CN104691727A - Rotary annular bracket for underwater robot axial coded data collector - Google Patents
Rotary annular bracket for underwater robot axial coded data collector Download PDFInfo
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- CN104691727A CN104691727A CN201510080164.4A CN201510080164A CN104691727A CN 104691727 A CN104691727 A CN 104691727A CN 201510080164 A CN201510080164 A CN 201510080164A CN 104691727 A CN104691727 A CN 104691727A
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Abstract
The invention discloses a rotary annular bracket for an underwater robot axial coded data collector. The rotary annular bracket comprises a circular bracket, a shell and a control transmission device, wherein the control transmission device is arranged in the shell, and multiple sets of cameras and an LED lamp are arranged on the circular bracket; the control transmission device comprises a rotary wheel shaft, a motor, a driving gear, a driven gear, a slip ring and a coder, the motor is connected with the coder and fixed in the shell, the slip ring is fixed in the rotary wheel shaft, the driven gear is fixed outside the rotary wheel shaft, the motor drives the driven gear, the rotary wheel shaft and the slip ring to rotate, the slip ring is internally provided with an electric brush and a conductive ring, the slip ring is connected with the cameras and the LED lamp, the conductive ring and the coder are connected to an underwater connector, the electric brush rotates along with the slip ring, and camera signals are sent out by the slip ring. According to the rotary annular bracket disclosed by the invention, after the pre-positioned camera finds the problem, the multiple sets of post-positioned cameras carry out careful observation, so that the problems of unclear observation and difficulty in target positioning caused by muddy water formed by stirring sediments are solved, and the working efficiency is greatly increased.
Description
Technical field
The present invention relates to the device that a kind of under-water robot carries out finite space data acquisition, be applied to water conservancy and other detection industry under water, belong to field of engineering technology.
Background technology
Underwater exploration technology is the earliest for ocean observation, and being the important content of ocean observation technology, is also the component part of ocean stereo monitoring net, is mainly used in undersea monitoring.The waters of hydraulic engineering and ocean basin are from environment and build gap very greatly, and territory, face, ocean is wide, and deepwater regions is huge, and the many transformations through the mankind of hydraulic engineering or construction, engineering is various and complicated, and detection technique in form, method has similar part, but exists very big-difference.At China's civil area, carry out having of detecting under water: the distribution of the landform in Measuring Oceanic and river, border, silt seam; Subsurface buoy salvaging under ocean water, the investigation of jellyfish monitoring coral reef; Marine emergency guarantee, oil platform oil spilling check; Seabed engineering observation etc. and salvage salvaging, security etc.In recent years, hydraulic engineering under water detection technique was just risen in China, and because engineering is complicated, detection technique research and apply is in the starting stage, and many introduction import instruments and equipment are used for the front observation of reservoir dam.Underwater exploration Chief Technology Officer river institute of section and Hunan Province hydropower research institute introduce under-water robot and are used for underwater structure observation and dam observation etc.Also have as collection research and development of products such as Harbin Institute of Technologys and be produced in the incorporated businesses such as territory, deep-sea integrally professional under-water robot, underwater manipulator, cutting machine.
The artificial screw propeller of underwater drives, and observation device is front-facing camera, observes in advancing to object, manipulates for convenience and enter water etc. to detect under water and water-filled pipe detection, mostly adopts small underwater robot.This equipment depends on land telecommand to detect for Large Diameter Pipeline or bulky objects, as target of pinpointing the problems can not be screened in detail in advancing, and when observing, there is following problem: (1) is due to detection space relative closure, and there is certain drift, when only observing problem target, often need repeatedly to move rotation, very easily sediment is stirred, cause camera can not effective resolution target; (2) because of shielding action, navigation and GPS position fixing system lost efficacy, and equipment location can only rely on control cables length to determine, equipment just may cause distortion after rotating; (3) if caliber is excessive or it is excessive to detect target volume, equipment can not scan efficiently.
Summary of the invention
Technical matters to be solved by this invention is the defect existed for prior art, provides a kind of under-water robot axial encoded data acquisition device rotary annular support, solves under water and problem that water-filled pipe cannot be observed in detail.
For solving this technical matters, the invention provides a kind of under-water robot axial encoded data acquisition device rotary annular support, comprise circular support, housing, controls transfer device, pick up camera and LED, circular support is connected with controls transfer device, controls transfer device is arranged in housing, and circular support arranges many group pick up cameras and LED, described housing forward end is provided with axis hole, and rear end is provided with rear side housing, is provided with bearing one, is provided with bearing support in housing in this axis hole, and bearing support is provided with bearing two, described controls transfer device comprises runner shaft, motor, driven wheel, driven gear, slip ring and coder, the middle part of described runner shaft is hollow cavity, slip ring is fixed in the hollow cavity of runner shaft by its shell, the external stability of runner shaft has driven gear, runner shaft is supported by bearing one and bearing two, described motor is connected with coder and is fixed on enclosure interior, the output shaft end of motor arranges driven wheel and engages with driven gear, runner shaft is driven to rotate by driven gear, and then drive slip ring to rotate simultaneously, brush and conducting ring is provided with in described slip ring, the cable conductor of slip ring is connected with pick up camera and LED, the cable conductor of conducting ring and coder is connected on the joint under water that is positioned on rear side housing, brush rotates with slip ring simultaneously, conducting ring and the cable conductor thereof at slip ring center do not rotate, the signal of pick up camera uninterruptedly spreads out of by slip ring.
Water seal is provided with between described housing forward end axis hole and runner shaft.
Described circular support is fixed on runner shaft end by flange.
Described pick up camera and LED arrange 4 groups, 6 groups or 8 groups.
Present invention also offers a kind of underwater multichannel data acquisition equipment, comprise under-water robot and front-facing camera, the rear portion of robot is provided with under-water robot axial encoded data acquisition device rotary annular support under water, and this rotary annular support is hinged on the connecting bore of under-water robot rear portion by hinge.
Beneficial effect: compared with the front-facing camera that the present invention and existing under-water robot configure, because camera is rearmounted, when front-facing camera finds doubtful problem, ground controller gives its instruction, keep the former attitude of original position constant, problem place is found with rearmounted many groups camera, carry out careful observation, video recording, take pictures and investigate problem by zoom, because multi-cam works simultaneously, namely solve original sediment and caused the muddy problem that can not observe of water by stirring, also problem target positioning problem is solved, effectively solve and the problem that cannot observe in detail of water-filled pipe under water, work efficiency improves greatly, and visibility, accuracy, reliability has large breakthrough, for testing under water opens new method of inspection.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of controls transfer device of the present invention;
Fig. 3 is left TV structure schematic diagram of the present invention;
Fig. 4 is using state schematic diagram of the present invention.
In figure: 1 water seal, 2 driven gears, 3 runner shafts, 4 slip rings, 5 are joint, 6 rear side housings, 7 coders, 8 motors, 9 driven wheels, 10 bearing one, 11 pick up cameras, 12 brushes, 13 conducting rings, 14 housings, 15 circular supports, 16LED lamp, 17 controls transfer devices, 18 under-water robots, 19 front-facing cameras, 20 rotary annular supports, 21 shells, 22 bearings two under water.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is specifically described.
Figure 1 shows that structural representation of the present invention.
The present invention includes housing 14, circular support 15, controls transfer device 17, pick up camera 11 and LED 16.
Described circular support 15 is connected with controls transfer device 17, and controls transfer device 17 is arranged in housing 14, circular support 15 is arranged pick up camera 11 and the LED of many group rotations.
Described housing 14 front end is provided with axis hole, and rear end is provided with rear side housing 6, is provided with bearing 1 in this axis hole, is provided with bearing support in housing 14, and bearing support is provided with bearing 2 22.
Figure 2 shows that the structural representation of controls transfer device of the present invention.
Described controls transfer device 17 comprises runner shaft 3, motor 8, driven wheel 9, driven gear 2, slip ring 4 and coder 7.
The middle part of described runner shaft 3 is hollow cavity, and slip ring 4 is fixed in the hollow cavity of runner shaft 3 by its shell 21, and the external stability of runner shaft 3 has driven gear 2, and runner shaft 3 is supported by bearing 1 and bearing 2 22.
Described motor 8 is connected with coder 7 and is fixed in housing 14, and the output shaft end of motor 8 arranges driven wheel 9 and engages with driven gear 2, drives runner shaft 3 to rotate by driven gear 2, and then drives slip ring 4 to rotate simultaneously.
Brush 12 and conducting ring 13 is provided with in described slip ring 4, the cable conductor of slip ring 4 is connected with pick up camera 11 and LED 16, the cable conductor of conducting ring 13 and coder 7 is connected on the joint under water 5 that is positioned on rear side housing 6, brush 12 rotates with slip ring 4 simultaneously, conducting ring 13 and the cable conductor thereof at slip ring 4 center do not rotate, and the signal of pick up camera 11 uninterruptedly spreads out of by slip ring 4.
Water seal 1 is provided with between described housing 14 front end axis hole and runner shaft 3.
Described circular support 15 is fixed on runner shaft 3 end by flange.
Figure 3 shows that left TV structure schematic diagram of the present invention.
Consider the balance under water of under-water robot, described pick up camera 11 and LED 16 select even number set to arrange, and are 4 groups 6 groups or 8 groups.
Fig. 4 is using state schematic diagram of the present invention.
Present invention also offers a kind of underwater multichannel data acquisition equipment, comprise under-water robot 18 and front-facing camera 19, the rear portion of robot 18 is provided with under-water robot axial encoded data acquisition device rotary annular support 20 under water, and this rotary annular support 20 is hinged on the connecting bore of under-water robot 18 rear portion by hinge.
Using method of the present invention:
The present invention is arranged on the rear portion preformed hole of under-water robot by articulated manner before use; During use, under-water robot front-facing camera works, when finding doubtful problem, ground controller gives its instruction, keep the former attitude of original position constant, starter motor 8, the driven wheel 9 on motor 8 drives driven gear 2 and runner shaft 3 to rotate, the rearmounted many groups pick up camera 11 being positioned at circular support 15 and LED 16 are rotated with runner shaft 3, carry out careful observation, record a video, take pictures and investigate problem by zoom.
Principle of work of the present invention:
The present invention under water robot advances the middle interpretation utilizing the front-facing camera of former machines configurations to carry out Dynamic matrix control and pinpoint the problems, front-facing camera finds that doubtful problem is stagnated, the many groups synchronous shooting camera utilizing rearmounted axial encoded data acquisition device to place on ring support carries out synchronously careful observation: motor 8 driven wheel 9, gear 9 drives driven gear 2 to rotate, driven gear 2 is fixed on runner shaft 3 and then drives runner shaft 3 to rotate, the slip ring 4 that shell is fixed in runner shaft 3 rotates simultaneously, the brush 12 of slip ring 4 rotates simultaneously, slip ring 4 center conducting ring 13 and electric wire do not rotate, the signal of pick up camera 11 can uninterruptedly spread out of by slip ring 4.
Compared with the front-facing camera that the present invention and existing under-water robot configure, because camera is rearmounted, when front-facing camera finds doubtful problem, ground controller gives its instruction, keep the former attitude of original position constant, problem place is found with rearmounted many groups camera, carry out careful observation, video recording, take pictures and investigate problem by zoom, namely in advancing, control speed well, multi-cam works simultaneously, namely solve original sediment and caused the muddy problem that can not observe of water by stirring, also problem target positioning problem is solved, effectively solve and the problem that cannot observe in detail of water-filled pipe under water, work efficiency improves greatly, and visibility, accuracy, reliability has large breakthrough, for testing under water opens new method of inspection.
The above-mentioned embodiment of the present invention, just casehistory, is not only, and the change within the scope of the present invention all or equivalent scope of the present invention is all surrounded by the present invention.
Claims (5)
1. a under-water robot axial encoded data acquisition device rotary annular support, it is characterized in that: comprise circular support (15), housing (14), controls transfer device (17), pick up camera (11) and LED (16), circular support (15) is connected with controls transfer device (17), controls transfer device (17) is arranged in housing (14), circular support (15) is arranged and organizes pick up camera (11) and LED (16) more, described housing (14) front end is provided with axis hole, rear end is provided with rear side housing (6), be provided with bearing one (10) in this axis hole, housing is provided with bearing support in (14), and bearing support is provided with bearing two (22), described controls transfer device (17) comprises runner shaft (3), motor (8), driven wheel (9), driven gear (2), slip ring (4) and coder (7), the middle part of described runner shaft (3) is hollow cavity, slip ring (4) is fixed in the hollow cavity of runner shaft (3) by its shell (21), the external stability of runner shaft (3) has driven gear (2), runner shaft (3) is supported by bearing one (10) and bearing two (22), described motor (8) is connected with coder (7) and is fixed on housing (14) inside, the output shaft end of motor (8) arranges driven wheel (9) and engages with driven gear (2), runner shaft (3) is driven to rotate by driven gear (2), and then drive slip ring (4) to rotate simultaneously, brush (12) and conducting ring (13) is provided with in described slip ring (4), the cable conductor of slip ring (4) is connected with pick up camera (11) and LED (16), the cable conductor of conducting ring (13) and coder (7) is connected on the joint under water (5) that is positioned on rear side housing (6), brush (12) rotates with slip ring (4) simultaneously, the conducting ring (13) at slip ring (4) center and cable conductor thereof do not rotate, the signal of pick up camera (11) uninterruptedly spreads out of by slip ring (4).
2. under-water robot according to claim 1 axial encoded data acquisition device rotary annular support, is characterized in that: be provided with water seal (1) between described housing (14) front end axis hole and runner shaft (3).
3. under-water robot according to claim 1 axial encoded data acquisition device rotary annular support,
It is characterized in that: described circular support (15) is fixed on the end of runner shaft (3) by flange.
4. under-water robot according to claim 1 axial encoded data acquisition device rotary annular support, is characterized in that: described pick up camera (11) and LED (16) arrange 4 groups, 6 groups or 8 groups.
5. one kind is provided with the underwater multichannel data acquisition equipment of the rotary annular support described in any one of claim 1-4, comprise under-water robot (18) and front-facing camera (19), it is characterized in that: the rear portion of robot (18) is provided with axial encoded data acquisition device rotary annular support (20) of under-water robot under water, and this rotary annular support (20) is hinged on the connecting bore of under-water robot (18) rear portion by hinge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510080164.4A CN104691727B (en) | 2015-02-13 | 2015-02-13 | Underwater robot axial encoded data acquisition device rotary annular support |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510080164.4A CN104691727B (en) | 2015-02-13 | 2015-02-13 | Underwater robot axial encoded data acquisition device rotary annular support |
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| CN104691727A true CN104691727A (en) | 2015-06-10 |
| CN104691727B CN104691727B (en) | 2016-10-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107063334A (en) * | 2016-08-15 | 2017-08-18 | 中国海洋石油总公司 | Suitable for the site monitoring system of deep water inner cupola formula single point mooring system |
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| CN103612728A (en) * | 2013-10-30 | 2014-03-05 | 上海交通大学 | Underwater three-dimensional detection gliding robot |
| CN203780778U (en) * | 2014-02-17 | 2014-08-20 | 武汉长江航道救助打捞局 | Underwater detector bracket |
| CN204489153U (en) * | 2015-02-13 | 2015-07-22 | 山东省水利科学研究院 | Under-water robot axial encoded data acquisition device rotary annular support |
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2015
- 2015-02-13 CN CN201510080164.4A patent/CN104691727B/en active Active
Patent Citations (7)
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| CN101070090A (en) * | 2007-06-08 | 2007-11-14 | 山东大学 | Transporting machine under deep sea |
| US20120266803A1 (en) * | 2008-10-17 | 2012-10-25 | Zediker Mark S | High power laser photo-conversion assemblies, apparatuses and methods of use |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN103395488A (en) * | 2013-07-01 | 2013-11-20 | 河海大学常州校区 | Underwater brushing detection robot |
| CN103612728A (en) * | 2013-10-30 | 2014-03-05 | 上海交通大学 | Underwater three-dimensional detection gliding robot |
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| CN107063334A (en) * | 2016-08-15 | 2017-08-18 | 中国海洋石油总公司 | Suitable for the site monitoring system of deep water inner cupola formula single point mooring system |
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| CN104691727B (en) | 2016-10-12 |
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