CN209839563U

CN209839563U - High-integration two-degree-of-freedom holder device

Info

Publication number: CN209839563U
Application number: CN201920266703.7U
Authority: CN
Inventors: 刘爽; 闵济海; 雷凌; 刘宏钰; 姜红杉; 彭超宇
Original assignee: Nanjing Tetraelc Electronic Technology Co Ltd
Current assignee: Nanjing Tetraelc Electronic Technology Co Ltd
Priority date: 2018-12-29
Filing date: 2019-03-04
Publication date: 2019-12-24
Anticipated expiration: 2029-03-04

Abstract

The utility model discloses a cloud platform device of two degrees of freedom of high integration, including cloud platform seat 11, spheroid and every single move steering wheel 18, still include drive main control cabin 25, rotatory cloud platform motor 12 is installed to drive main control cabin 25 top, and cloud platform seat 11 is installed to rotatory cloud platform motor 12 top, and gear drive is installed to one side of cloud platform seat 11, and the opposite side is installed fixedly and is walked line mechanism, and gear drive and fixed walk to install the spheroid between the line mechanism. The utility model discloses a cloud platform motor adds the form of steering wheel, has reduced cloud platform transmission structure size, has saved the space and has been used for installing drive module and cloud platform host system, has realized the high integration of cloud platform module, satisfies in the use of little pipe diameter pipeline to the structure is simpler, and processing is convenient, simple to operate.

Description

High-integration two-degree-of-freedom holder device

Technical Field

The invention relates to a high-integration two-degree-of-freedom holder device, and belongs to the technical field of pipeline robot machinery.

Background

With the high-speed development of traffic, petroleum, chemical industry, energy, power stations and urban construction, the application of pipeline robots is increasing. The pipeline robot can replace manual work to detect the pipeline, is convenient for get into the less pipeline of pipe diameter. The two-degree-of-freedom holder in the current market is a fresh integrated driving module and a holder main control module, and the independent installation needs to occupy larger space.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the high-integration two-degree-of-freedom holder device, the form of a holder motor and a steering engine is adopted, the size of a holder transmission structure is reduced, the space is saved for installing a driving module and a holder main control module, the high integration of the holder module is realized, the use requirement of a small-caliber pipeline is met, the structure is simpler, the processing is convenient, and the installation is convenient.

The technical scheme is as follows: in order to solve the technical problem, the highly-integrated two-degree-of-freedom tripod head device comprises a tripod head seat 11, a spherical body, a pitching steering engine 18 and a driving main control cabin 25, wherein a rotating tripod head motor 12 is arranged above the driving main control cabin 25, the tripod head seat 11 is arranged above the rotating tripod head motor 12, a gear transmission mechanism is arranged on one side of the tripod head seat 11, a fixed wiring mechanism is arranged on the other side of the tripod head seat 11, and the spherical body is arranged between the gear transmission mechanism and the fixed wiring mechanism.

Further, a rudder cabin 10 is fixed above the tripod head base 11, and a rotating tripod head motor 12 for driving the rotation of the tripod head base 11 is fixed below the tripod head base 11 through a tripod head motor mounting plate 13. The pan/tilt motor mounting plate 13 is also used for fixing the pan/tilt housing 2.

Further, the cradle head base 11 is fixed with the cradle head base housing 3 through a bearing 14 and a seal ring 15. The first bearing is arranged on two sides of the holder shell, and two sealing rings are arranged in the middle of the first bearing. When the rotating tripod head motor rotates, the tripod head seat is driven to rotate, so that the tripod head rotates +/-360 degrees.

Further, the gear transmission mechanism comprises a first side plate 8, a pitching steering gear 18 is mounted on the first side plate 8, a steering gear 19 is mounted on the pitching steering gear 18 through a steering wheel 20, a transition gear 21 is meshed with the steering gear 19, and a spheroid gear 22 is meshed with the transition gear 21. When the pitching steering engine rotates, the steering wheel and the steering engine gear are driven to rotate; the transition gear is also arranged on the first side plate 8 and is fixed through a third bearing 23; the first side plate 8 and the spherical body are fixed through a fourth bearing 24; when the steering gear rotates, the transition gear is driven to rotate, and the transition gear drives the spheroid gear 22 to rotate, so that the spheroid is driven to rotate, and the +/-360-degree rotation is realized. The side plate I, the rudder engine room and the tripod head seat are fixed through a cover plate I9.

Further, a ball is connected to the ball gear 22.

Furthermore, the fixed wiring mechanism comprises a second cover plate 4, a second side plate 5 is fixed on the second cover plate 4, the second side plate 5 is fixed with the spherical body through a second bearing 16, and a slip ring 17 is installed on the spherical body.

Further, the spheroid comprises a first spheroid 6 and a second spheroid 7, and the second spheroid 7 is provided with a camera.

Further, a driving module and a pan/tilt head main control module are integrated in the driving main control cabin 25. The exterior of the driving main control cabin 25 is provided with a holder shell 2 and an outer cover flange 1, an interface is reserved on the outer cover flange 1, and the interface can be provided with components such as cable aerial plug and the like; the driving main control cabin is internally provided with a sufficient space integrated driving module and a holder main control module. The cradle head main control module is connected with each part, controls each part to work orderly, and the driving module drives each part to start or stop working.

Has the advantages that: (1) the cloud platform base is driven to freely rotate in the horizontal direction by +/-360 degrees by controlling the forward and reverse rotation of the rotating cloud platform motor; the spherical body is driven to freely rotate in the pitching direction within +/-360 degrees by controlling the forward and reverse rotation of the pitching steering engine; thereby realizing the motion of two degrees of freedom of the holder mechanism. (2) The rotating tripod head motor selected by the invention has small volume and large torsion, reduces the space occupied by the motor, and increases the space of the integrated driving module and the tripod head main control module. (3) Compared with the prior art, the invention realizes high integration of the driving module, the cradle head main control module and the cradle head, simultaneously realizes two-degree-of-freedom +/-360-degree rotation, has the characteristics of simple structure, convenient installation and adjustment, low cost and the like, and can further reduce the manufacturing cost of the cradle head module of the traditional pipeline robot.

Drawings

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

Fig. 2 is a schematic structural diagram of a pan-tilt head seat in the embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a gear transmission mechanism in an embodiment of the invention.

Fig. 4 is a schematic structural diagram of a spheroid according to an embodiment of the present invention.

In the figure: 1-an outer cover flange; 2-a cradle head shell; 3-a cradle head seat shell; 4-cover plate two; 5, a second side plate; 6-spheroid one; 7-spheroid two; 8, a first side plate; 9-cover plate one; 10-rudder engine room; 11-cloud platform base; 12-a rotating pan/tilt motor; 13-a motor mounting plate; 14-bearing one; 15-sealing ring; 16-bearing two; 17-a slip ring; 18-a pitch steering engine; 19-a steering gear wheel; 20-a rudder disc; 21-a transition gear; 22-spheroid gear; 23-bearing three; 24-bearing four; 25-driving the main control cabin.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

Examples

The invention provides a highly-integrated two-degree-of-freedom tripod head device, which comprises a tripod head seat 11, a spherical body, a pitching steering engine 18 and a driving main control cabin 25, wherein a rotating tripod head motor 12 is arranged above the driving main control cabin 25, the tripod head seat 11 is arranged above the rotating tripod head motor 12, a gear transmission mechanism is arranged on one side of the tripod head seat 11, a fixed wiring mechanism is arranged on the other side of the tripod head seat 11, and the spherical body is arranged between the gear transmission mechanism and the fixed wiring mechanism. A rudder cabin 10 is fixed above the cloud platform base 11, and a rotating cloud platform motor 12 for driving the cloud platform base 11 to rotate is fixed below the cloud platform base 11 through a cloud platform motor mounting plate 13. The pan/tilt motor mounting plate 13 is also used for fixing the pan/tilt housing 2. The cloud platform base 11 is fixed with the cloud platform base shell 3 through a bearing I14 and a sealing ring 15. The first bearing is arranged on two sides of the holder shell, and two sealing rings are arranged in the middle of the first bearing. When the rotating tripod head motor rotates, the tripod head seat is driven to rotate, so that the tripod head rotates +/-360 degrees.

The gear transmission mechanism comprises a first side plate 8, a pitching steering gear 18 is mounted on the first side plate 8, a steering gear 19 is mounted on the pitching steering gear 18 through a steering wheel 20, a transition gear 21 is meshed with the steering gear 19, and a spheroid gear 22 is meshed with the transition gear 21. When the pitching steering engine rotates, the steering wheel and the steering engine gear are driven to rotate; the transition gear is also arranged on the first side plate 8 and is fixed through a third bearing 23; the first side plate 8 and the spherical body are fixed through a fourth bearing 24; when the steering gear rotates, the transition gear is driven to rotate, and the transition gear drives the spheroid gear 22 to rotate, so that the spheroid is driven to rotate, and the +/-360-degree rotation is realized. The side plate I, the rudder engine room and the tripod head seat are fixed through a cover plate I9. The spheroid gear 22 is connected with a spheroid. The spheroid comprises a first spheroid 6 and a second spheroid 7, and the second spheroid 7 is provided with a camera.

The fixed wiring mechanism comprises a second cover plate 4, a second side plate 5 is fixed on the second cover plate 4, the second side plate 5 is fixed with the spherical body through a second bearing 16, and a sliding ring 17 is installed on the spherical body.

A driving module and a holder main control module are integrated in the driving main control cabin 25. The exterior of the driving main control cabin 25 is provided with a holder shell 2 and an outer cover flange 1, an interface is reserved on the outer cover flange 1, and the interface can be provided with components such as cable aerial plug and the like; the driving main control cabin is internally provided with a sufficient space integrated driving module and a holder main control module.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims

1. The high-integration two-degree-of-freedom holder device comprises a holder seat (11), a spherical body and a pitching steering engine (18), and is characterized by further comprising a driving main control cabin (25), wherein a rotating holder motor (12) is installed above the driving main control cabin (25), the holder seat (11) is installed above the rotating holder motor (12), a gear transmission mechanism is installed on one side of the holder seat (11), a fixed wiring mechanism is installed on the other side of the holder seat, and the spherical body is installed between the gear transmission mechanism and the fixed wiring mechanism.

2. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 1, wherein: cloud platform seat (11) top is fixed with rudder cabin (10), the below of cloud platform seat (11) is fixed with rotation cloud platform motor (12) that drives its rotation through cloud platform motor mounting panel (13).

3. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 2, wherein: cloud platform seat (11) are fixed with cloud platform seat shell (3) through bearing (14) and sealing washer (15).

4. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 1, wherein: the gear transmission mechanism comprises a first side plate (8), a pitching steering engine (18) is installed on the first side plate (8), a steering engine gear (19) is installed on the pitching steering engine (18) through a steering wheel (20), a transition gear (21) is meshed with the steering engine gear (19), and a spheroid gear (22) is meshed with the transition gear (21).

5. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 4, wherein: the spheroid gear (22) is connected with a spheroid.

6. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 1, wherein: the fixed wiring mechanism comprises a second cover plate (4), a second side plate (5) is fixed on the second cover plate (4), the second side plate (5) is fixed with the spherical body through a second bearing (16), and the spherical body is provided with a sliding ring.

7. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 1, wherein: the spherical body comprises a first spherical body (6) and a second spherical body (7), and a camera is mounted on the second spherical body (7).

8. The highly integrated two-degree-of-freedom pan-tilt apparatus according to claim 1, wherein: and a driving module and a holder main control module are integrated in the driving main control cabin (25).