CN205620821U - Three -dimensional servo control's of rod -type rotary device - Google Patents
Three -dimensional servo control's of rod -type rotary device Download PDFInfo
- Publication number
- CN205620821U CN205620821U CN201521140917.8U CN201521140917U CN205620821U CN 205620821 U CN205620821 U CN 205620821U CN 201521140917 U CN201521140917 U CN 201521140917U CN 205620821 U CN205620821 U CN 205620821U
- Authority
- CN
- China
- Prior art keywords
- control circuit
- vertical
- rod
- horizontal rotation
- rotary
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a three -dimensional servo control's of rod -type rotary device, the structure of device is shaft -like, including rotatory switching -over device, vertical angle sensor, vertical turn motor, vertical turn control circuit, horizontal rotation axle, horizontal angle sensor, horizontal rotation motor and horizontal rotation control circuit. Above -mentioned device can be observed and measure the inside condition in narrow and small space, and the work of distinguishing for emergency rescue, fire control commander, mine goaf and ground collapse such as engineering management provide technical support.
Description
Technical field
This utility model relates to deliverance apparatus technical field, particularly relates to the three-dimensional servo-controlled rotary apparatus of a kind of rod-type.
Background technology
At present, mine worked-out section, city inspection shaft or the places such as cavity of collapsing that formed because of engineering construction often have and subside
Or pendant people's accident, due to limited space, rescue personnel cannot directly enter its internal observation, measure field situation, and this is just
Give rescue and subsidence area, be caving district's engineering control and bring problems, rescue or administer and improper very likely produce secondary
Accident or secondary disaster, and prior art also lacks effective deliverance apparatus solution.
Summary of the invention
The purpose of this utility model is to provide the three-dimensional servo-controlled rotary apparatus of a kind of rod-type, and this device can be to small space
Inner case is observed and is measured, and the engineering for emergency management and rescue, fire-fighting command, mine worked-out section and surface collapse district is controlled
The work such as reason provide technical support.
The three-dimensional servo-controlled rotary apparatus of a kind of rod-type, it is characterised in that the structure of described device is shaft-like, including rotating
Reversing arrangement, vertical angle sensor, vertical rotary motor, vertical rotary control circuit, feathering axis, horizontal angle
Degree sensor, horizontal rotation motor and horizontal rotation control circuit, wherein:
Described rotary reversing device, vertical angle sensor, vertical rotary motor are connected to described vertical rotary and control electricity
Road；
Described feathering axis, horizontal angle sensor, horizontal rotation motor are connected to described horizontal rotation control circuit；
Described vertical rotary control circuit and described horizontal rotation control circuit are connected by wire, by described horizontal rotation control
Circuit processed and host computer or control computer and be connected and communicate.
Described device can in the horizontal direction 0～360 °, and rotates freely in vertical direction 90 °～+90 °.
Vertical rotary end at described device be equipped with photographic head, laser ranging module, optical point device and other not
Same sensor.
Described device is inserted inside small space by external extension rod；
Or, use mode of drilling to be inserted inside small space by described device along boring.
A diameter of the 5 of described device～8cm, length can be processed into 100～150cm.
The technical scheme provided from above-mentioned this utility model, the inner case of small space can be carried out by said apparatus
Observing and measure, the work such as engineering control for emergency management and rescue, fire-fighting command, mine worked-out section and surface collapse district provides
Technical support.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only more of the present utility model implement
Example, from the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the three-dimensional servo-controlled rotary device structure schematic diagram of rod-type provided by the utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out clearly
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of this utility model rather than all
Embodiment.Based on embodiment of the present utility model, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, broadly falls into protection domain of the present utility model.
Below in conjunction with accompanying drawing, this utility model embodiment is described in further detail, as Fig. 1 is carried by this utility model
The three-dimensional servo-controlled rotary device structure schematic diagram of the rod-type of confession, the structure of described device is shaft-like, includes: 1, rotation
Turn reversing arrangement；2, vertical angle sensor；3, vertical rotary motor；4, vertical rotary control circuit；5, level
Rotary shaft；6, horizontal angle sensor；7, horizontal rotation motor；8, horizontal rotation control circuit, the most above-mentioned each portion
The annexation of part is:
Rotary reversing device 1, vertical angle sensor 2, vertical rotary motor 3 are connected to vertical rotary control circuit 4；
Feathering axis 5, horizontal angle sensor 6, horizontal rotation motor 7 are connected to horizontally rotate control circuit 8；
Vertical rotary control circuit 4 and horizontal rotation control circuit 8 are connected by wire, by horizontal rotation control circuit 8 with upper
Position machine or control computer connection communicate.
In implementing, said apparatus can in the horizontal direction 0～360 °, and vertical direction 90 °～+90 ° is above freely revolved
Turn.Single Chip Microcomputer (SCM) program is specifically utilized to combine photoelectric encoder by the Spin Control of two motors is realized horizontal direction
0～360 °, and vertical direction-90 °～+90 ° (along horizontally rotate axial direction be 0 °) rotate freely.
Meanwhile, photographic head, laser ranging module, optics sensing can be carried at the vertical rotary end of described device as required
Device and other different sensors；Then by external extension rod, described device is inserted inside small space, or
When space-closed, use mode of drilling to be inserted inside small space by described device along boring, thus realize narrow and small sky
Observation inside between and measurement, for works such as emergency management and rescue, fire-fighting command, mine worked-out section and surface collapse district engineering controls
Make to provide and instruct.
It addition, during implementing, the level of this device is respectively completed by two parts control circuit with vertical rotary, two
Partial circuit TTL communicates, for carrying out the data transmission of angle information and the mutual of control command；Vertically revolve for controlling
The reserved RS232 data communication interface that includes but are not limited to of control circuit turned, can external laser ranging module etc. pass if desired
Sensor；The DC servo motor rotated for realizing vertical direction is installed along feathering axis, will by direction-changing device
Horizontal rotation is transformed to vertical direction；Main chip for control circuit is 8051 series or STM32 series monolithics, electricity
Machine driving chip is TD340I or LN298.
The diameter range of said apparatus is 5～8cm, and length can be processed into 100～150cm, and tail end connects power supply and order wire
Cable, realizes the rotation of the horizontal and vertical rotating part of device, the typical workflow of said apparatus by PC control
For:
Pc control procedure sets level and the scope of vertical rotary and step angle, and horizontal motor rotates a unit step
After entering angle, horizontal control circuitry issues a command to vertical rotary control circuit and informs " putting in place, start to rotate "；
Vertical rotary motor rotates after a step angle afterwards, then inform horizontal control circuitry " put in place, can be with outward
Connect the sensor communication of extension ", and carry out rotary work successively.
In sum, the inner case of small space can be observed and measure by device described in the utility model, is emergent
The work such as the engineering control in rescue, fire-fighting command, mine worked-out section and surface collapse district provide technical support.
The above, only this utility model preferably detailed description of the invention, but protection domain of the present utility model not office
Being limited to this, any those familiar with the art, in the technical scope that this utility model discloses, can readily occur in
Change or replacement, all should contain within protection domain of the present utility model.Therefore, protection domain of the present utility model
Should be as the criterion with the protection domain of claims.
Claims (5)
1. the three-dimensional servo-controlled rotary apparatus of rod-type, it is characterized in that, the structure of described device is shaft-like, including rotary reversing device, vertical angle sensor, vertical rotary motor, vertical rotary control circuit, feathering axis, horizontal angle sensor, horizontal rotation motor and horizontal rotation control circuit, wherein:
Described rotary reversing device, vertical angle sensor, vertical rotary motor are connected to described vertical rotary control circuit；
Described feathering axis, horizontal angle sensor, horizontal rotation motor are connected to described horizontal rotation control circuit；
Described vertical rotary control circuit and described horizontal rotation control circuit are connected by wire, by described horizontal rotation control circuit and host computer or control computer and be connected and communicate.
The three-dimensional servo-controlled rotary apparatus of rod-type the most according to claim 1, it is characterised in that
Described device can in the horizontal direction 0～360 °, and rotates freely in vertical direction 90 °～+90 °.
The three-dimensional servo-controlled rotary apparatus of rod-type the most according to claim 1, it is characterised in that
Vertical rotary end at described device is equipped with photographic head, laser ranging module, optical point device.
The three-dimensional servo-controlled rotary apparatus of rod-type the most according to claim 1, it is characterised in that
Described device is inserted inside small space by external extension rod；
Or, use mode of drilling to be inserted inside small space by described device along boring.
The three-dimensional servo-controlled rotary apparatus of rod-type the most according to claim 1, it is characterised in that
A diameter of the 5 of described device～8cm, length can be processed into 100～150cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521140917.8U CN205620821U (en) | 2015-12-31 | 2015-12-31 | Three -dimensional servo control's of rod -type rotary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521140917.8U CN205620821U (en) | 2015-12-31 | 2015-12-31 | Three -dimensional servo control's of rod -type rotary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205620821U true CN205620821U (en) | 2016-10-05 |
Family
ID=57033725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521140917.8U Expired - Fee Related CN205620821U (en) | 2015-12-31 | 2015-12-31 | Three -dimensional servo control's of rod -type rotary device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205620821U (en) |
-
2015
- 2015-12-31 CN CN201521140917.8U patent/CN205620821U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20181231 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |