PTZ installation structure and inspection rail-hanging robot

Abstract

The present invention discloses a pan / tilt camera mounting structure comprising: a frame, a sliding seat, a mounting seat, a transition seat, a rotating seat, a flip seat, and a placement seat. The sliding seat is movably mounted on the frame in the vertical direction. The mounting seat is movably mounted on the sliding seat and can rotate around the sliding seat. The transition seat is rotatably mounted on the mounting seat. The rotating seat is fixedly connected to the transition seat. The flip seat is rotatably mounted on the rotating seat. The placement seat is rotatably mounted on the flip seat. The placement seat is used to fix a pan / tilt camera. In the technical solution of the present invention, the pan / tilt camera can rotate at multiple angles relative to the inspection rail-hanging robot, thereby increasing the monitoring angle of the pan / tilt camera and reducing detection blind spots.

Description

Technical Field

[0001] The present invention relates to the technical field of pan / tilt installation, and in particular to a pan / tilt installation structure and a patrol rail-hanging robot. Background Art

[0002] Inspection rail-mounted robots are often used for delivering small objects or patrolling sites. However, the camera pan / tilt of traditional inspection rail-mounted robots is usually fixedly mounted on the inspection rail-mounted robots and cannot be extended or transformed according to scene requirements. This limits the use scenarios of inspection rail-mounted robots and makes them prone to detection blind spots. Summary of the Invention

[0003] The main purpose of the present invention is to provide a pan-tilt mounting structure and a patrol rail-hanging robot, aiming to provide a multi-angle, self-adaptively adjustable pan-tilt mounting structure of the patrol rail-hanging robot.

[0004] To achieve the above-mentioned purpose, the pan / tilt mounting structure proposed in the present invention includes:

[0005] frame;

[0006] A sliding seat is movably mounted on the frame in an up-and-down direction;

[0007] A mounting seat, movably mounted on the sliding seat and capable of rotating around the sliding seat;

[0008] A transition seat, rotatably mounted on the mounting seat;

[0009] A rotating seat, fixedly connected to the transition seat;

[0010] a flip seat, rotatably mounted on the rotating seat; and

[0011] The placement seat is rotatably mounted on the flip seat, and the placement seat is used to fix the pan-tilt camera.

[0012] Optionally, the flip seat is provided with a first mounting hole extending vertically;

[0013] The pan-tilt mounting structure also includes a first rotating motor, the motor base of which is fixedly mounted in the first mounting hole and partially protrudes outside the flip seat. The first rotating motor has a first rotating shaft that rotates along the up and down axis, and the first rotating shaft is used to be driven and connected to the placement seat.

[0014] Optionally, the rotating seat is provided with a second mounting hole extending transversely;

[0015] The pan-tilt mounting structure also includes a second rotating motor, the motor base of the second rotating motor is fixedly mounted in the second mounting hole, the second rotating motor has a second rotating shaft that rotates along the transverse rotating axis, and the second rotating shaft is used to drive and connect with the flip seat.

[0016] Optionally, the pan-tilt mounting structure further includes a third rotating motor, the motor base of the third rotating motor is fixed on the mounting base, the third rotating motor has a third rotating shaft rotating along the up and down axis, and the third rotating shaft is drive-connected to the transition base.

[0017] Optionally, the outer edge surface of the sliding seat is formed with gear teeth spaced along its circumference;

[0018] The pan / tilt mounting structure further includes:

[0019] a driving gear rotatably disposed on a side of the mounting seat away from the transition seat, the driving gear being capable of meshing with the gear teeth; and

[0020] The fourth rotary motor has a motor base fixedly mounted on the side of the mounting base away from the transition base, and the fourth rotary motor has a fourth rotary shaft that rotates along the vertical axis, and the fourth rotary shaft is drivingly connected to the driving gear.

[0021] Optionally, the upper end surface of the sliding seat is formed with a sliding groove extending along the circumferential direction;

[0022] The pan / tilt mounting structure further includes a guide block, one end of which is fixed to the upper end surface of the driving gear, and the other end of which is clamped in the sliding groove.

[0023] Optionally, the pan-tilt mounting structure further includes an electric lifting rod having a fixed portion and a telescopic portion that can move relative to each other in an up-and-down direction, the fixed portion is fixed on the frame, and the telescopic portion is connected to the sliding seat.

[0024] The present invention further provides a patrol and rail-hanging robot, the patrol and rail-hanging robot comprising a pan-tilt mounting structure, the pan-tilt mounting structure comprising:

[0025] frame;

[0026] A sliding seat is movably mounted on the frame in an up-and-down direction;

[0027] A mounting seat, movably mounted on the sliding seat and capable of rotating around the sliding seat;

[0028] A transition seat, rotatably mounted on the mounting seat;

[0029] A rotating seat, fixedly connected to the transition seat;

[0030] a flip seat, rotatably mounted on the rotating seat; and

[0031] The placement seat is rotatably mounted on the flip seat, and the placement seat is used to fix the pan-tilt camera.

[0032] Optionally, the inspection rail-hanging robot includes a running track for being arranged along each working holiday of the thermal power plant;

[0033] The inspection robot further includes an amplitude sensing device, which includes:

[0034] A housing is formed with a mounting cavity, and the housing is used to be mounted on the outer edge of the running track;

[0035] an impact body, disposed in the mounting cavity;

[0036] a spring connected between the impact body and the mounting cavity to fix the impact body in the mounting cavity; and

[0037] The piezoelectric ceramic is arranged at the bottom of the installation cavity, and the piezoelectric ceramic is located away from the bottom of the installation cavity and abuts against the impact body.

[0038] Optionally, the amplitude sensing device is provided in plurality and is arranged at intervals on the running track.

[0039] In the technical solution of the present invention, the pan-tilt camera is fixedly mounted on the mounting seat and is rotatably mounted on the flip seat along with the mounting seat. The flip seat is rotatably mounted on the rotating seat. The rotating seat is fixedly connected to the transition seat. The transition seat is rotatably mounted on the mounting seat. The mounting seat is movably mounted on the sliding seat. The sliding seat is movably mounted on the frame in the up and down directions. The frame is connected to the inspection rail-hanging robot, so as to realize the multi-angle telescopic rotation of the pan-tilt camera relative to the inspection rail-hanging robot, so as to increase the monitoring angle of the pan-tilt camera and reduce the detection blind area. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0041] Figure 1 A schematic structural diagram of an embodiment of a pan / tilt mounting structure provided by the present invention;

[0042] Figure 2 for Figure 1Cross-sectional view of a medium-amplitude sensing device.

[0043] Description of Figure Numbers:

[0044]

[0045]

[0046] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] Inspection rail-mounted robots are often used for delivering small objects or patrolling sites. However, the camera pan / tilt of traditional inspection rail-mounted robots is usually fixedly mounted on the inspection rail-mounted robots and cannot be extended or transformed according to scene requirements. This limits the use scenarios of inspection rail-mounted robots and makes them prone to detection blind spots.

[0051] In order to solve the above problems, the present invention proposes a pan-tilt mounting structure and an inspection rail-hanging robot, aiming to provide a pan-tilt mounting structure of a multi-angle, self-adjustable inspection rail-hanging robot, wherein Figure 1 and Figure 2 This is a structural schematic diagram of an embodiment of the pan / tilt mounting structure provided by the present invention.

[0052] Please refer to Figure 1 The pan-tilt mounting structure 1000 includes: a frame 1, a sliding seat 2, a mounting seat 3, a transition seat 4, a rotating seat 5, a flip seat 6 and a placement seat 7. The sliding seat 2 is movably mounted on the frame 1 in the up and down directions. The mounting seat 3 is movably mounted on the sliding seat 2 and can rotate around the sliding seat 2. The transition seat 4 is rotatably mounted on the mounting seat 3. The rotating seat 5 is fixedly connected to the transition seat 4. The flip seat 6 is rotatably mounted on the rotating seat 5. The placement seat 7 is rotatably mounted on the flip seat 6. The placement seat 7 is used to fix the pan-tilt camera 3000.

[0053] In the technical solution of the present invention, the pan-tilt camera 3000 is fixedly mounted on the mounting seat 7, and is rotatably mounted on the flip seat 6 along with the mounting seat 3. The flip seat 6 is rotatably mounted on the rotating seat 5. The rotating seat 5 is fixedly connected to the transition seat 4. The transition seat 4 is rotatably mounted on the mounting seat 3. The mounting seat 3 is movably mounted on the sliding seat 2. The sliding seat 2 is movably mounted on the frame 1 in the up and down directions. The frame 1 is connected to the inspection rail-hanging robot 2000, so as to realize the multi-angle telescopic rotation of the pan-tilt camera 3000 relative to the inspection rail-hanging robot 2000, so as to increase the monitorable angle of the pan-tilt camera 3000 and reduce the detection blind area.

[0054] In order to drive the placement seat 7 to rotate, in one embodiment of the present invention, a first mounting hole is provided on the flip seat 6 along the up-down direction, and the gimbal mounting structure 1000 also includes a first rotating motor 8. The motor seat of the first rotating motor 8 is fixedly installed in the first mounting hole and partially protrudes from the outside of the flip seat 6. The first rotating motor 8 has a first rotating shaft that rotates along the up-down axis. The first rotating shaft is used to drive and connect with the placement seat 7, so as to drive the mounting seat 3 to rotate around the rotating seat 5, thereby driving the gimbal camera 3000 to rotate.

[0055] In order to drive the flip seat 6 to flip, in one embodiment of the present invention, a second mounting hole is provided on the rotating seat 5 along the horizontal direction, and the pan-tilt mounting structure 1000 also includes a second rotating motor 9. The motor seat of the second rotating motor 9 is fixedly installed in the second mounting hole. The second rotating motor 9 has a second rotating shaft rotating along the horizontal rotating axis. The second rotating shaft is used to drive and connect with the flip seat 6. In this way, the flip seat 6 is driven to rotate, and then the pan-tilt camera 3000 is driven to flip, so as to realize the adjustment of the pitch angle of the pan-tilt camera 3000 in the inspection rail-hanging robot 2000.

[0056] The rotating seat 5 is fixedly mounted on the transition seat 4. The rotation of the transition seat 4 can drive the rotating seat 5 to rotate, and then drive the pan-tilt camera 3000 to rotate. In order to drive the transition seat 4 to rotate, in one embodiment of the present invention, the pan-tilt mounting structure 1000 also includes a third rotating motor 10. The motor seat of the third rotating motor 10 is fixed on the mounting seat 3. The third rotating motor 10 has a third rotating shaft that rotates along the up and down rotating shaft. The third rotating shaft is driven and connected to the transition seat 4. In this way, the transition seat 4 is driven to rotate, and then the transition seat 4 drives the rotating seat 5 to rotate synchronously, and then drives the pan-tilt camera 3000 to rotate, so as to achieve fine-tuning of the horizontal viewing angle of the pan-tilt camera 3000.

[0057] In order to drive the transition seat 4 to rotate, in one embodiment of the present invention, the outer edge surface of the sliding seat 2 is formed with gear teeth 21 arranged at intervals along its circumference. The pan-tilt mounting structure 1000 also includes a driving gear 110 and a fourth rotating motor 120. The driving gear 110 is rotatably arranged on the side of the mounting seat 3 away from the transition seat 4. The driving gear 110 can engage with the gear teeth 21. The motor seat of the fourth rotating motor 120 is fixedly mounted on the side of the mounting seat 3 away from the transition seat 4. The fourth rotating motor 120 has a fourth rotating shaft rotating along the up and down rotating shaft. The fourth rotating shaft is driven and connected to the driving gear 110. In this way, the transition seat 4 is driven to rotate around the sliding seat 2 to achieve a large adjustment of the horizontal viewing angle of the pan-tilt camera 3000 on the inspection rail-hanging robot 2000.

[0058] Furthermore, in order to install the transition seat 4 on the sliding seat 2 and provide guidance for the rotation of the transition seat 4, in one embodiment of the present invention, a sliding groove 22 extending along the circumferential direction is formed on the upper end surface of the sliding seat 2, and the pan-tilt mounting structure 1000 also includes: a guide block 130, one end of the guide block 130 is fixed to the upper end surface of the driving gear 110, and the other end is clamped in the sliding groove 22, so that the transition seat 4 can be installed on the sliding seat 2 and the transition seat 4 can rotate smoothly.

[0059] In order to install the sliding seat 2 on the frame 1 up and down, in one embodiment of the present invention, it also includes an electric lifting rod 140, and the electric lifting rod 140 has a fixed part and a telescopic part that can move relative to each other in the up and down directions. The fixed part is fixed on the frame 1, and the telescopic part is connected to the sliding seat 2, so as to drive the sliding seat 2 to move up and down, and drive the pan-tilt platform to move up and down.

[0060] The present invention also proposes a patrol and rail-hanging robot 2000, which includes a pan-tilt mounting structure 1000. The specific structure of the pan-tilt mounting structure 1000 refers to the above-mentioned embodiment. Since the patrol and rail-hanging robot 2000 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0061] At the same time, it should be noted that the inspection rail-hanging robot 2000 provided by the present invention is mainly used for patrolling thermal power plants. It can be understood that the vibrations generated by the normal operation and abnormal operation of the generator are different. Based on this, in order to improve the sensitivity of the inspection rail-hanging robot 2000 to abnormal judgment, please refer to Figure 2 In one embodiment of the present invention, the inspection rail-hanging robot 2000 includes a running track for being arranged along various working zones of a thermal power plant. The inspection robot also includes an amplitude sensing device 2100. The amplitude sensing device 2100 includes a shell 2101, an impact body 2102, a spring 2103 and a piezoelectric ceramic 2104. The shell 2101 is formed with a mounting cavity. The shell 2101 is used to be mounted on the outer edge of the running track. The impact body 2102 is arranged in the mounting cavity. The spring 2103 is connected between the impact body 2102 and the mounting cavity to fix the impact body 2102 in the mounting cavity. The piezoelectric ceramic 2104 is arranged at the bottom of the mounting cavity, and the piezoelectric ceramic 2104 is away from the side of the bottom of the mounting cavity and abuts against the impact body 2102.

[0062] In the above embodiment, the impact body 2102 is movably arranged in the installation cavity by the spring 2103, and the piezoelectric ceramic 2104 is arranged below the impact body 2102. The vibration generated by various power generation equipment in the thermal power plant can be transmitted to the shell 2101 by the motion track, and drive the impact body 2102 in the shell 2101 to vibrate and hit the piezoelectric ceramic 2104, so that the piezoelectric ceramic 2104 generates an electrical signal. The vibration is different, and the frequency of the impact body 2102 hitting the piezoelectric ceramic 2104 is also different, and the electrical signal generated by the piezoelectric ceramic 2104 is also different. When the power generation equipment has an abnormality, the amplitude of the power generation equipment changes, and then the electrical signal generated by the piezoelectric ceramic 2104 also changes. In this way, a signal is sent to the inspection rail-hanging robot 2000, instructing the inspection rail-hanging robot 2000 to move to the abnormal area and take pictures, thereby assisting current personnel to quickly check the equipment abnormality and reduce the possibility of danger.

[0063] Furthermore, in another embodiment of the present invention, the amplitude sensing device 2100 is provided in plurality and is spaced apart on the running track to comprehensively monitor the thermal power plant equipment and improve the sensitivity of the inspection rail-hanging robot 2000 .

[0064] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A pan-tilt mounting structure for inspecting a rail-mounted robot, characterized in that: include: frame; A sliding seat is movably mounted on the frame in an up-and-down direction; A mounting seat, movably mounted on the sliding seat and capable of rotating around the sliding seat; A transition seat, rotatably mounted on the mounting seat; A rotating seat, fixedly connected to the transition seat; a flip seat, rotatably mounted on the rotating seat; and A mounting seat, rotatably mounted on the flip seat, the mounting seat being used to fix the pan / tilt camera; The outer edge surface of the sliding seat is formed with gear teeth spaced along the circumference thereof; The pan / tilt mounting structure further includes: a driving gear rotatably disposed on a side of the mounting seat away from the transition seat, the driving gear being capable of meshing with the gear teeth; and a fourth rotary motor, wherein a motor base of the fourth rotary motor is fixedly mounted on a side of the mounting base away from the transition base, the fourth rotary motor having a fourth rotary shaft that rotates along an up-and-down rotation axis, and the fourth rotary shaft is drivingly connected to the driving gear; The upper end surface of the sliding seat is formed with a sliding groove extending in the circumferential direction; The pan / tilt mounting structure further includes a guide block, one end of which is fixed to the upper end surface of the driving gear, and the other end of which is clamped in the sliding groove.

2. The pan / tilt mounting structure according to claim 1, wherein: The flip seat is provided with a first mounting hole extending vertically; The pan-tilt mounting structure also includes a first rotating motor, the motor base of which is fixedly mounted in the first mounting hole and partially protrudes outside the flip seat. The first rotating motor has a first rotating shaft that rotates along the up and down axis, and the first rotating shaft is used to be driven and connected to the placement seat.

3. The pan / tilt mounting structure according to claim 1, wherein: The rotating seat is provided with a second mounting hole extending transversely; The pan-tilt mounting structure also includes a second rotating motor, the motor base of the second rotating motor is fixedly mounted in the second mounting hole, the second rotating motor has a second rotating shaft that rotates along the transverse rotating axis, and the second rotating shaft is used to drive and connect with the flip seat.

4. The pan / tilt mounting structure according to claim 1, wherein: It also includes a third rotating motor, the motor base of the third rotating motor is fixed on the mounting base, the third rotating motor has a third rotating shaft rotating along the vertical axis, and the third rotating shaft is drivingly connected to the transition base.

5. The pan / tilt mounting structure according to claim 1, wherein: It also includes an electric lifting rod, which has a fixed part and a telescopic part that can move relatively in the up and down directions. The fixed part is fixed on the frame, and the telescopic part is connected to the sliding seat.

6. A patrol rail hanging robot, characterized in that: It includes the pan / tilt mounting structure as described in any one of claims 1 to 5.

7. The inspection rail-hanging robot according to claim 6, characterized in that: The inspection rail-hanging robot includes a running track for being arranged along each working area of ​​the thermal power plant; The inspection robot further includes an amplitude sensing device, which includes: A housing is formed with a mounting cavity, and the housing is used to be mounted on the outer edge of the running track; an impact body, disposed in the mounting cavity; a spring connected between the impact body and the mounting cavity to fix the impact body in the mounting cavity; and The piezoelectric ceramic is arranged at the bottom of the installation cavity, and the piezoelectric ceramic is located away from the bottom of the installation cavity and abuts against the impact body.

8. The inspection rail-hanging robot according to claim 7, characterized in that: The amplitude sensing devices are provided in plurality and are respectively arranged on the running track at intervals.

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