Intelligent Robot Camera Gimbal

Abstract

An intelligent robot camera gimbal in the field of autonomous mobile robot application technology includes a 3D camera, a camera fixing flange, a central rotating shaft, a pitch and roll mechanism, a yaw mechanism, a gimbal bracket, a gimbal fixing shell, a gimbal upper shell, a bottom fixing seat, and a controller; the yaw mechanism is arranged in the gimbal bracket and connected to the gimbal bracket ribs, the pitch and roll mechanism is arranged in the gimbal shell, and the yaw mechanism and the pitch and roll mechanism are connected through an upper connecting plate; the 3D camera is arranged on the upper part of the gimbal shell and connected to the top of the central rotating shaft through the camera fixing flange; the middle and lower parts of the central rotating shaft are arranged in the gimbal shell and connected to the pitch and roll mechanism. The present invention can enable the camera to perform pitch, roll, and yaw movements of the gimbal device at the same time, and use robot dynamics calculation to decouple the axes from each other, so as to achieve precise control of the gimbal movement, thereby obtaining a larger field of view and a clearer image.

Description

Technical Field

[0001] The present invention relates to a camera cloud platform in the field of autonomous mobile robot application technology, in particular to an intelligent robot camera cloud platform capable of enabling a camera to perform pitch, roll and yaw movements simultaneously. Background Art

[0002] With the rapid development of the robotics industry, various types of autonomous mobile robots with various functions have emerged and are widely used in security inspections and patrols in parks, factories, hospitals, schools, subway stations, high-speed rail stations, airports, etc. Mobile robots, in conjunction with industrial cameras or 3D smart cameras, can guide mobile robots to obtain views of various buildings, people, and facilities within a specified range of movement in order to eliminate various potential safety hazards. In complex environments, there is an increasing demand to provide cameras with multi-dimensional, large-angle steering so that mobile robots can walk along the best route and obtain a wider field of view.

[0003] In most of the current mobile robot inspections, the cameras are fixedly mounted on the robots. When the robots are walking, the range of camera image extraction is limited to the position reached by the robot's movement. Some locations are relatively remote, and places with biased camera angles cannot extract complete and clear images, resulting in certain blind spots in the field of vision, which makes it impossible to completely eliminate safety hazards. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention proposes an intelligent robot camera gimbal, which can enable the camera to perform pitch, roll and yaw movements simultaneously. An eyeball mechanism is formed by connecting three rotating axes in parallel, and the axes are decoupled from each other by robot dynamics calculation, so as to achieve precise control of the gimbal movement, thereby obtaining a larger field of view and clearer images.

[0005] The present invention is realized by the following technical scheme, which includes a 3D camera, a camera fixing flange, a central rotating shaft, a pitch and roll mechanism, a yaw mechanism, a gimbal bracket, a gimbal fixing shell, a gimbal upper shell, an upper rotating ring, a lower fixing ring, a rotating ring bracket, a gimbal dust cover, a sealing ring, a bottom fixing seat, a controller, and an upper connecting plate; the gimbal fixing shell and the gimbal bracket are connected to the bottom fixing seat, and the gimbal bracket is arranged in the gimbal fixing shell. The outer shell of the gimbal is arranged on the upper part of the upper fixed shell of the gimbal; the yaw mechanism is arranged in the gimbal bracket and connected to the ribs of the gimbal bracket, the pitch and roll mechanism is arranged in the outer shell of the gimbal, and the yaw mechanism is connected to the pitch and roll mechanism through the upper connecting plate; the upper rotating ring is arranged at the bottom of the outer shell of the gimbal, and is connected to the pitch and roll mechanism through the rotating ring bracket; the lower fixed ring is arranged at the top of the fixed shell of the gimbal and matches the upper rotating ring; the 3D camera is arranged on the upper part of the outer shell of the gimbal, and is connected to the top of the central rotating shaft through the camera fixing flange; the middle and lower parts of the central rotating shaft are arranged in the outer shell of the gimbal and are connected to the pitch and roll mechanism; the gimbal dust cover is arranged between the 3D camera and the outer shell of the gimbal, and is located on the outside of the camera fixing flange; the sealing ring is arranged between the fixed shell of the gimbal and the outer shell of the gimbal; the controller is used to control the camera gimbal.

[0006] Furthermore, in the present invention, the pitch and roll mechanism includes an aluminum alloy square tube, a first steering link, a second steering link, a first bearing seat, a second bearing seat, a third bearing seat, a large pitch pulley, a small pitch pulley, a large roll pulley, a small roll pulley, a pitch synchronous belt, a roll synchronous belt, a pitch tensioning seat, a roll tensioning seat, a tensioning bearing, a pitch motor, a roll motor, a motor mounting seat, a pitch position switch, a roll position switch, a sensor sheet, and a shaft retaining spring; the first steering link, the second steering link, the pitch motor, and the roll motor are all arranged inside the aluminum alloy square tube, the large pitch pulley, the small pitch pulley, the large roll pulley, the small roll pulley, the pitch tensioning seat, the roll tensioning seat, and the tensioning bearing are all arranged outside the aluminum alloy square tube, and the first bearing seat, the second bearing seat, the pitch position switch, and the roll position switch are all arranged on the aluminum alloy. The third bearing seat is fixed on the first steering link; the large pitch pulley is connected to the first steering link and is fastened by a top screw; the large roll pulley is connected to the second steering link and is fastened by a top screw; two tensioning bearings are respectively installed on the pitch tensioning seat and the roll tensioning seat, and the shaft is clamped with a retaining spring; the two motor mounting seats are respectively connected to the pitch motor and the roll motor and then fixed on the aluminum alloy square tube; the small pitch pulley is connected to the pitch motor and is fixed with a top screw; the small roll pulley is connected to the roll motor and is fixed with a top screw; the two induction plates are respectively installed on the first steering link and the second steering link; the pitch synchronous belt is sleeved between the large pitch pulley and the small pitch pulley, and is tensioned through the pitch tensioning seat; the roll synchronous belt is sleeved between the large roll pulley and the small roll pulley, and is tensioned through the roll tensioning seat.

[0007] Furthermore, in the present invention, the yaw mechanism includes a yaw motor, a harmonic reducer, a reducer mounting plate, a rotation position switch, and an induction screw; the harmonic reducer and the yaw motor are connected by screws and fixed with a top screw and then installed on the reducer mounting plate, and the reducer mounting plate is connected to the gimbal bracket; the output shaft of the harmonic reducer is connected to the upper connecting plate through a flat key; the rotation position switch is installed on the gimbal bracket, and the induction screw is installed on the upper connecting plate.

[0008] Furthermore, in the present invention, the 3D camera includes but is not limited to a laser 3D scanner and a binocular camera, the camera fixing flange is a hollow structure, the tensioning bearing is a deep groove ball bearing, the gimbal bracket is cylindrical, and the upper outer shell of the gimbal is cylindrical with an arc cover.

[0009] Furthermore, in the present invention, the pitch motor, the roll motor and the yaw motor are all stepper motors.

[0010] In the present invention, the 3D camera is not limited to the laser 3D scanner and the binocular camera, but is also applicable to other types of 3D cameras. The camera fixing flange adopts a hollow structure, which is used to connect the camera and the gimbal, fixed with screws, and the camera cable can be passed through the fixing flange to reach the inside of the gimbal for wiring. The middle and lower part of the central shaft is used to connect the pitch mechanism and the roll mechanism, which are connected through bearings. The three form an "eyeball", which can rotate simultaneously or individually. The tensioning bearing connected to the pitch tensioning seat and the roll tensioning seat is a deep groove ball bearing, and the deep groove ball bearing is in synchronous belt contact. The gimbal bracket is cylindrical and connected to the reducer mounting plate of the camera yaw mechanism. The lower fixed ring is connected to the gimbal fixed shell by glue; the upper rotating ring is connected to the aluminum alloy square tube in the camera pitch and roll mechanism through the rotating ring bracket, and can rotate with the camera pitch and roll mechanism. The outer shell of the gimbal is a cylindrical cover with an arc shape, which is connected to the upper rotating ring and fixed with glue, and then put on the upper end of the gimbal bracket, with a clearance fit, and rotates with the camera's pitch and roll mechanism. The gimbal protective cover is made of a special material that is waterproof and oil-proof. The upper end is connected to the camera, and the lower end is connected to the upper shell of the gimbal. The sealing ring is an O-type rubber sealing ring, which is located between the gimbal fixed bracket and the outer shell of the gimbal, and plays a sealing role to prevent water and other oil stains from entering.

[0011] In the present invention, the motors are all stepper motors with a step angle of 1.8°. Stepper motors with different inertia and rated torque can be selected according to the load to meet the rotation requirements. The present invention adopts synchronous belt transmission and a suitable reduction ratio to provide a rotation speed and torque that meet the requirements, ensuring that the camera runs smoothly and accurately. The motor driver, which is selected according to the selected stepper motor, adopts the Ethercat bus communication method, which is small in size and convenient for installation and wiring. The controller adopts the Iteli7 processor and the Ubuntu-16.04 operating system. The upper computer communication method is Ethernet\USB, and the lower computer communication method is Ethercat; the interfaces include 4 USB3.0, 4 USB2.0, 2 HDMI, 2 LAN, etc.

[0012] Compared with the prior art, the present invention has the following beneficial effects: the present invention connects three rotating shafts in parallel to form an eyeball structure, utilizes the mutual decoupling between the three rotating shafts, and through the calculation and analysis of the robot's motion dynamics, enables the pan-tilt head to perform high-precision rotational coupling motion; the rotating shafts in the eyeball mechanism are cross-shaped and integrated, avoiding the assembly gap of the pitch and roll axes, improving the assembly accuracy, and significantly improving the repeated positioning accuracy of the pan-tilt head; adopts synchronous belt drive and harmonic reducer drive, thereby improving the transmission efficiency, making the movement smoother, and can stably move in various complex and uneven environments; adopts a sealing device design to achieve an IP54 protection level, allowing the pan-tilt head to adapt to various different working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0014] Figure 2 for Figure 1 Left view of

[0015] Figure 3 for Figure 1 Schematic diagram of the structure of the AA section;

[0016] Figure 4 for Figure 3 A partial enlarged view of the upper part;

[0017] Figure 5 for Figure 3 A partial enlarged view of the lower part;

[0018] Figure 6 for Figure 2 Schematic diagram of the structure of the middle BB section;

[0019] Figure 7 It is a schematic diagram of the structure of the pitch and roll mechanism in an embodiment of the present invention;

[0020] Figure 8 for Figure 7 A partial enlarged view of the upper part;

[0021] Fig. 9 for Figure 7 A partial enlarged view of the middle part;

[0022] Fig.10 It is a schematic diagram of the upper part of the pitch and roll mechanism in an embodiment of the present invention;

[0023] Fig.11 It is a front view of the internal structure of an embodiment of the present invention;

[0024] Fig.12 for Fig.11 A partial enlarged view of

[0025] Fig.13 A rear view of the internal structure of an embodiment of the present invention;

[0026] Fig.14 for Fig.13 A partial enlarged view of

[0027] Fig.15 Schematic diagram of a yaw mechanism in an embodiment of the present invention;

[0028] Fig.16 for Fig.15 Structural diagram of the middle CC section;

[0029] Among them, 1. 3D camera, 2. Camera fixing flange, 3. Central shaft, 4. Pitch and roll mechanism, 5. Yaw mechanism, 6. Gimbal bracket, 7. Gimbal fixed shell, 8. Gimbal upper shell, 9. Upper rotating ring, 10. Lower fixed ring, 11. Rotating ring bracket, 12. Gimbal dust cover, 13. Sealing ring, 14. Bottom fixing seat, 15. Aluminum alloy square tube, 16. First steering link, 17. Second steering link, 18. First bearing seat, 19. Second bearing seat, 20. Third bearing seat, 21. Pitch large pulley, 22. Pitch small pulley, 23. Roll large pulley, 24. Roll small pulley, 25. Pitch synchronous belt, 26. Roll synchronous belt, 27. Pitch tensioning seat, 28. Roll tensioning seat, 29. Tensioning bearing, 30. Pitch motor, 31. Roll motor, 32. Motor mounting seat, 33. Pitch position switch, 34. Roll position switch, 35. Sensor plate, 36. Shaft retaining ring, 37. Yaw motor, 38. Harmonic reducer, 39. Reducer mounting plate, 40. Upper connecting plate, 41. Rotation position switch, 42. Sensor screw. DETAILED DESCRIPTION

[0030] The following is a detailed description of an embodiment of the present invention in conjunction with the accompanying drawings. This embodiment is based on the technical solution of the present invention and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiment.

[0031] Example

[0032] Specific implementation examples Figures 1 to 16As shown, the present invention includes a 3D camera 1, a camera fixing flange 2, a central shaft 3, a pitch and roll mechanism 4, a yaw mechanism 5, a gimbal bracket 6, a gimbal fixing housing 7, a gimbal upper housing 8, an upper rotating ring 9, a lower fixing ring 10, a rotating ring bracket 11, a gimbal dust cover 12, a sealing ring 13, a bottom fixing seat 14, an aluminum alloy square tube 15, a first steering link 16, a second steering link 17, a first bearing seat 18, a second bearing seat 19, The third bearing seat 20, the pitch large pulley 21, the pitch small pulley 22, the roll large pulley 23, the roll small pulley 24, the pitch synchronous belt 25, the roll synchronous belt 26, the pitch tensioning seat 27, the roll tensioning seat 28, the tensioning bearing 29, the pitch motor 30, the roll motor 31, the motor mounting seat 32, the pitch position switch 33, the roll position switch 34, the induction sheet 35, the shaft retaining spring 36, the yaw motor 37, the harmonic reducer 38, the reducer mounting plate 39, the upper connecting plate 40, the rotation position switch 41, the induction screw 42, the controller, the motor driver; the gimbal fixed housing 7, the gimbal The brackets 6 are all connected to the bottom fixing seat 14, the gimbal bracket 6 is arranged in the gimbal fixed shell 7, and the gimbal upper shell 8 is arranged on the upper part of the gimbal fixed shell 7; the yaw mechanism 5 is arranged in the gimbal bracket 6 and connected with the gimbal bracket 6 ribs, the pitch and roll mechanism 4 is arranged in the gimbal shell 8, and the yaw mechanism 5 and the pitch and roll mechanism 4 are connected through the upper connecting plate 40; the upper rotating ring 9 is arranged at the bottom of the gimbal shell 8, and is connected with the pitch and roll mechanism 4 through the rotating ring bracket 11; the lower fixed ring 10 is arranged at the top of the gimbal fixed shell 7 and matches with the upper rotating ring 9; The camera 1 is arranged on the upper part of the pan-tilt housing 8 and is connected to the top of the central shaft 3 through the camera fixing flange 2; the middle and lower parts of the central shaft 3 are arranged in the pan-tilt housing 8 and are connected to the pitch and roll mechanism 4; the pan-tilt dust cover 12 is arranged between the 3D camera 1 and the pan-tilt housing 8 and is located on the outside of the camera fixing flange 2; the sealing ring 13 is arranged between the pan-tilt fixing housing 7 and the pan-tilt housing 8; the controller is used to control the camera pan-tilt.The first steering link 16, the second steering link 17, the pitch motor 30, and the roll motor 31 are all arranged inside the aluminum alloy square tube 15, the pitch large pulley 21, the pitch small pulley 22, the roll large pulley 23, the roll small pulley 24, the pitch tensioning seat 27, the roll tensioning seat 28, and the tensioning bearing 29 are all arranged outside the aluminum alloy square tube 15, the first bearing seat 18, the second bearing seat 19, the pitch position switch 33, and the roll position switch 34 are all arranged on the aluminum alloy square tube 15, and the third bearing seat 19 is fixed on the first steering link 16; the pitch large pulley 21 is connected to the first steering link 16 and fastened by a top screw; the roll large pulley 23 is connected to the second steering link 17 and fastened by a top screw; the two tension The tightening bearing 29 is respectively installed on the pitch tensioning seat 27 and the roll tensioning seat 28, and the shaft is clamped with a retaining spring 36; the two motor mounting seats 32 are respectively connected to the pitch motor 30 and the roll motor 31 and then fixed on the aluminum alloy square tube 15; the pitch small pulley 22 is connected to the pitch motor 30 and fixed with a top screw; the roll small pulley 24 is connected to the roll motor 31 and fixed with a top screw; the two induction plates 35 are respectively installed on the first steering link 16 and the second steering link 17; the pitch synchronous belt 25 is sleeved between the pitch large pulley 21 and the pitch small pulley 22, and is tensioned through the pitch tensioning seat 27; the roll synchronous belt 26 is sleeved between the roll large pulley 23 and the roll small pulley 24, and is tensioned through the roll tensioning seat 28. The harmonic reducer 38 and the yaw motor 37 are connected by screws and fixed by jackscrews and then installed on the reducer mounting plate 39, and the reducer mounting plate 39 is connected to the gimbal bracket 6; the output shaft of the harmonic reducer 38 is connected to the upper connecting plate 40 by a flat key; the rotation position switch 41 is installed on the gimbal bracket, and the induction screw 42 is installed on the upper connecting plate. The 3D camera 1 is a laser 3D scanner, the camera fixing flange 2 is a hollow structure, the tensioning bearing 29 is a deep groove ball bearing, the gimbal bracket 6 is a cylindrical type, and the upper housing 8 of the gimbal is a cylindrical type with an arc cover; the pitch motor 30, the roll motor 31, and the yaw motor 37 are all stepper motors.

[0033] In the implementation process of the present invention, after the system is powered on, the pitch motor 30, roll motor 31 and yaw motor 37 of the gimbal are started and automatically search for the initial position at a set speed, and then the control system builds a communication network, and the camera and the gimbal send a communication signal to each other to confirm that the communication is normal.

[0034] In the process of automatically searching for the initial position, the pitch motor 30 drives the small pitch pulley 22 installed on the motor output shaft to rotate, and drives the large pitch pulley 21 to rotate through the pitch synchronous belt 25, thereby driving the first steering link 16 to rotate. The two ends of the first steering link 16 are fixed on the aluminum alloy square tube 15 through two identical first bearing seats 18, which play a role in supporting the rotation, so that the rotation of the first steering link 16 is stable; the pitch tensioning seat 27 is installed on the aluminum alloy square tube 15, and can be adjusted through the U-shaped groove to achieve the tensioning effect. Two deep groove ball bearings are installed on the tensioning seat. Tensioning the synchronous belt from the outside can make the transmission of the synchronous belt more stable; the pitch small shaft on the central shaft 3 is fixed to the first steering link 16 through two third bearing seats for transmission connection, and is located at the center axis position of the first steering link 16. After the first steering link 16 pitches and rotates, it can drive the central shaft 3 to pitch and rotate, so that the 3D camera 1 pitches and completes the search for the initial position in the pitch direction. The pitch +30° is used as the extreme reference position during the search. A position sensing sheet 35 is installed here. When the position sensing switch senses that the first steering link 16 moves to this place, it sends a signal to reverse the motor and rotate 30° to reach the initial position, completing the pitch positioning action.

[0035] In the process of automatically searching for the initial position, the transverse rolling motor 31 drives the small transverse rolling pulley 24 installed on the motor output shaft to rotate, and drives the large transverse rolling pulley 23 to rotate through the transverse rolling synchronous belt 26, thereby driving the second steering link 17 to rotate. One end of the second steering link 17 is fixed to the aluminum alloy square tube 15 through the second bearing seat 18, which plays a role in supporting the rotation, so that the rotation of the second steering link 17 is stable, and the other end is connected to the central shaft 3; the transverse rolling tensioning seat 28 is installed on the aluminum alloy square tube 15, and can be adjusted through the U-shaped groove to achieve the tensioning effect. Two deep groove ball bearings are installed on the tensioning seat. The synchronous belt is tensioned from the outside to make the transmission of the synchronous belt more stable. Since the second steering link 17 and the central rotating shaft 3 are connected by a small roll shaft, the rotation of the second steering link 17 can drive the rotation of the central rotating shaft 3, thereby driving the 3D camera 1 to rotate and complete the initial position search in the roll direction. During the search, the roll +30° is used as the extreme reference position. A position sensing sheet 35 is installed here. When the position sensing switch senses that the second steering link 17 moves to this point, it sends a signal to reverse the motor and rotate 30° to reach the initial position, completing the roll positioning action.

[0036] In the process of automatically searching for the initial position, the yaw motor 37 is connected to the harmonic reducer 38, which can provide a reduction ratio of 30-50 times, which can not only transmit a larger torque, but also withstand a larger load inertia; the aluminum alloy square tube 15 is connected to the end of the harmonic reducer 38, and the 3D camera 1 is installed on the aluminum alloy square tube 15 through the central shaft 3. The rotation of the yaw motor 37 can drive the aluminum alloy square tube 15 to rotate, thereby driving the 3D camera 1 to perform yaw movement and search for the yaw limit position. A position sensing switch is also installed at the yaw limit position. When the position sensing switch senses that the aluminum alloy square tube 15 moves to this place, it sends a signal to reverse the motor and rotate 180° to reach the initial position, completing the yaw positioning action.

[0037] Since the rotating mechanism of the three motors adopts a parallel mechanism, namely an eyeball mechanism, the three rotating axes are arranged crosswise and vertically in parallel at 90° to each other. Each axis can rotate independently or at the same time as other axes rotate, thereby performing coupled motion.

[0038] In this embodiment, the camera pitch initial position means that the camera can be rotated on the gimbal by ±30°, the 0-degree position is the initial position, and the camera's X-axis is parallel to the gimbal's X-axis. The camera roll initial position means that the camera can be rotated on the gimbal by ±30°, the 0-degree position is the initial position, and the camera's Y-axis is parallel to the gimbal's Y-axis. The camera yaw initial position means that the camera can be rotated on the gimbal by ±180°, the 0-degree position is the initial position, and the camera's Z-axis is parallel to the gimbal's Z-axis.

[0039] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which will not affect the essence of the present invention.

Claims

1. An intelligent robot camera gimbal, comprising a 3D camera and a camera fixing flange, characterized in that: It also includes a central rotating shaft, a pitch and roll mechanism, a yaw mechanism, a gimbal bracket, a gimbal fixed housing, a gimbal upper housing, an upper rotating ring, a lower fixed ring, a rotating ring bracket, a gimbal dust cover, a sealing ring, a bottom fixing seat, a controller, and an upper connecting plate; The pan-tilt fixed housing and the pan-tilt bracket are connected to the bottom fixed seat, the pan-tilt bracket is arranged in the pan-tilt fixed housing, and the pan-tilt upper housing is arranged on the upper part of the pan-tilt fixed housing; The yaw mechanism is arranged in the gimbal bracket and connected to the gimbal bracket ribs, the pitch and roll mechanism is arranged in the gimbal housing, and the yaw mechanism and the pitch and roll mechanism are connected through an upper connecting plate; The upper rotating ring is arranged at the bottom of the housing of the gimbal and is connected to the pitch and roll mechanism through a rotating ring bracket; The lower fixed ring is arranged on the top of the pan / tilt fixed housing and matches with the upper rotating ring; The 3D camera is arranged on the upper part of the housing of the gimbal, and is connected to the top of the central shaft through a camera fixing flange; the lower part of the central shaft is arranged in the housing of the gimbal, and is connected to the pitch and roll mechanism; The gimbal dust cover is arranged between the 3D camera and the upper housing of the gimbal, and is located on the outer side of the camera fixing flange; The sealing ring is arranged between the pan / tilt fixed housing and the pan / tilt housing; The controller is used to control the camera gimbal; The pitch and roll mechanism comprises an aluminum alloy square tube, a first steering link, a second steering link, a first bearing seat, a second bearing seat, a third bearing seat, a large pitch pulley, a small pitch pulley, a large roll pulley, a small roll pulley, a pitch timing belt, a roll timing belt, a pitch tensioning seat, a roll tensioning seat, a tensioning bearing, a pitch motor, a roll motor, a motor mounting seat, a pitch position switch, a roll position switch, an induction sheet, and a shaft retaining spring; The first steering link, the second steering link, the pitch motor, and the roll motor are all arranged inside the aluminum alloy square tube, the large pitch pulley, the small pitch pulley, the large roll pulley, the small roll pulley, the pitch tensioning seat, the roll tensioning seat, and the tensioning bearing are all arranged outside the aluminum alloy square tube, the first bearing seat, the second bearing seat, the pitch position switch, and the roll position switch are all arranged on the aluminum alloy square tube, and the third bearing seat is fixed on the first steering link; The large pitch pulley is connected to the first steering link and fastened by a top screw; the large roll pulley is connected to the second steering link and fastened by a top screw; two tensioning bearings are respectively mounted on the pitch tensioning seat and the roll tensioning seat, and the shaft retaining springs are clamped on them; the two motor mounting seats are respectively connected to the pitch motor and the roll motor and then fixed on the aluminum alloy square tube; the small pitch pulley is connected to the pitch motor and fixed by a top screw; the small roll pulley is connected to the roll motor and fixed by a top screw; two induction plates are respectively mounted on the first steering link and the second steering link; the pitch synchronous belt is sleeved between the large pitch pulley and the small pitch pulley, and is tensioned by the pitch tensioning seat; the roll synchronous belt is sleeved between the large roll pulley and the small roll pulley, and is tensioned by the roll tensioning seat; The yaw mechanism includes a yaw motor, a harmonic reducer, a reducer mounting plate, a rotation position switch, and an induction screw; The harmonic reducer and the yaw motor are connected by screws and fixed with jackscrews and then installed on the reducer mounting plate. The reducer mounting plate is connected to the gimbal bracket. The output shaft of the harmonic reducer is connected to the upper connecting plate through a flat key; The rotation position switch is mounted on the pan / tilt bracket and the sensing screw is mounted on the upper connecting plate.

2. The intelligent robot camera gimbal according to claim 1, characterized in that The 3D camera includes but is not limited to a laser 3D scanner and a binocular camera. The camera fixing flange is a hollow structure, the tensioning bearing is a deep groove ball bearing, the gimbal bracket is a cylindrical type, and the outer shell of the gimbal is a cylindrical type with an arc cover.

3. The intelligent robot camera gimbal according to claim 1, characterized in that The pitch motor and the roll motor are stepping motors.

4. The intelligent robot camera gimbal according to claim 1, characterized in that The yaw motor is a stepping motor.

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