A multi-purpose two-degree-of-freedom monitoring pan-tilt

Abstract

The present invention discloses a multi-purpose two-degree-of-freedom monitoring pan-tilt platform, comprising: a fixed frame, the fixed frame comprising a fixed box and a clamping member, the clamping member is arranged on the fixed box; the clamping member comprises a left clamping plate, a right clamping plate, a front clamping plate and a rear clamping plate, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all arranged on the fixed box. A horizontal rotating member, the horizontal rotating member is arranged on the fixed frame, the horizontal rotating member comprises a first motor, a first harmonic reducer, a first fixed flange and a first cross roller bearing; a pitch member, the pitch member is arranged on the horizontal rotating member, the pitch member comprises a second motor, a second harmonic reducer, a third fixed flange, a second cross roller bearing and a fourth fixed flange. The present invention has reasonable structural design, compact structure, large transmission ratio, small size, convenient installation and use, convenient operation, and strong adaptability to mechanical arms.

Description

Technical Field

[0001] The present invention relates to the technical field of pan / tilt systems, and more specifically, to a multi-purpose two-degree-of-freedom monitoring pan / tilt. Background Art

[0002] The pan-tilt head is generally used to carry a camera, and the motion control of the camera is achieved through the motion control of the pan-tilt head system, and the camera image acquisition is transmitted to monitors, acquisition cards, hard disk recorders and other equipment. The pan-tilt head plays the role of fixing and installing the camera during the inspection process. The rotating pan-tilt head can expand the monitoring range of the monitoring equipment, which is suitable for large-scale panoramic observation and positioning of inspection targets. The pan-tilt head drive in the prior art often uses gear transmission and worm gear transmission, which makes the entire pan-tilt head large in size, heavy in weight and low in precision, increasing the load on the robot arm; when the pan-tilt head is used in different types of environments, it often needs to be matched with different types of robot arms as support, but the fixing method of the pan-tilt head in the prior art on the robot arm is often only fixed by a fixing flange consistent with it and bolts, which makes the pan-tilt head and the robot arm poor in versatility and adaptability during installation, increasing the complexity of the installation of the pan-tilt head and the robot arm. Summary of the invention

[0003] In order to overcome the above defects, the present invention provides a multi-purpose two-degree-of-freedom monitoring pan-tilt, which specifically adopts the following technical solutions:

[0004] A multi-purpose two-degree-of-freedom monitoring pan-tilt platform, comprising:

[0005] A fixed frame, the fixed frame includes a fixed box and a clamping member, the clamping member is arranged on the fixed box; the clamping member includes a left clamping plate, a right clamping plate, a front clamping plate and a rear clamping plate, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all arranged on the fixed box. A horizontal rotating member, the horizontal rotating member is arranged on the fixed frame, the horizontal rotating member includes a first motor, a first harmonic reducer, a first fixed flange and a first cross roller bearing, the first harmonic reducer and the first cross roller bearing are both arranged on the first motor, and the first flange is arranged on the first harmonic reducer.

[0006] A pitch component, wherein the pitch component is arranged on the horizontal rotating component, and the pitch component comprises a second motor, a second harmonic reducer, a third fixed flange, a second cross roller bearing and a fourth fixed flange, and the second harmonic reducer, the third fixed flange, the fourth fixed flange and the second cross roller bearing are all arranged on the second motor.

[0007] Preferably, the fixing box is in the shape of a rectangular groove, and a fixing through hole is arranged on the bottom of the fixing box groove. There are multiple fixing through holes, and the multiple fixing through holes are evenly distributed around the same center of a circle, and a first fixing bolt is embedded in each of the fixing through holes.

[0008] Preferably, a left clamping through hole is provided on the left side wall of the fixed box, a right clamping through hole is provided on the right side wall of the fixed box, a front clamping through hole is provided on the front side wall of the fixed box, and a rear clamping through hole is provided on the rear side wall of the fixed box; the distance between the left clamping through hole and the bottom of the fixed box slot is smaller than the distance between the right clamping through hole and the bottom of the fixed box slot, the distance between the front clamping through hole and the bottom of the fixed slot is larger than the distance between the right clamping through hole, and the distance between the rear clamping through hole and the bottom of the fixed box slot is larger than the distance between the front clamping through hole and the bottom of the fixed box slot; the left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole are all embedded with horizontal smooth tubes, and the horizontal smooth tubes can facilitate the horizontal extension and shortening of the clamping piece.

[0009] Preferably, a left-right rotating through hole is provided on the front side wall of the fixed box, the distance between the left-right rotating through hole and the bottom of the fixed box slot is greater than the distance between the left clamping through hole and the bottom of the fixed box slot, and the distance between the rotating through hole and the bottom of the fixed box slot is smaller than the distance between the right clamping through hole and the bottom of the fixed box slot, the left-right rotating through hole is embedded with a left-right rotating fixing sleeve, the left-right rotating fixing sleeve is tubular, one end of the left-right rotating fixing sleeve protrudes from the fixed box, and one end surface of the left-right rotating fixing sleeve is provided with a left-right rotating fixing groove; the right side wall of the fixed box is provided with a A front-and-rear rotation through hole is provided, and the angle between the axis of the front-and-rear rotation through hole and the right side wall of the fixed box is less than 90 degrees; the distance between the front-and-rear rotation through hole and the bottom of the fixed box groove is greater than the distance between the front clamping through hole and the bottom of the fixed box groove, and at the same time, the distance between the front-and-rear rotation through hole and the bottom of the fixed box groove is less than the distance between the rear clamping through holes, and a front-and-rear rotation fixing sleeve is embedded in the front-and-rear rotation through hole, and the front-and-rear rotation fixing sleeve is tubular, one end of the front-and-rear rotation fixing sleeve protrudes from the fixed box, and a front-and-rear rotation fixing groove is provided on one end surface of the front-and-rear rotation fixing sleeve.

[0010] Preferably, the left-right rotating fixed sleeve is embedded with a left-right rotating shaft, one end face of the left-right rotating shaft is hinged with a left-right rotating fixed sheet, the left-right rotating fixed sheet is in the shape of a rectangular frame, and the length of the left-right rotating fixed sheet is greater than the diameter of the left-right rotating fixed sleeve, and a long-toothed wide gear is provided on the other end of the left-right rotating shaft. Preferably, the front-back rotating fixed sleeve is embedded with a front-back rotating shaft, one end face of the front-back rotating shaft is hinged with a front-back rotating fixed sheet, the front-back rotating fixed sheet is in the shape of a rectangular frame, and the length of the front-back rotating fixed sheet is greater than the diameter of the front-back rotating fixed sleeve, and a long-toothed wide bevel gear is provided on the other end of the front-back rotating shaft.

[0011] Preferably, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all in the shape of right-angle plates, and the right-angle sides of the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are respectively and correspondingly embedded in the four horizontal smooth tubes;

[0012] The lower surface of the right-angle plate of the left clamping plate is provided with a first gear tooth, the upper surface of the right-angle plate of the right clamping plate is provided with a second gear tooth, and the first gear and the second gear are both meshed with the long-tooth width gear; the lower surface of the right-angle surface of the front clamping plate is provided with a first bevel gear tooth, and the upper surface of the right-angle plate of the rear clamping plate is provided with a second bevel gear tooth, and the first bevel gear teeth and the second bevel gear teeth are both meshed with the long-tooth width bevel gear.

[0013] Preferably, the left clamping plate, the right clamping plate, the front clamping plate and the other right-angle plate of the rear clamping plate are all provided with rotation fixing through holes, each of the rotation fixing through holes is embedded with a rotation fixing nut, each of the rotation fixing nut is embedded with a rotation fixing screw, the rotation fixing screw is meshed with the rotation fixing nut, and a fastening nut is mounted on the rotation fixing screw.

[0014] Preferably, the first motor is a servo motor, and one end of the outer ring of the first cross-roller bearing is fixedly connected to the first motor; the wave generator of the first harmonic reducer is mounted on the rotating shaft of the first motor, and the steel wheel of the first harmonic reducer is fixedly embedded in the inner ring of the first cross-roller bearing; one end of the first fixing flange is fixedly connected to the other end of the steel wheel of the first harmonic reducer, and the first fixing flange is fixedly set on the fixing box by the first bolt; a second fixing flange is set at the rear end of the first motor, and a second fixing bolt is embedded in the second fixing flange; a camera protective shell is set on the side wall of the first motor, and the camera protective shell is in the shape of a rectangular groove, one end face of the camera protective shell is closed, and the other end face of the camera protective shell is vertically arranged on the side wall of the first motor; when the camera is not in working state, it can be folded into the camera protective shell to prevent external collision from damaging the camera.

[0015] Preferably, the second motor is a servo motor, the third fixing flange is fixedly arranged on the second motor, and the third fixing flange is connected to the first fixing flange through the second fixing bolts; one end of the outer ring of the second cross roller bearing is fixedly arranged on the second motor, and the steel wheel of the second harmonic reducer is fixedly sleeved on the inner ring of the second cross roller bearing; one end of the fourth fixing flange is fixedly arranged on the other end of the steel wheel of the second harmonic reducer; and a camera fixing seat is arranged on the fourth fixing flange.

[0016] The present invention has at least the following beneficial effects:

[0017] 1) The multi-purpose two-degree-of-freedom monitoring pan-tilt platform of the present invention has a reasonable structural design, compact structure, large transmission ratio, small size, convenient installation and use, convenient operation, and strong adaptability to the mechanical arm;

[0018] 2) The multi-purpose two-degree-of-freedom monitoring pan-tilt of the present invention is provided with a fixing frame, which includes a fixing box and a clamping member, and the four side walls of the fixing box are respectively provided with a left clamping through hole, a right clamping through hole, a front clamping through hole and a rear clamping through hole, and the clamping member includes a left clamping plate, a right clamping plate, a front clamping plate and a rear clamping plate, and the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are respectively correspondingly embedded in the left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole, and the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate can extend out and retract into the fixing box, so that the fixing frame can adapt to mechanical arms of different shapes and diameters, so as to enhance the purpose and application scope of the multi-purpose two-degree-of-freedom monitoring pan-tilt;

[0019] 3) The multi-purpose two-degree-of-freedom monitoring gimbal of the present invention is provided with a horizontal rotating part and a pitch part, the horizontal rotating part includes a first motor and a first harmonic reducer, the pitch part includes a second motor and a second harmonic reducer, the first motor can be vertically fixed on the fixing frame through the first harmonic reducer, and the first motor is rotated forward and reversely through the first harmonic reducer; the second motor is horizontally arranged on the first motor, and the pitch part rotates the camera fixing seat upward and downward through the rotation of the second harmonic reducer, thereby enabling the multi-purpose two-degree-of-freedom monitoring gimbal to achieve horizontal rotation and vertical pitch.

[0020] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a schematic diagram of the left-view stereoscopic structure of the multi-purpose two-degree-of-freedom monitoring platform of the present invention;

[0022] Figure 2 It is a schematic diagram of the right-view stereoscopic structure of the multi-purpose two-degree-of-freedom monitoring platform of the present invention;

[0023] Figure 3 This is a schematic diagram of the upward-looking stereoscopic structure of the multi-purpose two-degree-of-freedom monitoring platform of the present invention;

[0024] Figure 4 This is a right view of the multi-purpose two-degree-of-freedom monitoring platform of the present invention;

[0025] Figure 5 The present invention is a multi-purpose two-degree-of-freedom monitoring platform Figure 4 Middle A is a partial enlarged view;

[0026] Figure 6 It is a vertical cross-sectional stereoscopic structural schematic diagram of a fixing frame in a multi-purpose two-degree-of-freedom monitoring pan-tilt platform of the present invention;

[0027] Figure 7 It is a vertical cross-sectional view of the fixing frame in the multi-purpose two-degree-of-freedom monitoring pan-tilt platform of the present invention.

[0028] Among them: 1-fixed box, 2-left and right rotating fixed sleeve, 3-front and rear rotating fixed sleeve, 5-left and right rotating fixed plate, 6-long tooth width gear, 7-front and rear rotating shaft, 8-front and rear rotating fixed plate, 9-long tooth width bevel gear, 10-horizontal smooth tube, 11-left clamping plate, 12-right clamping plate, 13-front clamping plate, 14-rear clamping plate, 15-rotation fixing nut, 16-rotation fixing screw, 17-fastening nut, 18-first motor, 19-first harmonic reducer, 20-first fixing flange, 21-first cross roller bearing, 22-second fixing flange, 23-second fixing bolt, 24-camera protective shell, 25-second motor, 26-second harmonic reducer, 27-third fixing flange, 28-second cross roller bearing, 30-camera fixing seat, 31-camera. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0030] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0031] according to Figure 1-Figure 7 As shown, a multi-purpose two-degree-of-freedom monitoring gimbal includes a fixed frame, a horizontal rotating part and a pitching part, wherein the horizontal rotating part is arranged on the fixed frame, and the pitching part is arranged on the horizontal rotating part. The fixed frame includes a fixed box 1 and a clamping part, wherein the clamping part is arranged on the fixed box 1. The fixed box 1 is in the shape of a rectangular groove, and a fixed through hole is arranged on the bottom of the groove of the fixed box 1. There are four fixed through holes, and the four fixed through holes are evenly distributed around the same center of a circle, and a first fixing bolt is embedded in each of the fixed through holes.

[0032] The left side wall of the fixed box 1 is provided with a left side clamping through hole, the right side wall of the fixed box 1 is provided with a right side clamping through hole, the front side wall of the fixed box 1 is provided with a front side clamping through hole, and the rear side wall of the fixed box 1 is provided with a rear side clamping through hole. The left side clamping through hole, the right side clamping through hole, the front side clamping through hole and the rear side clamping through hole are all in the shape of long strip holes. The distance between the left side clamping through hole and the bottom of the groove of the fixed box 1 is smaller than the distance between the right side clamping through hole and the bottom of the groove of the fixed box 1, the distance between the front side clamping through hole and the bottom of the fixed groove is larger than the distance between the right side clamping through hole, and the distance between the rear side clamping through hole and the bottom of the groove of the fixed box 1 is larger than the distance between the front side clamping through hole and the bottom of the groove of the fixed box 1.

[0033] The front side wall of the fixed box 1 is provided with a left-right rotation through hole, the distance between the left-right rotation through hole and the bottom of the groove of the fixed box 1 is greater than the distance between the left clamping through hole and the bottom of the groove of the fixed box 1, and the distance between the rotation through hole and the bottom of the groove of the fixed box 1 is smaller than the distance between the right clamping through hole and the bottom of the groove of the fixed box 1. The left-right rotation through hole is embedded with a left-right rotation fixing sleeve 2, which is tubular, one end of which protrudes from the fixed box 1, and a left-right rotation fixing groove is provided on one end surface of the left-right rotation fixing sleeve 2. The right side wall of the fixed box 1 is provided with a front-back rotation through hole, and the angle between the axis of the front-back rotation through hole and the right side wall of the fixed box 1 is less than 90 degrees. The distance between the front-to-back rotation through hole and the bottom of the groove of the fixed box 1 is greater than the distance between the front side clamping through hole and the bottom of the groove of the fixed box 1, and at the same time, the distance between the front-to-back rotation through hole and the bottom of the groove of the fixed box 1 is less than the distance between the rear side clamping through holes. A front-to-back rotation fixing sleeve 3 is embedded in the front-to-back rotation through hole, and the front-to-back rotation fixing sleeve 3 is tubular, one end of the front-to-back rotation fixing sleeve 3 protrudes from the fixed box 1, and a front-to-back rotation fixing groove is arranged on one end surface of the front-to-back rotation fixing sleeve 3.

[0034] The left-right rotating fixed sleeve 2 is embedded with a left-right rotating shaft, one end of the left-right rotating shaft is flush with one end of the left-right rotating fixed sleeve 2, and one end face of the left-right rotating shaft is hinged with a left-right rotating fixed sheet 5, the left-right rotating fixed sheet 5 is in the shape of a rectangular frame, and the length of the left-right rotating fixed sheet 5 is greater than the diameter of the left-right rotating fixed sleeve 2. When the axis of the left-right rotating fixed sheet 5 is parallel to the axis of the left-right rotating shaft, the left-right rotating shaft can be driven to rotate forward and reversely by twisting the left-right rotating fixed sheet 5 in the forward and reverse directions. When the axis of the left-right rotating fixed sheet 5 is perpendicular to the axis of the left-right rotating shaft, the left-right rotating fixed sheet 5 will be embedded in the left-right rotating fixed groove to fix the left-right rotating shaft. The length of the other end of the left-right rotating shaft is not less than half the length of the fixed box 1, and a long-toothed wide gear 6 is provided on the other end of the left-right rotating shaft.

[0035] The front-to-back rotating fixed sleeve 3 is embedded with a front-to-back rotating shaft 7, one end of which is flush with one end of the front-to-back rotating fixed sleeve 3, and one end of the front-to-back rotating shaft 7 is hinged with a front-to-back rotating fixed sheet 8, which is in the shape of a rectangular frame, and the length of the front-to-back rotating fixed sheet 8 is greater than the diameter of the front-to-back rotating fixed sleeve 3. When the axis of the front-to-back rotating fixed sheet 8 is parallel to the axis of the front-to-back rotating shaft 7, the front-to-back rotating shaft 7 can be driven to rotate forward and reversely by twisting the front-to-back rotating fixed sheet 8 forward and reversely. A long-toothed wide bevel gear 9 is arranged on the other end of the front-to-back rotating shaft 7.

[0036] A horizontal smooth tube 10 is embedded in the left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole. The horizontal smooth tube 10 is in a rectangular tube shape and can facilitate the horizontal extension and shortening of the clamping piece.

[0037] The clamping member includes a left clamping plate 11, a right clamping plate 12, a front clamping plate 13 and a rear clamping plate 14, and the left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the rear clamping plate 14 are all arranged on the fixed box 1. The left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the rear clamping plate 14 are all in the shape of right-angle plates, and the left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the rear clamping plate 14 are all respectively embedded in the four horizontal smooth tubes 10 with right-angle sides.

[0038] The lower surface of the right-angle plate of the left clamping plate 11 is provided with a first gear tooth, and the first gear tooth is horizontally distributed on the left clamping plate 11; the upper surface of the right-angle plate of the right clamping plate 12 is provided with a second gear tooth, and the second gear tooth is horizontally distributed on the right clamping plate 12, and the first gear and the second gear are both meshed with the long-tooth width gear 6; the lower surface of the right-angle surface of the front clamping plate 13 is provided with a first bevel gear tooth, and the first bevel gear tooth is horizontally distributed on the front clamping plate 13, and the inclination direction of the first bevel gear tooth is parallel to the axis of the front-back rotating through hole; the upper surface of the right-angle plate of the rear clamping plate 14 is provided with a second bevel gear tooth, and the second bevel gear tooth is horizontally distributed on the rear clamping plate 14, and the inclination angle of the second bevel gear tooth is parallel to the axis of the front-back rotating through hole, and the first bevel gear tooth and the second bevel gear tooth are both meshed with the long-tooth width bevel gear 9. The left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the other right-angle plate of the rear clamping plate 14 are all provided with rotation fixing through holes, each of which is embedded with a rotation fixing nut 15, and each of which is embedded with a rotation fixing screw 16. The rotation fixing screw 16 is meshed with the rotation fixing nut 15, and a fastening nut 17 is mounted on the rotation fixing screw 16.

[0039] The horizontal rotating member includes a first motor 18, a first harmonic reducer 19, a first fixing flange 20 and a first cross roller bearing 21. The first harmonic reducer 19 and the first cross roller bearing 21 are both arranged on the first motor 18, and the first flange is arranged on the first harmonic reducer 19. The first motor 18 is a servo motor, and one end of the outer ring of the first cross roller bearing 21 is fixedly connected to the first motor 18. The wave generator of the first harmonic reducer 19 is sleeved on the rotating shaft of the first motor 18, and the steel wheel of the first harmonic reducer 19 is fixedly embedded in the inner ring of the first cross roller bearing 21. One end of the first fixing flange 20 is fixedly connected to the other end of the steel wheel of the first harmonic reducer 19, and the first fixing flange 20 is fixedly arranged on the fixing box 1 by the first bolt. A second fixing flange 22 is provided at the rear end of the first motor 18, and a second fixing bolt 23 is embedded in the second fixing flange 22; a camera protection shell 24 is provided on the side wall of the first motor 18, and the camera protection shell 24 is in the shape of a rectangular groove, one end face of the camera protection shell 24 is closed, and the other end face of the camera protection shell 24 is vertically arranged on the side wall of the first motor 18. When the camera 31 is not in working state, it can be folded into the camera protection shell 24 to prevent the camera 31 from being damaged by external collision.

[0040] The pitching member includes a second motor 25, a second harmonic reducer 26, a third fixing flange 27, a second cross roller bearing 28 and a fourth fixing flange. The second harmonic reducer 26, the third fixing flange 27, the fourth fixing flange and the second cross roller bearing 28 are all arranged on the second motor 25. The second motor 25 is a servo motor. The third fixing flange 27 is fixedly arranged on the second motor 25, and the third fixing flange 27 is connected to the first fixing flange 20 through the second fixing bolt 23. One end of the outer ring of the second cross roller bearing 28 is fixedly arranged on the second motor 25, and the steel wheel of the second harmonic reducer 26 is fixedly sleeved on the inner ring of the second cross roller bearing 28. One end of the fourth fixing flange is fixedly arranged on the other end of the steel wheel of the second harmonic reducer 26. A camera fixing seat 30 is arranged on the fourth fixing flange, and a camera 31 is arranged on the camera fixing seat 30. When the second motor 25 rotates forward, the second harmonic reducer 26 drives the camera mount 30 to rotate downward, thereby causing the camera 31 to rotate downward. When the second motor 25 rotates reversely, the second harmonic reducer 26 drives the camera mount 30 to rotate upward, thereby causing the camera 31 to rotate upward.

[0041] When the mechanical arm to be fixed is provided with a fixing flange that matches the first fixing flange 20, the multi-purpose two-degree-of-freedom monitoring platform is directly set on the mechanical arm through the first fixing flange 20; when the mechanical arm is not provided with a fixing flange or the fixing flange provided on the mechanical arm does not match the first fixing flange 20, the first flange is set on the bottom of the groove of the fixing box 1 through a first bolt, so that the multi-purpose two-degree-of-freedom monitoring platform is fixed on the mechanical arm through a fixing frame, that is, by turning the left and right rotating axes and the front and rear rotating axes 7, the distance between the left clamping plate 11 and the right clamping plate 12, and the distance between the front clamping plate 13 and the rear clamping plate 14 are adjusted, and the fixing frame is put on the mechanical arm, and finally the multi-purpose two-degree-of-freedom monitoring platform is fixed on the mechanical arm by tightening the rotating fixing screw 16.

[0042] The beneficial technical effects of the present invention are as follows:

[0043] The multi-purpose two-degree-of-freedom monitoring platform of the present invention has a reasonable structural design, a compact structure, a large transmission ratio, a small size, is easy to install and use, is convenient to operate, and has strong adaptability to a mechanical arm; the multi-purpose two-degree-of-freedom monitoring platform of the present invention is provided with a fixing frame, which includes a fixing box 1 and a clamping member, and the four side walls of the fixing box 1 are respectively provided with a left clamping through hole, a right clamping through hole, a front clamping through hole and a rear clamping through hole, and the clamping member includes a left clamping plate 11, a right clamping plate 12, a front clamping plate 13 and a rear clamping plate The clamping plate 14, the left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the rear clamping plate 14 are respectively embedded in the left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole. The left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the rear clamping plate 14 can extend out and retract into the fixed box 1, so that the fixing frame can adapt to robotic arms of different shapes and diameters to enhance the purpose and application scope of the multi-purpose two-degree-of-freedom monitoring gimbal.

[0044] The multi-purpose two-degree-of-freedom monitoring gimbal of the present invention is provided with a horizontal rotating part and a pitch part. The horizontal rotating part includes a first motor 18 and a first harmonic reducer 19, and the pitch part includes a second motor 25 and a second harmonic reducer 26. The first motor 18 can be vertically fixed on the fixing frame through the first harmonic reducer 19, and the first motor 18 is rotated forward and reversely through the first harmonic reducer 19; the second motor 25 is horizontally arranged on the first motor 18, and the pitch part rotates the camera fixing seat 30 upward and downward through the rotation of the second harmonic reducer 26, thereby enabling the multi-purpose two-degree-of-freedom monitoring gimbal to achieve horizontal rotation and vertical pitch.

[0045] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-purpose two-degree-of-freedom monitoring pan-tilt platform, characterized in that: include: A fixing frame, the fixing frame comprises a fixing box and a clamping member, the clamping member is arranged on the fixing box; the clamping member comprises a left clamping plate, a right clamping plate, a front clamping plate and a rear clamping plate, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all arranged on the fixing box; A horizontal rotating member, the horizontal rotating member is arranged on the fixed frame, the horizontal rotating member comprises a first motor, a first harmonic reducer, a first fixing flange and a first cross roller bearing, the first harmonic reducer and the first cross roller bearing are both arranged on the first motor, and the first fixing flange is arranged on the first harmonic reducer; A pitch component, the pitch component is arranged on the horizontal rotating component, the pitch component comprises a second motor, a second harmonic reducer, a third fixing flange, a second cross roller bearing and a fourth fixing flange, the second harmonic reducer, the third fixing flange, the fourth fixing flange and the second cross roller bearing are all arranged on the second motor; A left clamping through hole is provided on the left side wall of the fixed box, a right clamping through hole is provided on the right side wall of the fixed box, a front clamping through hole is provided on the front side wall of the fixed box, and a rear clamping through hole is provided on the rear side wall of the fixed box; the distance between the left clamping through hole and the bottom of the fixed box slot is smaller than the distance between the right clamping through hole and the bottom of the fixed box slot, the distance between the front clamping through hole and the bottom of the fixed box slot is larger than the distance between the right clamping through hole, and the distance between the rear clamping through hole and the bottom of the fixed box slot is The distance is greater than the distance from the front clamping through hole to the bottom of the fixed box slot; the left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole are all embedded with horizontal smooth tubes, and the horizontal smooth tube can facilitate the horizontal extension and shortening of the clamping piece; the front side wall of the fixed box is provided with left and right rotating through holes, and the distance from the left and right rotating through holes to the bottom of the fixed box slot is greater than the distance from the left clamping through hole to the bottom of the fixed box slot, and the rotating through hole to the fixed box The spacing between the bottom of the groove is smaller than the spacing between the right side clamping through hole and the bottom of the groove of the fixed box, the left and right rotating through hole is embedded with a left and right rotating fixed sleeve, the left and right rotating fixed sleeve is tubular, one end of the left and right rotating fixed sleeve protrudes from the fixed box, and a left and right rotating fixed groove is arranged on one end surface of the left and right rotating fixed sleeve; a front and back rotating through hole is arranged on the right side wall of the fixed box, and the angle between the axis of the front and back rotating through hole and the right side wall of the fixed box is less than 90 degrees; the spacing between the front and back rotating through hole and the bottom of the groove of the fixed box is greater than the spacing between the front side clamping through hole and the bottom of the groove of the fixed box, and at the same time, the spacing between the front and back rotating through hole and the bottom of the groove of the fixed box is smaller than the spacing between the rear side clamping through hole, a front and back rotating fixed sleeve is embedded in the front and back rotating through hole, the front and back rotating fixed sleeve is tubular, one end of the front and back rotating fixed sleeve protrudes from the fixed box, and a front and back rotating fixed groove is arranged on one end surface of the front and back rotating fixed sleeve; the first motor is a servo motor, and one end of the outer ring of the first cross roller bearing is fixedly connected to the first motor.

2. The multi-purpose two-degree-of-freedom monitoring pan-tilt platform according to claim 1, characterized in that: The fixing box is in the shape of a rectangular groove, and a fixing through hole is arranged on the bottom of the fixing box groove. There are multiple fixing through holes, and the multiple fixing through holes are evenly distributed around the same center of a circle. A first fixing bolt is embedded in each of the fixing through holes.

3. The multi-purpose two-degree-of-freedom monitoring PTZ according to claim 1, characterized in that: The left and right rotating fixed sleeve is embedded with a left and right rotating shaft, one end face of the left and right rotating shaft is hinged with a left and right rotating fixed plate, the left and right rotating fixed plate is in the shape of a rectangular frame, and the length of the left and right rotating fixed plate is greater than the diameter of the left and right rotating fixed sleeve, and a long-toothed wide gear is arranged on the other end of the left and right rotating shaft.

4. The multi-purpose two-degree-of-freedom monitoring pan-tilt platform according to claim 3, characterized in that: The front and rear rotating fixed sleeve is embedded with a front and rear rotating shaft, one end face of the front and rear rotating shaft is hinged with a front and rear rotating fixed plate, the front and rear rotating fixed plate is in the shape of a rectangular frame, and the length of the front and rear rotating fixed plate is greater than the diameter of the front and rear rotating fixed sleeve, and the other end of the front and rear rotating shaft is provided with a long-toothed wide bevel gear.

5. The multi-purpose two-degree-of-freedom monitoring PTZ according to claim 4, characterized in that: The left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all in the shape of right-angle plates, and the right-angle sides of the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are respectively and correspondingly embedded in the four horizontal smooth tubes; The lower surface of the right-angle plate of the left clamping plate is provided with a first gear tooth, and the upper surface of the right-angle plate of the right clamping plate is provided with a second gear tooth, and the first gear tooth and the second gear tooth are both meshed with the long-tooth width gear; the lower surface of the right-angle surface of the front clamping plate is provided with a first bevel gear tooth, and the upper surface of the right-angle plate of the rear clamping plate is provided with a second bevel gear tooth, and the first bevel gear tooth and the second bevel gear tooth are both meshed with the long-tooth width bevel gear.

6. The multi-purpose two-degree-of-freedom monitoring pan-tilt platform according to claim 5, characterized in that: The left clamping plate, the right clamping plate, the front clamping plate and the other right-angle plate of the rear clamping plate are all provided with rotation fixing through holes, each of the rotation fixing through holes is embedded with a rotation fixing nut, each of the rotation fixing nut is embedded with a rotation fixing screw, the rotation fixing screw is meshed with the rotation fixing nut, and a fastening nut is mounted on the rotation fixing screw.

7. The multi-purpose two-degree-of-freedom monitoring pan-tilt platform according to claim 6, characterized in that: The wave generator of the first harmonic reducer is sleeved on the rotating shaft of the first motor, and the steel wheel of the first harmonic reducer is fixedly embedded in the inner ring of the first cross roller bearing; one end of the first fixing flange is fixedly connected to the other end of the steel wheel of the first harmonic reducer, and the first fixing flange is fixedly set on the fixing box by a first bolt; a second fixing flange is set at the rear end of the first motor, and a second fixing bolt is embedded in the second fixing flange; a camera protective shell is set on the side wall of the first motor, and the camera protective shell is in the shape of a rectangular groove, one end face of the camera protective shell is closed, and the other end face of the camera protective shell is vertically set on the side wall of the first motor; when the camera is not in working state, it can be folded into the camera protective shell to prevent external collision from damaging the camera.

8. The multi-purpose two-degree-of-freedom monitoring pan-tilt platform according to claim 7, characterized in that: The second motor is a servo motor, the third fixing flange is fixedly arranged on the second motor, and the third fixing flange is connected to the first fixing flange through the second fixing bolts; one end of the outer ring of the second cross roller bearing is fixedly arranged on the second motor, and the steel wheel of the second harmonic reducer is fixedly sleeved on the inner ring of the second cross roller bearing; one end of the fourth fixing flange is fixedly arranged on the other end of the steel wheel of the second harmonic reducer; and a camera fixing seat is arranged on the fourth fixing flange.

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