A pan / tilt platform for a track-type intelligent inspection robot

Abstract

A pan / tilt of a track-type intelligent inspection robot comprises a pan / tilt box and at least one camera box, the pan / tilt box comprises a pan / tilt frame, the pan / tilt frame is hollow inside and open at both ends, the two open ends of the pan / tilt frame are respectively closed by different pan / tilt end plates, and the top of the pan / tilt frame is sealed and assembled with a rotating frame; a rotating cylinder is arranged on the rotating frame, the rotating cylinder is loaded into a rotating cover, the rotating cover is arranged on the pan / tilt frame, and the pan / tilt frame is installed at the bottom of the track-type intelligent inspection robot; the rotating cylinder is sleeved on a first motor shaft and can be assembled with the first motor shaft so as to rotate in a relative circle but not to move axially, the first motor shaft is assembled and fixed with the pan / tilt frame, the other end of the first motor shaft is loaded into the first motor, the first motor is installed in the pan / tilt frame, a second motor is also installed inside the pan / tilt frame, the second motor shaft of the second motor passes through the pan / tilt end plate and is assembled and fixed with the camera box, a camera or a thermal imager is installed in the camera box, the camera is used to collect images, and the thermal imager is used to obtain thermal imaging images or data.

Description

Technical Field

[0001] The invention relates to a track type inspection robot and a pan / tilt platform, and in particular to a pan / tilt platform of a track type intelligent inspection robot. Background Art

[0002] Track-mounted intelligent inspection robots are one of the main technologies for line inspection at present. Their principle is similar to that of subways and cloud rails, that is, using tracks to guide the robot to walk, and the robot is equipped with detection equipment such as cameras and sensors, so as to conduct inspections under the guidance of tracks. In the Chinese invention patent application entitled "A walking mechanism of an inspection robot" filed on the same day as this case, there are relevant records of the track-mounted intelligent inspection robot involved in this case.

[0003] The current inspection robots are mainly equipped with a two-axis or three-axis gimbal, and a camera is installed on the gimbal, so that images are obtained through the camera for inspection. The current gimbal and the camera are independent components, and are generally assembled by hanging the camera on the gimbal, which is very similar to the gimbal used for drones. This design technology is mature and can be purchased directly. However, its size is relatively large, and the protection of the camera is relatively low, while the track-type intelligent inspection robot of this embodiment has been used for inspections in outdoor and factory indoor scenes for a long time. Therefore, the requirements for waterproof and dustproof are relatively high, and the requirements for stability and durability are also relatively high. After actual measurement, the current independent gimbal installation method of the camera has a relatively high failure rate, and the rotation of the gimbal depends on gear transmission, so the size is also relatively large.

[0004] In response to this problem, the inventor has designed a pan-tilt platform for a track-type intelligent inspection robot, which has high integration, simple structure, and is sturdy and durable. Summary of the invention

[0005] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide a pan / tilt platform of a track-type intelligent inspection robot.

[0006] To achieve the above-mentioned purpose, the present invention provides a pan / tilt of a track-type intelligent inspection robot, comprising a pan / tilt box and at least one camera box, wherein the pan / tilt box comprises a pan / tilt frame, wherein the pan / tilt frame is hollow inside and has openings at both ends, wherein the two opening ends of the pan / tilt frame are respectively closed by different pan / tilt end plates, and the top of the pan / tilt frame is sealed and assembled with a rotating frame;

[0007] The rotating frame is provided with a rotating cylinder, the rotating cylinder is installed in a rotating cover, the rotating cover is provided on a pan-tilt frame, and the pan-tilt frame is installed at the bottom of the track-type intelligent inspection robot;

[0008] The rotating cylinder is mounted on the first motor shaft and can rotate in a relative circle but cannot move axially therewith. The first motor shaft is fixedly assembled with the pan-tilt frame. The other end of the first motor shaft is inserted into the first motor. The first motor is installed in the pan-tilt frame. A second motor is also installed inside the pan-tilt frame. The second motor shaft of the second motor passes through the pan-tilt end plate and is fixedly assembled with the camera box. A camera or a thermal imager is installed in the camera box. The camera is used to collect images, and the thermal imager is used to obtain thermal imaging images or data of the target area.

[0009] Preferably, a pan head sleeve is provided on the pan head end plate, and the second motor shaft passes through the pan head sleeve and is assembled and fixed with the second camera housing.

[0010] Preferably, the gimbal end plate and the gimbal frame are sealed and assembled via a second sealing ring, and the gimbal frame and the rotating frame are sealed and assembled via a first sealing ring.

[0011] Preferably, the part of the rotating cylinder installed in the rotating cover and the rotating limit wheel are assembled in a non-rotatable manner relative to each other, and a rotating limit block is provided on the rotating limit wheel; the rotating cover is assembled with a second limit screw, and the second limit screw is installed in the rotating cover and is used to block the passage of the rotating limit block to limit the rotation angle of the rotating limit wheel.

[0012] Preferably, the first motor shaft is hollow inside and its top is assembled with the rotor of the electric slip ring, the stator of the electric slip ring is assembled with the pan-tilt stand, and the rotor of the electric slip ring is electrically connected to one end of the third wire, and the stator of the electric slip ring is electrically connected to the controller and battery of the track-type intelligent inspection robot, so that the track-type intelligent inspection robot supplies power to the third wire through the electric slip ring and communicates signals with the third wire; the first motor shaft is hollow inside, so that the third wire can be installed in the first motor shaft.

[0013] Preferably, there are two camera boxes, one of which includes a second camera shell and a first camera shell, the first camera shell is installed on one end of the second camera shell, and the first camera shell and the second camera shell are sealed and assembled by a third sealing ring, a first lens is installed on the first camera shell, a camera is installed in the second camera shell, and the image acquisition end of the camera is opposite to the first lens; a mounting platform is provided on the inner side of the second camera shell, the mounting platform is assembled with the first bracket mounting plate of the first camera bracket by a first connecting bolt, the first camera bracket is assembled and fixed to the outer shell of the camera, and a first bracket support plate is provided on the first camera bracket, the first bracket support plate is tightly attached to the inner wall of the second camera shell, thereby supporting the first camera bracket, and the first bracket mounting plate is elastic.

[0014] Preferably, another camera box includes a second camera shell and a first camera shell, the first camera shell is installed on one end of the second camera shell, and the first camera shell and the second camera shell are sealed and assembled by a third sealing ring, a thermal imager is installed in the second camera shell of this camera box, and the thermal imager is clamped and installed in the second camera bracket, and the second camera bracket is respectively provided with an elastic support plate and a second bracket mounting plate, the elastic support plate is elastic and tightly attached to the inner wall of the second camera shell corresponding to it, the second connecting bolt passes through the second bracket mounting plate and is assembled with the corresponding mounting platform, so that the second camera bracket is installed in the second camera shell, and the elastic support plate is elastic.

[0015] Preferably, a limit pin is also installed on the second camera housing, and the limit pin is installed in the pan head sleeve and is located between two first limit screws. The two first limit screws are respectively assembled with the pan head sleeve and used to prevent the passage of the limit pin.

[0016] Preferably, the first motor and the second motor are both servo motors, and a plurality of weight-reducing grooves are arranged on the outer walls of the first camera housing and the second camera housing.

[0017] Preferably, a fill light is also installed on the pan / tilt frame, and the fill light emits light when powered on, thereby illuminating the area where the camera collects images.

[0018] The beneficial effects of the present invention are:

[0019] The present invention uses a first motor to realize horizontal rotation of the camera box and a second motor to realize vertical rotation of the camera box, so that the two-axis rotation of the camera box can be realized, which can meet the image acquisition requirements at various angles. In addition, the first motor and the second motor both use servo motors, which have high rotation accuracy, so that the rotation angle can be directly controlled by electrical signals. On the one hand, the transmission and speed regulation structures such as traditional gears can be directly removed, and on the other hand, the control accuracy can be increased, that is, the cost can be reduced and the final control effect can be increased, thereby providing a basis for subsequent intelligent inspections.

[0020] The present invention installs the camera and the thermal imager separately in different camera boxes, and the camera boxes are sealed, which can achieve good waterproof and dustproof effects, so that the present invention can be used for a long time in harsh environments. In addition, the camera and the thermal imager are respectively clamped and elastically assembled between the first camera bracket, the second camera bracket and the corresponding camera box, so that the stability of the camera and the thermal imager installation can be guaranteed, and the shock absorption effect of the camera and the thermal imager can be guaranteed, and the structure is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the use state of the present invention.

[0022] Figure 2 It is a schematic diagram of the use state of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the present invention.

[0024] Figure 4 It is a structural schematic diagram of the present invention.

[0025] Figure 5 It is a structural schematic diagram of the present invention.

[0026] Figure 6 yes Figure 5 Middle AA section view.

[0027] Figure 7 yes Figure 5 Middle BB section view.

[0028] Figure 8 yes Figure 5 Middle CC section view.

[0029] Fig. 9 yes Figure 5 Middle DD section view.

[0030] Fig.10 It is a structural schematic diagram of the present invention.

[0031] Fig.11 It is a structural schematic diagram of the present invention.

[0032] Fig.12 It is a structural schematic diagram of the present invention.

[0033] Fig.13 It is a structural schematic diagram of the present invention.

[0034] Fig.14 It is a structural schematic diagram of the present invention.

[0035] Fig.15 It is a structural diagram of the camera box and the camera head.

[0036] Fig.16 It is a structural diagram of a camera box.

[0037] Fig.17 It is a structural diagram of a camera box. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0039] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] See also Figure 1-Figure 17 The pan / tilt of this embodiment is installed at the bottom of the track-type intelligent inspection robot 900, and is used to obtain images of the track-type intelligent inspection robot when it is walking, so as to achieve the purpose of inspection. The pan / tilt includes a pan / tilt box 200 and at least one camera box 100. The pan / tilt box 200 includes a pan / tilt frame 210. The pan / tilt frame 210 is hollow inside and open at both ends. The two open ends of the pan / tilt frame 210 are respectively closed by pan / tilt end plates 220. The pan / tilt end plates 220 are provided with pan / tilt sleeves 230. The top of the pan / tilt frame 210 is sealed and assembled with the rotating frame 250. Preferably, the pan / tilt end plate 220 and the pan / tilt frame 210 are sealed and assembled by a second sealing ring 712, and the pan / tilt frame 210 and the rotating frame 250 are sealed and assembled by a first sealing ring 711.

[0041] The rotating frame 250 is provided with a rotating cylinder 251, which is installed in the rotating cover 241 and is assembled with the rotating limit wheel 820 so as not to rotate relative to the circumference. The rotating limit wheel 820 is provided with a rotating limit block 821; the rotating cover 241 is assembled with the second limit screw 430, which is installed in the rotating cover 241 and is used to block the passage of the rotating limit block 821 to limit the rotation angle of the rotating limit wheel 820. The rotating cover 241 is arranged on the pan-tilt frame 240, and the pan-tilt frame 240 is installed at the bottom of the track-type intelligent inspection robot 900, so as to realize the assembly of the entire pan-tilt and the track-type intelligent inspection robot 900.

[0042] The rotating cylinder 251 is mounted on the first motor shaft 321 and can rotate in a circular manner relative to the first motor shaft 321 but cannot be moved in an axial direction. The first motor shaft 321 is hollow inside and the top thereof is assembled with the rotor of the electric slip ring 440. The stator of the electric slip ring 440 is assembled with the pan-tilt frame 240, and the rotor of the electric slip ring 440 is electrically connected to one end of the third wire 363. The stator of the electric slip ring is electrically connected to the controller, battery, etc. of the track-type intelligent inspection robot 900, so that the track-type intelligent inspection robot 900 supplies power to the third wire 363 through the electric slip ring and communicates signals with the third wire 363. The first motor 320 is assembled and fixed with the pan-tilt frame 240, and the other end of the first motor 320 is installed in the first motor 320. After the first motor 320 is started, it can drive the first motor 320 to rotate in a circular manner. The first motor shaft 321 is hollow inside, so that the third wire 363 can be installed in the first motor 320.

[0043] The first motor 320 is installed in the pan / tilt frame 210, and a second motor 330 is also installed inside the pan / tilt frame 210. The second motor shaft 331 of the second motor 330 passes through the pan / tilt sleeve 230 and is fixedly assembled with the second camera housing 120 of the camera box 100. After the second motor 330 is started, the second motor shaft 331 can be driven to rotate in a circle, thereby driving the camera box 100 to rotate synchronously. When in use, the first motor 320 and the second motor 330 can respectively realize the two-axis rotation adjustment of the camera box 100, so that the camera can collect images from various angles. The pan-tilt frame 240 and the rotating frame 250 can be assembled to rotate in a relative circle. When in use, the first motor 320 drives the first motor shaft 321 to rotate in a circle. Since the first motor shaft 321 is relatively fixed to the pan-tilt frame 240, it will reversely drive the first motor 320 to rotate. The first motor 320 drives the entire pan-tilt frame 210 to rotate, and the pan-tilt frame 210 drives the rotating frame 250 to rotate synchronously, thereby realizing the rotation of the camera box on the horizontal plane. When the rotating frame 250 rotates, it will drive the rotation limit wheel 820 to rotate. The rotation limit wheel 820 limits the rotation angle of the pan-tilt frame 210 through the cooperation of the rotation limit block 821 and the second limit screw 430.

[0044] The camera box 100 also includes a first camera shell 110, which is installed on one end of a second camera shell 120, and the first camera shell 110 and the second camera shell 120 are sealed and assembled via a third sealing ring 713. A first lens 811 is installed on the first camera shell 110, and a camera 340 is installed in the second camera shell 120. The image acquisition end of the camera 340 is opposite to the first lens 811, so that the wide angle, filter, etc. of the camera 340 can be adjusted through the first lens 811. Preferably, a mounting platform 121 is provided inside the second camera housing 120, and the mounting platform 121 is assembled with the first bracket mounting plate 142 of the first camera bracket 140 through the first connecting bolt 450. The first camera bracket 140 is assembled and fixed with the outer shell of the camera 340, and a first bracket supporting plate 141 is provided on the first camera bracket 140, and the first bracket supporting plate 141 is closely attached to the inner wall of the second camera housing 120, thereby supporting the first camera bracket 140. This design allows the camera 340 to be assembled with the second camera housing 120 through the first camera bracket 140, and when in use, the first camera bracket 140 can be assembled with the camera 340 first, and then the first camera bracket 140 can be assembled with the mounting platform 121 through the first connecting bolt 450, thereby greatly facilitating the assembly and disassembly of the camera 340, and also effectively fixing the camera 340. The first bracket mounting plate 142 is elastic, so that it can achieve the clamping between the first camera bracket 140 and the second camera housing, and can also achieve the vibration reduction of the camera 340.

[0045] The second camera housing 120 is also provided with a limit pin 420, which is inserted into the pan / tilt sleeve 230 and is located between two first limit screws 410, and the two first limit screws 410 are respectively assembled with the pan / tilt sleeve 230 and are used to prevent the limit pin 420 from passing through. This design can limit the rotation angle of the second camera housing 120, thereby preventing the second camera housing 120 from rotating too much and causing the line to be entangled or broken.

[0046] The first motor 320 and the second motor 330 are both servo motors, which can achieve precise rotation angle output, so that the rotation angle of the second camera housing 120 can be precisely controlled without the need for transmission designs such as gears, thereby greatly simplifying the structure, which not only reduces costs but also facilitates subsequent maintenance.

[0047] In this embodiment, there are two camera boxes 100, each of which corresponds to a second motor 330. A thermal imager 350 is installed in the second camera shell 120 of the other camera box 100, and a second lens 812 is installed on the first camera shell 110 of the camera box 100. The second lens 812 is used to focus the thermal imager 350. The thermal imager 350 is clamped and installed in the second camera bracket 130. The second camera bracket 130 is respectively provided with an elastic support plate 131 and a second bracket mounting plate 132. The elastic support plate 131 is elastic and is tightly attached to the inner wall of the corresponding second camera shell 120. The second connecting bolt 460 passes through the second bracket mounting plate 132 and is assembled with the corresponding mounting platform 121, so that the second camera bracket 130 is installed in the second camera shell 120. The elastic support plate 131 is elastic, which can not only provide support for the thermal imager, but also provide elastic buffering (shock absorption) for the thermal imager.

[0048] The thermal imager 350 is used to obtain thermal imaging images of the target environment, and the thermal imager 350 is electrically connected to the power supply and controller in the pan-tilt frame 210 through the second wire 362; the camera 340 is used to directly obtain images, and the camera is electrically connected to the power supply and controller in the pan-tilt frame 210 through the first wire 361; in this embodiment, the power supply can be a DC-DC module, which is used to introduce the current of the battery in the track-type intelligent inspection robot 900, and convert it into a preset voltage and input it into the thermal imager 350, the camera 340, the first motor, and the second motor. The controller of this embodiment is used to send and receive analytical control instructions, perform parameter calculations, and run programs. PLC, MCU, CPU, etc. can be selected.

[0049] Preferably, the second motor shaft 331 is hollow inside, and the first wire and the second wire respectively pass through the corresponding second motor shaft 331 and enter the pan / tilt frame, thereby achieving sealing of the first wire and the second wire.

[0050] Preferably, a plurality of weight-reducing grooves 101 are provided on the outer walls of the first camera housing 110 and the second camera housing 120. The weight-reducing grooves 101 are used to reduce the weight of the entire camera box on one hand, and also play a role in heat dissipation on the other hand.

[0051] Preferably, a fill light 310 is also installed on the gimbal frame 210. The fill light 310 can emit light after being powered on, thereby illuminating the area where the camera 340 captures images to increase the accuracy of the captured images. Its principle is the same as the fill light (flash) of current mobile phones.

[0052] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0053] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A pan / tilt platform of a track-type intelligent inspection robot, characterized by: It includes a pan head box and at least one camera box, wherein the pan head box includes a pan head frame, the pan head frame is hollow inside and has two openings, the two opening ends of the pan head frame are respectively closed by different pan head end plates, and the top of the pan head frame is sealed and assembled with the rotating frame; The rotating frame is provided with a rotating cylinder, the rotating cylinder is installed in a rotating cover, the rotating cover is provided on a pan-tilt frame, and the pan-tilt frame is installed at the bottom of the track-type intelligent inspection robot; The rotating cylinder is mounted on the first motor shaft and can rotate in a circular manner relative to the first motor shaft but cannot move axially. The first motor shaft is fixedly assembled with the pan-tilt frame. The other end of the first motor shaft is installed in the first motor. The first motor is installed in the pan-tilt frame. A second motor is also installed inside the pan-tilt frame. The second motor shaft of the second motor passes through the pan-tilt end plate and is fixedly assembled with the camera box. A camera or a thermal imager is installed in the camera box. The camera is used to collect images, and the thermal imager is used to obtain thermal imaging images or data of the target area. A pan head sleeve is provided on the pan head end plate, and the second motor shaft passes through the pan head sleeve and is assembled and fixed with the second camera shell; there are two camera boxes, one of which includes a second camera shell and a first camera shell, the first camera shell is installed on one end of the second camera shell, and the first camera shell and the second camera shell are sealed and assembled by a third sealing ring, a first lens is installed on the first camera shell, and a camera is installed in the second camera shell, and the image acquisition end of the camera is directly opposite to the first lens; a mounting platform is provided on the inner side of the second camera shell, and the mounting platform is assembled with the first bracket mounting plate of the first camera bracket through a first connecting bolt, the first camera bracket is assembled and fixed with the outer shell of the camera, and a first bracket support plate is provided on the first camera bracket, the first bracket support plate is tightly attached to the inner wall of the second camera shell, thereby supporting the first camera bracket, and the first bracket mounting plate is elastic; the other camera box includes a second camera shell and a first camera shell, The first camera shell is installed on one end of the second camera shell, and the first camera shell and the second camera shell are sealed and assembled by a third sealing ring. A thermal imager is installed in the second camera shell of this camera box, and the thermal imager is clamped and installed in the second camera bracket. The second camera bracket is respectively provided with an elastic support plate and a second bracket mounting plate, and the elastic support plate is elastic and tightly attached to the inner wall of the second camera shell corresponding to it. The second connecting bolt passes through the second bracket mounting plate and is assembled with the corresponding mounting platform, so that the second camera bracket is installed in the second camera shell, and the elastic support plate is elastic; a limit pin is also installed on the second camera shell, and the limit pin is installed in the pan-tilt sleeve and is located between the two first limit screws. The two first limit screws are respectively assembled with the pan-tilt sleeve and are used to prevent the passage of the limit pin; the first motor and the second motor are both servo motors, and a number of weight reduction grooves are arranged on the outer walls of the first camera shell and the second camera shell; The camera is used to directly acquire images, and the camera is electrically connected to a power supply and a controller in the pan / tilt frame through a first wire; the thermal imager is used to acquire thermal imaging images of the target environment, and the thermal imager is electrically connected to a power supply and a controller in the pan / tilt frame through a second wire; The second motor shaft is hollow inside, and the first wire and the second wire respectively pass through the corresponding second motor shaft and then enter the pan / tilt frame, thereby achieving sealing of the first wire and the second wire.

2. The pan / tilt head according to claim 1, characterized in that: The pan head end plate and the pan head frame are sealed and assembled via a second sealing ring, and the pan head frame and the rotating frame are sealed and assembled via a first sealing ring.

3. The pan / tilt head according to claim 1, characterized in that: The part of the rotating cylinder installed in the rotating cover and the rotating limit wheel are assembled in a non-rotatable manner relative to each other, and a rotating limit block is provided on the rotating limit wheel; the rotating cover is assembled with a second limit screw, and the second limit screw is installed in the rotating cover and is used to block the passage of the rotating limit block to limit the rotation angle of the rotating limit wheel.

4. The pan / tilt head according to claim 1, characterized in that: The first motor shaft is hollow inside and the top thereof is assembled with the rotor of the electric slip ring, the stator of the electric slip ring is assembled with the pan / tilt stand, and the rotor of the electric slip ring is electrically connected to one end of the third wire, the stator of the electric slip ring is electrically connected to the controller and battery of the track-type intelligent inspection robot, so that the track-type intelligent inspection robot supplies power to the third wire through the electric slip ring and communicates signals with the third wire; the first motor shaft is hollow inside, so that the third wire can be installed in the first motor shaft.

5. The pan / tilt head according to claim 1, characterized in that: A fill light is also installed on the pan / tilt frame, and the fill light emits light when powered on, thereby illuminating the area where the camera collects images.

Images