw rod, moves up and down along the screw rod, and the other end of the driving rod extends out of the lower cover of the cabin body to connect with the bracket;

The slewing mechanism includes the first motor placed in the motor compartment, the first bevel gear, the first feedback potentiometer, the second bevel gear, the worm, the linear bearing, the turbine, the bearing support, the slewing sleeve and the jacket, the first umbrella The gear is installed on the output shaft of the first motor, and the second bevel gear meshed with it is installed at one end of the worm placed on the bearing support. The first feedback potentiometer is coaxially fixed with the second bevel gear, and the rotary sleeve is set through the linear bearing. On the driving rod of the pitching mechanism, the turbine matched with the worm is installed on the rotary sleeve and connected with the rotary sleeve and the linear bearing respectively. Jacket for bracket connection.

The airtight cabin includes an upper cover plate, two side panels of the cabin body, two motor cabins and a lower cover plate, the two motor cabins communicate with each other and are arranged symmetrically on both side panels, and the inner side of the upper cover plate is respectively opened for placing a fixed cover and a lower cover. The first and second grooves of the gland at the end of the drive rod, the lower cover plate is provided with a slot for installing the rotary sleeve, and the inner wall is also provided with a third groove for placing the second feedback potentiometer, A through hole for installing a watertight connector is also arranged on one side plate of the sealed cabin body.

Beneficial effects of the present invention:

1. The slewing mechanism of the present invention is driven by bevel gears and turbine worms, the pitch mechanism drives the driving rod up and down through the screw and the lifting frame, and the turbine is installed on the driving rod through linear bearings and slewing sleeves. The structure is compact, the space occupied is small, and the underwater The device has limited space resources.

2. When the present invention is working, its main structure remains static, and only the necessary output parts move relative to the main structure without implicated movement, which avoids the problem of entanglement and interference of fragile parts such as cables, and improves the reliability of the equipment. The cable of the invention is stable and reliable after being connected, and is very suitable for underwater construction environments that emphasize safety and reliability.

3. The present invention has simple structure, reliable performance and convenient maintenance.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

FIG. 2 is a schematic cross-sectional view through the axis of the motor in FIG. 1 .

Fig. 3 is a side view partial sectional view of the structure of the present invention.

In the figure: 1. Upper cover, 2. Cabin, 3. Motor compartment, 4. Fixed cover, 5. First bearing, 6. Linear bearing, 7. Turbine, 8. Rotary bearing, 9. Lower cover, 10. Jacket, 11. Swivel sleeve, 12. Connecting rod, 13. Driving rod, 14. Bracket, 15. First mounting sleeve, 16. First motor, 17. First bevel gear, 18. First feedback Potentiometer, 19. the second bevel gear, 20. bearing support, 21. worm, 22. the second bearing, 23. the third bevel gear, 24. the fourth bevel gear, 25. the second installation sleeve, 26. the first Two motors, 27. Screw rod, 28. Lifting frame, 29. Fixed nut, 30. Gland, 31. Bushing, 32. The third bearing, 33. The fourth bearing, 34. Support, 35. Fixed pin, 36 . Second feedback potentiometer, 37. Watertight connector, 38. First groove, 39 Second groove, 40 Third groove, 41. Through hole.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

Embodiment 1: As shown in Figure 1 and Figure 2, the present invention includes a sealed cabin body 2 with a motor cabin 3, a bracket 14 for placing a camera, and the sealed cabin body 2 is provided with a watertight connector for cables to pass through 38. It also includes a pitch mechanism and a rotary mechanism that are placed in the sealed cabin body 2 and extend out of the sealed cabin body 2 to connect with the bracket 14;

As shown in Fig. 2 and Fig. 3, the pitch mechanism includes a fixed cover 4, a screw rod 27, a lifting frame 28, a drive rod 13, a support 34, a second feedback potentiometer 36, a third bevel gear 23, a fourth bevel gear 24 and the second motor 26, the second motor 26 is fixed in a motor compartment 3 by the second mounting sleeve 25, the fourth bevel gear 24 is installed on the output shaft of the second motor 26, and the third bevel gear 23 meshing with it is installed on On the screw 27, one end of the screw 27 is fixed to the upper cover 1 through the fixed cover 4, and the other end passes through the support 34 and is connected with a second feedback potentiometer 36, and the support 34 is installed on the screw 27 through the fourth bearing 34 One end of the lifting frame 28 is connected to one end of the drive rod 13 through the third bearing 32, and the gland 30 is installed at the end through the bushing 31, fixed by the fixing nut 29, and the other end is installed on the screw rod 27, and constitutes with the screw rod 27 A pair of screw pairs move up and down along the screw rod 27, and the other end of the driving rod 13 extends out of the lower cover plate 9 of the airtight cabin body 2 to connect with the bracket 17; the second motor 26 drives the fourth bevel gear 24 to rotate, The transmission of the gear 23 drives the screw rod 27 to rotate, and the second feedback potentiometer 35 feeds back the rotation angle in real time. When the screw rod 27 rotates, the lifting frame 28 carries out lifting motion through the screw pair formed with the screw rod 27, and the driving rod 13 can rotate while rotating. Axial lifting, and then drive the bracket 14 on which the camera is installed to move in pitch.

As shown in Figures 1 and 2, the slewing mechanism includes a first motor 16 placed in the motor compartment 3, a first bevel gear 17, a first feedback potentiometer 18, a second bevel gear 19, a bearing support 20, a worm 21. Linear bearing 6, turbine 7, rotary sleeve 11 and jacket 10, the first motor 16 is fixed in another motor compartment 3 through the first installation sleeve 15, and the first bevel gear 17 is installed on the output shaft of the first motor 16 The second bevel gear 19 meshing with it is mounted on one end of the worm 21, the worm 21 is mounted on the bearing support 20, the first feedback potentiometer 18 and the second bevel gear 19 are coaxially fixed by the fixing pin 37, and the driving rod 13 One end is connected to the lifting frame 28 of the pitching mechanism, and the other end protrudes from the lower cover plate 9 to connect with the bracket 14. The rotary sleeve 11 is set on the drive rod 13 through the linear bearing 6, and the turbine 7 matched with the worm 21 is installed on the rotary sleeve 11. and respectively connected with the rotary sleeve 11 and the linear bearing 6, the rotary sleeve 11 protrudes from the lower cover plate 9 of the sealed cabin 2, and the jacket 10 connected with the bracket 14 through the connecting rod 12 is fixed thereon. Through the transmission of the first and second bevel gears 17 and 19, the worm 21 is driven to rotate, and the first feedback potentiometer 18 feeds back the rotation angle of the worm 21 in real time. The worm 21 drives the turbine 7 to rotate. When the turbine 7 rotates, the rotary sleeve 11 can move accordingly. Due to the presence of the linear bearing 6, when the rotary sleeve 11 moves, the drive rod 13 can still move freely along its axial direction. The jacket 10 is fastened with the slewing sleeve 11 and the linear bearing 6 by bolts, which drives the connecting rod 12 to swing in the circumferential direction, that is, it can drive the bracket 14 on which the camera is installed to swing in the circumferential direction, realizing the rotary motion.

The airtight cabin body 2 described in this example comprises an upper cover plate 1, two cabin body side panels, two motor cabins 3 and a lower cover plate 9, the two motor cabins 3 communicate with each other, and are symmetrically arranged on both side panels, and the inner sides of the upper cover plate 1 are respectively There are first and second grooves 38, 39 for placing the fixed cover 4 and the gland 30 at the end of the drive rod 13. The lower cover plate 9 is provided with a slot for installing the rotary sleeve 11, and there are also holes on the inner side wall. Have the 3rd groove 40 that is used to place the 2nd feedback potentiometer 36, also have the through hole 41 that installs watertight connector 37 on the side plate of sealed cabin body 2, first, second feedback potentiometer 18, 36 and the cables of the first and second motors 16 and 26 are all connected to the outside by a watertight connector 37 .

When the present invention is working, its main structure remains stationary, and motions in pitching and slewing directions are realized through the pitching mechanism and the slewing mechanism, so that the signal range collected by the camera is larger, and the problem of entanglement and interference of fragile components such as cables is avoided.

Claims (2)

1. A kind of underwater electric feedback cloud platform that does not implicate motion, comprises the sealed cabin body that has motor cabin, the bracket that places video camera, described sealed cabin body is provided with the watertight connector that is used for cable to pass through, it is characterized in that : It also includes a pitching mechanism and a slewing mechanism that are placed in the sealed cabin and extend out of the sealed cabin to connect with the bracket; The pitching mechanism includes a fixed cover, a screw, a lifting frame, a drive rod, a support, a second feedback potentiometer, a third bevel gear, a fourth bevel gear and a second motor, and the fourth bevel gear is installed on the output shaft of the second motor The gear and the third bevel gear meshed with it are installed on the screw rod. One end of the screw rod is fixed to the upper cover plate through the fixed cover, and the other end is connected to the second feedback potentiometer through the support. One end of the lifting frame is connected to one end of the driving rod. The other end is installed on the screw rod, and forms a pair of screw pair with the screw rod, moves up and down along the screw rod, and the other end of the driving rod extends out of the lower cover of the cabin body to connect with the bracket; The slewing mechanism includes the first motor placed in the motor compartment, the first bevel gear, the first feedback potentiometer, the second bevel gear, the worm, the linear bearing, the turbine, the bearing support, the slewing sleeve and the jacket, the first umbrella The gear is installed on the output shaft of the first motor, and the second bevel gear meshed with it is installed at one end of the worm placed on the bearing support. The first feedback potentiometer is coaxially fixed with the second bevel gear, and the rotary sleeve is set through the linear bearing. On the driving rod of the pitching mechanism, the turbine matched with the worm is installed on the rotary sleeve and connected with the rotary sleeve and the linear bearing respectively. Jacket for bracket connection. 2. The underwater electric feedback platform without implicating motion according to claim 1, characterized in that: the sealed cabin comprises an upper cover, two cabin side panels, two motor cabins and a lower cover, two The motor compartments communicate with each other and are symmetrically arranged on both sides of the board. The inner side of the upper cover is respectively provided with the first and second grooves for placing the fixed cover and the gland at the end of the driving rod. The lower cover is provided with holes for installing the rotary sleeve. There is a slot hole, and a third groove for placing the second feedback potentiometer is also opened on the inner side wall, and a through hole for installing a watertight connector is also opened on one side plate of the sealed cabin.

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