CN213748390U - Cable space attitude monitoring sensor - Google Patents
Cable space attitude monitoring sensor Download PDFInfo
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- CN213748390U CN213748390U CN202022938761.5U CN202022938761U CN213748390U CN 213748390 U CN213748390 U CN 213748390U CN 202022938761 U CN202022938761 U CN 202022938761U CN 213748390 U CN213748390 U CN 213748390U
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Abstract
The utility model discloses a cable space attitude monitoring sensor, including electric sliding ring stator, electric sliding ring rotor and rotor pendulum, the stator pivot runs through above-mentioned three, and upper portion and the electric sliding ring stator is fixed, the rotor pendulum is installed in the electric sliding ring rotor and both can surround the stator pivot and rotate relative to the electric sliding ring stator jointly; and the radial opposite sides of the rotor pendulum are respectively provided with a balancing weight and an attitude sensor circuit board. The utility model provides a cable space gesture monitoring sensor structure is succinct, and each part divides the worker to be clear and definite, can be under the cable tensioning condition of cable system duplex robot under water stable work to the realization is to the monitoring of cable gesture angle, thereby realizes the space coordinate's of duplex robot under water definite determination. Compared with the existing testing device, the utility model discloses cable space gesture monitoring sensor simple structure, practicality are strong, with low costs, efficient, can realize the space orientation of two robots under water.
Description
Technical Field
The utility model relates to an ocean exploration technical field especially relates to a cable space gesture monitoring sensor.
Background
In recent years, with the development of leading edge science and technology of the ocean, various fields related to the ocean have more and more discoveries and researches, especially the research of underwater multi-robot, including related fields such as the research of cable system double-robot and the like.
The relative positioning research of underwater cable system double robots is usually realized by acoustic and optical equipment such as sonar and cameras. However, continuous underwater operation of the cable system double-robot can greatly affect the relative positioning of the two robots, such as large noise, generation of a large amount of turbid materials, and the like, and such a working environment creates huge challenges for sonar positioning and underwater optical positioning.
How to position the relative space of the underwater cable system double robots is an urgent problem to be solved, so that the development of a cable space attitude detection sensor is more and more urgent.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a simple structure, practicality are strong, with low costs, efficient cable space gesture monitoring sensor.
In order to achieve the above object, the present invention provides a cable spatial attitude monitoring sensor, which includes an electrical slip ring stator, an electrical slip ring rotor, and a rotor pendulum, wherein a stator rotating shaft runs through the three, and an upper portion of the rotor pendulum is fixed with the electrical slip ring stator, the rotor pendulum is mounted on the electrical slip ring rotor, and the two can jointly surround the stator rotating shaft and rotate relative to the electrical slip ring stator; and the radial opposite sides of the rotor pendulum are respectively provided with a balancing weight and an attitude sensor circuit board.
Preferably, the rotor pendulum supports the weight block by a connecting arm extending in a radial direction.
Preferably, a circuit board sealing cover is mounted on the outer side of the rotor pendulum, and the attitude sensor circuit board is arranged in the circuit board sealing cover and connected with the rotor pendulum through a first bolt.
Preferably, the upper part and the lower part of the stator rotating shaft are respectively provided with an upper pull ring and a lower pull ring.
Preferably, the stator rotating shaft is hollow, the upper portion and the lower portion of the stator rotating shaft are provided with internal threads, and the upper pull ring and the lower pull ring are in threaded connection with the stator rotating shaft.
Preferably, the upper part of the electrical slip ring stator is also provided with a stator outlet.
Preferably, the side part of the rotor pendulum is also provided with a rotor outlet.
The utility model provides a cable space gesture monitoring sensor structure is succinct, and each part divides the worker to be clear and definite, can be under the cable tensioning condition of cable system duplex robot under water stable work to the realization is to the monitoring of cable gesture angle, thereby realizes the space coordinate's of duplex robot under water definite determination. Compared with the existing testing device, the utility model discloses cable space gesture monitoring sensor simple structure, practicality are strong, with low costs, efficient, can realize the space orientation of two robots under water.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a cable spatial attitude monitoring sensor according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating positions of stator outlets and rotor outlets in fig. 1.
The reference numerals in fig. 1 to 2 are as follows:
1-stator spindle, 2-upper pull ring, 3-electric slip ring stator, 4-electric slip ring rotor, 5-first bolt, 6-attitude sensor circuit board, 7-circuit board sealing cover, 8-rotor pendulum, 9-lower pull ring, 10-counterweight block, 11-second bolt.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model discloses the core provides a cable space gesture monitoring sensor, simple structure, practicality are strong, with low costs, efficient.
Referring to fig. 1 and 2, fig. 1 is a front view of a cable space attitude monitoring sensor according to a preferred embodiment of the present invention; fig. 2 is a schematic diagram of the stator and rotor outlets of the cable spatial attitude monitoring sensor according to a preferred embodiment of the present invention.
In a specific embodiment, the utility model provides a cable space gesture monitoring sensor's primary structure includes stator pivot 1, electric slip ring stator 3, electric slip ring rotor 4 and rotor pendulum 8 etc. and wherein, stator pivot 1 will run through electric slip ring stator 3, electric slip ring rotor 4 and rotor pendulum 8 simultaneously.
The electric slip ring stator 3 is positioned at the upper part and is fixed relative to the circumferential position of the stator rotating shaft 1; in contrast, the electrical slip ring rotor 4 is not fixed in circumferential position to the stator shaft 1, and is rotatable relative to the electrical slip ring stator 3 in circumferential direction around the stator shaft 1. The electrical slip ring rotor 4 is located lower than the electrical slip ring stator 3.
The rotor pendulum 8 is mounted on the lower side of the electrical slip ring rotor 4, the two can be connected by the second bolt 11, and the positions of the two in the circumferential direction are relatively fixed, so that the rotor pendulum 8 and the electrical slip ring rotor 4 can synchronously rotate relative to the electrical slip ring stator 3.
The outer side of the rotor pendulum 8 is also provided with a balancing weight 10, and the balancing weight 10 is positioned at a proper position on one side of the rotor pendulum 8 so that the gravity of the balancing weight can act on the rotor pendulum 8 with a proper force arm. In order to obtain a more suitable moment arm, the rotor pendulum 8 can be connected to the counterweight 10 by means of a connecting arm. Of course, the weight 10 and the connecting arm cannot rotate circumferentially relative to the rotor pendulum 8.
And an attitude sensor circuit board 6 is arranged on the outer side of the rotor pendulum 8 to obtain the real-time attitude angle of the sensor, and the signal wire of the attitude sensor circuit board is connected to the lead of the inner wall of the electric slip ring rotor 3. The attitude sensor circuit board 6 and the counterweight 10 are respectively located on two opposite sides of the rotor pendulum 8 in the radial direction. Thus, the balancing weight 10 can drive the electric slip ring rotor 4 to rotate through the rotor pendulum 8, so that the transverse rolling angle of the attitude sensor circuit board 6 is consistent with the normal direction of the gravity of the balancing weight 10.
In order to be able to effectively protect the position sensor circuit board 6, a circuit board sealing cover 7 may be provided on the outside of the rotor pendulum 8, the outer edge of which is sealed by a sealing compound, so that a sealed space is formed between the two, in which the position sensor circuit board 6 may be arranged. The attitude sensor circuit board 6 can be mounted to the rotor pendulum 8 by the first bolt 5.
In addition, the upper part of the stator rotating shaft 1 can be provided with an upper pull ring 2, and the lower part can be provided with a lower pull ring 9; both can be used to secure the cable.
The stator shaft 1 may have a hollow inner structure for passing a cable therethrough, and may be further internally threaded at both upper and lower portions thereof so that the upper and lower tabs 2 and 9 may be coupled by screw. The cable can be threaded through the stator spindle 1 when required, and the upper and lower pull rings 2, 9 can be unused.
As shown in fig. 2, the electrical slip ring stator 3 is further provided with a stator outlet a at the upper portion thereof, and a rotor outlet b at the side portion of the rotor pendulum 8.
Before the cable system double-robot launching, the cable system double-robot is encapsulated by sealant, mainly sealing a circuit board sealing cover 7, a stator outlet a and a rotor outlet b, and simultaneously connecting a lead of a sensor into a monitoring circuit of one robot to realize real-time acquisition of a cable attitude angle.
After the cable system double-robot launching, the cable between the double-robot is always tensioned, no matter how the two move, the counterweight block 10 always points to the gravity direction, the rotor pendulum 8 can be driven to rotate, the normal direction of the attitude sensor circuit board 6 on the rotor pendulum 8 is always in the same plane with the gravity direction, so that the real-time attitude angle of the cable can be obtained through the attitude sensor circuit board 6, and the relative space coordinate between the robots can be calculated through space rotation transformation.
The utility model provides a cable space gesture monitoring sensor structure is succinct, and each part divides the worker to be clear and definite, can be under the cable tensioning condition of cable system duplex robot under water stable work to the realization is to the monitoring of cable gesture angle, thereby realizes the space coordinate's of duplex robot under water definite determination. Compared with the existing testing device, the utility model discloses cable space gesture monitoring sensor simple structure, practicality are strong, with low costs, efficient, can realize the space orientation of two robots under water.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It is right above the utility model provides a cable space gesture monitoring sensor introduces in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (7)
1. A cable space attitude monitoring sensor is characterized by comprising an electric slip ring stator (3), an electric slip ring rotor (4) and a rotor pendulum (8), wherein a stator rotating shaft (1) penetrates through the electric slip ring stator (3), the upper part of the stator rotating shaft is fixed with the electric slip ring stator (3), the rotor pendulum (8) is installed on the electric slip ring rotor (4), and the rotor pendulum can jointly surround the stator rotating shaft (1) and rotate relative to the electric slip ring stator (3); and the two opposite radial sides of the rotor pendulum (8) are respectively provided with a balancing weight (10) and an attitude sensor circuit board (6).
2. The cable spatial attitude monitoring sensor according to claim 1, characterized in that the rotor pendulum (8) supports the counterweight (10) by means of connecting arms extending in a radial direction.
3. The cable spatial attitude monitoring sensor according to claim 2, wherein a circuit board sealing cover (7) is mounted on the outer side of the rotor pendulum (8), and the attitude sensor circuit board (6) is disposed in the circuit board sealing cover (7) and connected to the rotor pendulum (8) by a first bolt (5).
4. The cable spatial attitude monitoring sensor according to any one of claims 1 to 3, wherein the upper and lower portions of the stator rotating shaft (1) are provided with an upper pulling ring (2) and a lower pulling ring (9), respectively.
5. The cable spatial attitude monitoring sensor according to claim 4, wherein the stator rotating shaft (1) is hollow inside and has internal threads on the upper part and the lower part, and the upper pull ring (2) and the lower pull ring (9) are both in threaded connection with the stator rotating shaft (1).
6. The cable spatial attitude monitoring sensor according to claim 4, wherein the upper portion of the electrical slip ring stator (3) is further provided with a stator outlet (a).
7. The cable spatial attitude monitoring sensor according to claim 4, characterized in that the side of the rotor pendulum (8) is further provided with a rotor outlet (b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022938761.5U CN213748390U (en) | 2020-12-10 | 2020-12-10 | Cable space attitude monitoring sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022938761.5U CN213748390U (en) | 2020-12-10 | 2020-12-10 | Cable space attitude monitoring sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213748390U true CN213748390U (en) | 2021-07-20 |
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ID=76834171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022938761.5U Active CN213748390U (en) | 2020-12-10 | 2020-12-10 | Cable space attitude monitoring sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213748390U (en) |
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2020
- 2020-12-10 CN CN202022938761.5U patent/CN213748390U/en active Active
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