A camera fixing device based on inspection quadruped robot

Abstract

The present invention relates to the technical field of camera brackets, and in particular to a camera fixing device based on a patrol quadruped robot, comprising a base and a camera body, wherein the outside of the base is fixedly connected to a bottom beam, the outside of the bottom beam is provided with a pan / tilt beam frame for suspending the camera body, the outside of the pan / tilt beam frame is fixedly connected to a camera fixing frame plate, the outside of the bottom beam is provided with a lifting component, and both sides of the outside of the base are provided with stabilizing components for auxiliary support of the pan / tilt beam frame. The present invention drives the pan / tilt beam frame upward and adjusts the height of the camera body by providing a lifting component. At the same time, after the height of the pan / tilt beam frame is adjusted, an inclination angle is formed by the outer piles in the stabilizing component and the plug plate and the cross beam plate, so as to achieve auxiliary support for the cross beam plate and the pan / tilt beam frame, reduce the shaking force received by the pan / tilt beam frame and the camera body after the height is lifted, thereby providing a better stable support effect for the pan / tilt beam frame and the camera body.

Description

Technical Field

[0001] The invention relates to the technical field of camera brackets, and in particular to a camera fixing device based on a patrol quadruped robot. Background Art

[0002] Road performance testing is a prerequisite for road maintenance and an important basis for road performance evaluation. With the continuous development of urbanization in my country, the demand for road testing is increasing day by day. Many advanced vibration sensors, artificial intelligence, and big data technologies have been applied to the detection of urban carriageways. However, in the detection of sidewalks and non-motorized vehicle lanes, road inspections still rely on manpower, which requires a lot of manpower and cannot be carried out uninterruptedly for 24 hours. Therefore, quadruped robots equipped with cameras have become an effective means of detecting sidewalks and non-motorized vehicle lanes.

[0003] Due to the complex road conditions and the large number of obstacles, the use of a quadruped robot carrying a camera for inspection often requires the use of a corresponding camera bracket. In order to improve the adaptability of the camera for inspection and filming, the camera is often equipped with a lifting bracket for use. When the bracket is used to drive the camera to rise on the back of the quadruped robot, the quadruped robot needs to walk on the road, which makes the camera and the bracket prone to severe shaking, and even causes the risk of damage to the bracket. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a camera fixing device based on a patrol quadruped robot.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a camera fixing device based on an inspection quadruped robot comprises a base and a camera body, the outside of the base is fixedly connected with a bottom beam, the outside of the bottom beam is provided with a pan-tilt beam frame for suspending the camera body, the outside of the pan-tilt beam frame is fixedly connected with a camera fixing frame plate, the camera fixing frame plate fixes the camera body inside it by setting a screw sleeve, the outside of the bottom beam is provided with a lifting component, the lifting component is used to adjust the height of the camera body, the camera fixing frame plate and the pan-tilt beam frame above the base, the lifting component comprises an electric control motor for providing kinetic energy, the outside of the electric control motor is provided with a vertical plate for supporting it, the output shaft of the electric control motor is fixedly connected with a transmission tooth on the outside, the outside of the transmission tooth is provided with a connecting vertical tooth frame plate meshingly connected therewith, the connecting vertical tooth frame plate is fixedly connected to the outside of the pan-tilt beam frame and is used to adjust the height of the pan-tilt beam frame upward or downward, the connecting vertical tooth frame plate movably passes through the outside of the bottom beam and extends downward, the vertical plate is fixedly connected to the outside of the bottom beam, The control motor is fixed on the outside of the bottom beam through the vertical plate. The lifting assembly also includes a limit bending plate and a limit slot for assisting the connection between the vertical gear frame plate and the pan-tilt beam frame for lifting. The limit slot is arranged on the outside of the pan-tilt beam frame. One end of the limit bending plate is movably connected to the inside of the limit slot. The other end of the limit bending plate is fixedly connected to the outside of the bottom beam. When the pan-tilt beam frame moves up or down, the limit slot is driven to slide on the outside of the limit bending plate. The rising or falling trajectory of the pan-tilt beam frame is limited by the limit slot. A stabilization and control component for auxiliary support of the gimbal beam frame is arranged on the side, and each stabilization and control component includes a cross-beam plate fixedly connected to the gimbal beam frame, and an outer pile and a plug plate for rotating following the rise of the gimbal beam frame are arranged on the outside of the cross-beam plate, and the plug plate is movably connected to the inside of the outer pile, and a fixed spring plate with a buffering function is arranged on the outside of the outer pile, and an upper groove is opened on the outside of the fixed spring plate, and one end of the outer pile away from the cross-beam plate is rotatably connected to the inside of the upper groove, and a fixed seat fixedly connected to the base is arranged on the outside of the fixed spring plate.

[0006] The cam is provided with a plurality of slots on the outside of the outer pile for assisting the insertion of the movable plate and the inclined guide plate, the slots being connected to the inside of the outer pile, and a groove is provided on the outside of the cross beam plate, and a convex plate is rotatably connected to the inside of the groove, and the convex plate is fixedly connected to the plug plate through the convex plate. The plug plate rotates inside the groove, and an inner groove is provided inside the plug plate, and the number of the movable plate and the inclined guide plate is set to two, and the two movable plates are symmetrically arranged inside the inner groove, and the inclined guide plate is arranged on the side of the movable plate away from the inside of the inner groove, and the side of the inclined guide plate close to the cross beam plate is inclined, and the sides of the two inclined guide plates away from each other respectively movably penetrate the inner wall of the inner groove and extend to the inside of the slot, and each movable plate is provided with a slot, and the slot is fixedly connected to the inside of the slot, and the inner groove The two ends of the support frame are fixedly connected with the two guide rails, and the two ends of the support frame are fixedly connected with the two guide rails on the outer side of the support rail.

[0007] As a preferred technical solution of the present invention, the outside of the base is fixedly connected with a lateral clamp, which is used to clamp the base on the back of the quadruped robot. Two main suction cups are fixedly connected to the lower part of the outside of the base. The outside of the two main suction cups are provided with docking studs for pressing. The docking studs spirally penetrate the outside of the base and extend upward thereto. After the lateral clamp is used to drive the base to be clamped on the back of the quadruped robot, the main suction cups are fitted against the back of the quadruped robot, and the docking studs press the main suction cups and expel the air inside the main suction cups before the base is quickly fixed to the back of the quadruped robot.

[0008] As a preferred technical solution of the present invention, a winding assembly for quickly resetting the plug plate is arranged on the outside of the fixed seat, and the winding assembly includes a wire drum connected to a pull rope, and the end of the pull rope away from the connecting hanging plate is wound around the inside of the wire drum, and the inside of the wire drum is fixedly sleeved with a horizontal axis, and both sides of the outside of the horizontal axis are movably sleeved with vertical platforms, and the outsides of the two vertical platforms are fixedly connected with a mounting seat, and the mounting seat is fixedly connected to the outside of the fixed seat, and the outside of the mounting seat is fixedly connected with a mounting plate, and the outside of the mounting plate is fixedly connected with a forward and reverse motor for providing kinetic energy to the wire drum, and the output shaft of the forward and reverse motor movably passes through the mounting plate, and the output shaft of the mounting plate and the outside of the horizontal axis are movably sleeved with a transmission belt, and the transmission belt is driven by the rotation of the output shaft of the forward and reverse motor to rotate the horizontal axis, and the rotation of the horizontal axis drives the wire drum to rotate synchronously.

[0009] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0010] 1. By setting up a lifting component to drive the gimbal beam upward and adjust the height of the camera body, when the gimbal beam rises, the cross beam plate in the stabilization component is driven to move upward synchronously. At the same time, after the height of the gimbal beam is adjusted, the outer piles and plug plates in the stabilization component and the cross beam plate form an inclined angle, so as to achieve auxiliary support for the cross beam plate and the gimbal beam frame, reduce the shaking force of the gimbal beam frame and the camera body after the height is lifted, thereby providing a better stable support effect for the gimbal beam frame and the camera body.

[0011] 2. After fixing the base on the back of the quadruped robot, fix the camera body inside the camera fixing frame plate, and use the gimbal beam frame to cooperate with the camera fixing frame plate to suspend the camera body above the outside of the base. When the height of the camera body needs to be adjusted, control the electronic control motor to start and rotate its output shaft to drive the transmission gear to rotate and engage with the connected vertical gear frame plate. The rotation of the transmission gear drives the connected vertical gear frame plate to rise outside the bottom beam. The rising of the connected vertical gear frame plate drives the gimbal beam frame to move upward synchronously outside the base. The gimbal beam frame drives the camera body to adjust its height upward. At the same time, when the gimbal beam frame moves, the gimbal beam frame drives the limit slot to move outside the limit bend plate, and cooperates with the set limit bend plate and limit slot to achieve the effect of making the limit bend plate and the limit slot move upward more stably.

[0012] 3. After the pan-tilt beam is lifted for use, when it is necessary to lower the height of the pan-tilt beam again, the lifting assembly drives the pan-tilt beam and the camera body to descend, and the winding assembly provided in cooperation contracts the adjustment and positioning assembly inside the plug-in plate, so as to facilitate the lowering of the outer pile inside the plug-in plate, thereby allowing the device to descend quickly and stably.

[0013] 4. By setting the connection between the suction cup and the quadruped robot, the traditional drilling installation steps are eliminated. It can be fixed on the back of the quadruped robot and is suitable for the installation of various types of quadruped robots. It has strong applicability and wide application. The camera can be adjusted and rotated through the setting of the gimbal beam frame, and can be used for shooting at multiple angles and directions, which greatly improves the usability of the camera and makes it suitable for shooting requirements in a variety of different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the present invention in which the girder frame of the pan / tilt platform is raised to the middle;

[0016] Figure 3 It is a structural schematic diagram of the pan / tilt platform beam frame of the present invention raised to the highest point;

[0017] Figure 4 It is a schematic diagram of the side structure of the base platform of the present invention;

[0018] Figure 5 It is a structural schematic diagram of the bottom beam of the present invention;

[0019] Figure 6 It is a rear view structural schematic diagram of the bottom beam of the present invention;

[0020] Figure 7 It is a partial structural schematic diagram of the fixed spring plate of the present invention;

[0021] Figure 8 It is a schematic cross-sectional structural diagram of the external pile of the present invention;

[0022] Fig. 9 For the present invention Figure 7 A schematic diagram of the local enlarged structure at point A in the middle;

[0023] Fig.10 For the present invention Figure 8 A schematic diagram of the local enlarged structure at B in the middle;

[0024] Fig.11 It is a partial structural schematic diagram of the plug board of the present invention;

[0025] Fig.12 It is a structural schematic diagram of the thrust plate of the present invention;

[0026] Fig.13 It is a structural schematic diagram of the inclined guide plate of the present invention.

[0027] Among them: 10, base; 11, main suction cup; 12, docking studs; 13, lateral clamping plate; 14, camera body; 15, camera fixing frame plate; 16, bottom beam; 17, gimbal beam frame; 20, vertical plate; 21, connecting vertical gear frame plate; 22, electric control motor; 23, transmission gear; 24, limit bending plate; 25, limit slot; 30, fixed seat; 31, fixed spring plate; 32, external pile; 33, horizontal frame beam plate; 34, card slot; 35, plug plate; 36, convex plate; 37. Groove opening; 38. Upper groove opening; 40. Pull rope; 41. Connecting hanging plate; 42. Baffle; 43. Elastic rope; 44. Push plate; 45. Inner groove opening; 46. Short plate; 47. Moving plate; 48. Inclined guide plate; 49. Guide slide plate; 410. Slot opening; 411. Short pile; 412. Elastic belt; 413. Empty groove opening; 50. Mounting seat; 51. Bobbin; 52. Vertical platform; 53. Horizontal axis; 54. Mounting plate; 55. Forward and reverse motor; 56. Transmission belt. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments, unless otherwise specified, are conventional methods, and the materials, reagents, etc. used in the following embodiments, unless otherwise specified, can all be obtained from commercial channels.

[0029] Embodiment: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 and Fig.13The camera fixing device based on the inspection quadruped robot shown in the figure comprises a base 10 and a camera body 14, the base 10 is fixedly connected to the outside with a bottom beam 16, the outside of the bottom beam 16 is provided with a pan-tilt beam frame 17 for suspending the camera body 14, the outside of the pan-tilt beam frame 17 is fixedly connected to a camera fixing frame plate 15, the camera fixing frame plate 15 fixes the camera body 14 inside by setting a screw sleeve, the outside of the bottom beam 16 is provided with a lifting component, the lifting component is used to adjust the height of the camera body 14, the camera fixing frame plate 15 and the pan-tilt beam frame 17 above the base 10, the lifting component comprises an electric control motor 22 for providing kinetic energy, the electric control motor 22 A vertical plate 20 for supporting it is arranged on the outside, a transmission tooth 23 is fixedly connected to the outside of the output shaft of the electric control motor 22, a connecting vertical tooth frame plate 21 meshingly connected therewith is arranged on the outside of the transmission tooth 23, the connecting vertical tooth frame plate 21 is fixedly connected to the outside of the gimbal beam frame 17 and is used to adjust the height of the gimbal beam frame 17 upward or downward, the connecting vertical tooth frame plate 21 movably passes through the outside of the bottom beam 16 and extends downward, the vertical plate 20 is fixedly connected to the outside of the bottom beam 16, the electric control motor 22 is fixed to the outside of the bottom beam 16 through the vertical plate 20, and the lifting assembly also includes a limit bending plate 24 and a limit slot 25 for assisting the connection of the vertical tooth frame plate 21 and the gimbal beam frame 17 to lift and lower. The limiting slot 25 is provided on the outside of the pan-tilt beam 17, one end of the limiting bent plate 24 is movably connected to the inside of the limiting slot 25, and the other end of the limiting bent plate 24 is fixedly connected to the outside of the bottom beam 16. When the pan-tilt beam 17 moves upward or downward, the limiting slot 25 is driven to slide on the outside of the limiting bent plate 24, and the rising or falling trajectory of the pan-tilt beam 17 is limited by the limiting slot 25. Stabilizing control components for auxiliary support of the pan-tilt beam 17 are arranged on both sides of the outside of the base 10, and each stabilizing control component includes a cross beam plate 33 fixedly connected to the pan-tilt beam 17, and an external pile for rotating following the rise of the pan-tilt beam 17 is arranged on the outside of the cross beam plate 33. 32 and a plug plate 35, the plug plate 35 is movably connected to the inside of the outer pile 32, and a fixed spring plate 31 with a buffer function is arranged on the outside of the outer pile 32, an upper notch 38 is opened on the outside of the fixed spring plate 31, and one end of the outer pile 32 away from the cross beam plate 33 is rotatably connected to the inside of the upper notch 38, and a fixing seat 30 fixedly connected to the base 10 is arranged on the outside of the fixed spring plate 31. When the cross beam plate 33 applies a large impact force to the outer pile 32 and the plug plate 35, the bending of the fixed spring plate 31 on the outside of the fixing seat 30 can reduce the impact force on the cross beam plate 33 and the outer pile 32, and effectively further reduce the impact on the pan head beam frame 17 and the camera body 14.

[0030] The outer pile 32 is provided with an adjustment and positioning assembly for fixing the plug plate 35, and the adjustment and positioning assembly includes a movable plate 47 and an inclined guide plate 48 for fixing the plug plate 35 inside the outer pile 32. Both sides of the outer pile 32 are provided with a plurality of card slots 34 for assisting the movable plate 47 and the inclined guide plate 48 to be inserted. The card slots 34 are connected to the inner part of the outer pile 32. The outer part of the cross beam plate 33 is provided with a groove 37. The inner part of the groove 37 is rotatably connected with a convex plate 36. The convex plate 36 is fixedly connected to the plug plate 35. The plug plate 35 rotates inside the groove 37 through the convex plate 36. The inner part of the plug plate 35 is provided with an inner groove 45 The number of the movable plates 47 and the inclined guide plates 48 are both set to two, and the two movable plates 47 are symmetrically arranged inside the inner notch 45. The inclined guide plates 48 are arranged on the side of the movable plates 47 away from the inner notch 45. The side of the inclined guide plates 48 close to the cross beam plate 33 is inclined. The two inclined guide plates 48 are respectively movable on the sides away from each other to penetrate the inner wall of the inner notch 45 and extend to the inside of the card notch 34. A slot opening 410 is opened on the outside of each movable plate 47, and a guide slide plate 49 is fixedly connected to the inside of the slot opening 410. Empty slots 413 are opened on both sides of the inner notch 45, and the inside of each empty slot 413 is fixedly connected There are elastic belts 412, each elastic belt 412 has a short pile 411 movably sleeved inside, and the two short piles 411 are respectively fixedly connected to the outside of the two moving plates 47, and the moving plate 47 is stably moved laterally inside the inner notch 45 through the short piles 411 and the elastic belts 412, and the two sides of the inner notch 45 are movably connected with short plates 46, and the two short plates 46 are fixedly connected to the opposite sides with a push plate 44, and the push plate 44 is U-shaped, and the two ends of the push plate 44 are respectively located outside the two guide slides 49, and the inside of the push plate 44 is fixedly connected with a connecting hanging plate 41, and the outside of the connecting hanging plate 41 is fixedly connected with a plug for pulling the plug plate 35 so that it is on the outer pile 3 2, the two moving plates 47 and the guide slide plate 49 are both provided with a slotted opening for facilitating the movement of the pull rope 40, the outer portion of the push plate 44 is provided with a baffle plate 42, the baffle plate 42 is provided between the connecting hanging plate 41 and the push plate 44, the outer portion of the baffle plate 42 is fixedly connected with an elastic rope 43, the elastic rope 43 movably penetrates the push plate 44 and fixes it to the inner wall of the inner slot 45, the push plate 44 is kept separated from the guide slide plate 49 in the inner slot 45 by the accumulated elastic force provided by the elastic rope 43, and the elastic force provided by the push plate 44 to the elastic rope 43 is greater than the pulling force provided by the plug plate 35 to the pull rope 40 when the plug plate 35 rises in the outer pile 32.

[0031] The outside of the base 10 is fixedly connected with a lateral clamp 13, which is used to clamp the base 10 on the back of the quadruped robot. Two main suction cups 11 are fixedly connected to the lower part of the outside of the base 10. The outsides of the two main suction cups 11 are provided with docking studs 12 for pressing. The docking studs 12 spirally penetrate the outside of the base 10 and extend upward thereto. After the base 10 is driven by the lateral clamp 13 to be clamped on the back of the quadruped robot, the main suction cups 11 are fitted against the back of the quadruped robot, and the docking studs 12 press the main suction cups 11 and expel the air inside the main suction cups 11, and then the base 10 is quickly fixed on the back of the quadruped robot.

[0032] The outside of the fixed seat 30 is provided with a winding assembly for quickly resetting the plug plate 35, and the winding assembly includes a wire drum 51 for connecting with the pull rope 40, and the end of the pull rope 40 away from the connecting hanging plate 41 is wound around the inside of the wire drum 51, and the inside of the wire drum 51 is fixedly sleeved with a horizontal axis 53, and both sides of the outside of the horizontal axis 53 are movably sleeved with vertical platforms 52, and the outsides of the two vertical platforms 52 are fixedly connected with a mounting seat 50, and the mounting seat 50 is fixedly connected to the outside of the fixed seat 30, and the outside of the mounting seat 50 is fixedly connected to a mounting plate 54, and the outside of the mounting plate 54 is fixedly connected with a forward and reverse motor 55 for providing kinetic energy to the wire drum 51, and the output shaft of the forward and reverse motor 55 movably penetrates the mounting plate 54, and the output shaft of the mounting plate 54 and the outside of the horizontal axis 53 are movably sleeved with a transmission belt 56, and the transmission belt 56 is driven by the rotation of the output shaft of the forward and reverse motor 55 to rotate the horizontal axis 53, and the rotation of the horizontal axis 53 drives the wire drum 51 to rotate synchronously.

[0033] Working principle:

[0034] Before use: Fix the base 10 on the back of the quadruped robot by clamping the lateral clamp 13 on the back of the quadruped robot, cooperate with the main suction cup 11, make the main suction cup 11 fit with the back of the quadruped robot, press the docking stud 12 against the main suction cup 11, and expel the air inside the main suction cup 11, then quickly fix the base 10 on the back of the quadruped robot.

[0035] When in use: the first step is to fix the base 10 on the back of the quadruped robot, and then fix the camera body 14 inside the camera fixing frame plate 15, and the pan-tilt beam frame 17 cooperates with the camera fixing frame plate 15 to suspend the camera body 14 above the outside of the base 10. When the height of the camera body 14 needs to be adjusted, the electronically controlled motor 22 is controlled to start and its output shaft rotates to drive the transmission gear 23 to rotate and engage with the connected vertical gear frame plate 21 for transmission. The rotation of the transmission gear 23 drives the connected vertical gear frame plate 21 to rise outside the bottom beam 16. The rising of the connected vertical gear frame plate 21 drives the pan-tilt beam frame 17 to move upward synchronously outside the base 10, and the pan-tilt beam frame 17 drives the camera body 14 to adjust its height upward. At the same time, when the pan-tilt beam frame 17 moves, the pan-tilt beam frame 17 drives the limiting slot 25 to move outside the limiting bent plate 24, and cooperates with the set limiting bent plate 24 and the limiting slot 25 to achieve the effect of making the limiting bent plate 24 and the limiting slot 25 move upward more stably.

[0036] In the second step, when the height of the camera body 14 is adjusted by driving the pan / tilt beam frame 17 upward, the pan / tilt beam frame 17 moves upward, driving the cross beam plate 33 to move upward synchronously. The cross beam plate 33 moves upward, driving the convex plate 36 and causing the plug plate 35 to move upward synchronously. The plug plate 35 is subjected to the upward force and drives the inclined guide plate 48 and the movable plate 47 to move inside the outer pile 32. At the same time, when the inclined guide plate 48 moves to the position of the slot 34, the accumulated elastic force generated by the elastic belt 412 drives the short pile 411 and causes the movable plate 47 to engage with the inside of the slot 34. The engagement between the inclined guide plate 48 and the inside of the slot 34 limits the plug plate 35 from doing a reset movement downward inside the outer pile 32. At the same time, it is guided by the inclined surface of the inclined guide plate 48. When the inclined guide plate 48 continues to rise inside the slot 34, the inner wall corners of the slot 34 will push the inclined guide plate 48 to drive the movable plate 47 to shrink and enter the inner slot 45, so that it will not affect the normal upward movement of the plug plate 35. When the plug plate 35 moves upward, the plug plate 35 is in a state of continuous upward movement inside the outer pile 32. At the same time, the plug plate 35 will drive the outer pile 32 to rotate inside the upper slot 38. The outer pile 32, the plug plate 35 and the cross beam plate 33 form an inclined angle, thereby achieving auxiliary support for the cross beam plate 33 and the pan / tilt beam frame 17, reducing the shaking force received by the pan / tilt beam frame 17 and the camera body 14 after being lifted, thereby providing a better stable support effect for the pan / tilt beam frame 17 and the camera body 14.

[0037] The third step is that after the pan-tilt beam 17 is lifted for use, when the pan-tilt beam 17 needs to be lowered again, the electric control motor 22 drives the transmission gear 23 again to make the connected vertical gear frame plate 21 descend. While the connected vertical gear frame plate 21 is descending, the forward and reverse motor 55 is started, and the output shaft of the forward and reverse motor 55 drives the transmission belt 56 and makes the horizontal shaft 53 rotate synchronously. The rotation of the horizontal shaft 53 drives the bobbin 51 to reel the pull rope 40 outside it. The reeling of the pull rope 40 pulls the connecting hanging plate 41 and makes the two ends of the push plate 44 move toward the inside of the two slot openings 410. The two ends of the push plate 44 contact the inclined surfaces of the two guide slides 49 respectively, and the two ends of the push plate 44 push the two guide slides 49 to drive the moving plate 47 and the inclined guide plate 48 to retract into the inside of the inner slot 45, so as to facilitate the retraction of the plug plate 35 into the inside of the outer pile 32, so as to achieve the effect of facilitating the rapid and stable descent of the device.

[0038] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A camera fixing device based on a patrol quadruped robot, comprising a base and a camera body, wherein the base is fixedly connected to a bottom beam on the outside, a pan-tilt beam is arranged on the outside of the bottom beam, and a camera fixing frame is fixedly connected to the outside of the pan-tilt beam, wherein the camera fixing frame is fixedly connected to the outside of the pan-tilt beam, characterized in that: The bottom beam is provided with a lifting assembly on the outside, and the lifting assembly is used to adjust the height of the camera body, the camera fixing frame plate and the gimbal beam frame above the base, and the lifting assembly includes an electric control motor for providing kinetic energy, and a vertical plate for supporting the electric control motor is provided on the outside of the electric control motor motor, and a transmission tooth is fixedly connected to the outside of the output shaft of the electric control motor motor, and a connecting vertical tooth frame plate meshingly connected to the transmission tooth is provided on the outside of the transmission tooth, and the connecting vertical tooth frame plate is fixedly connected to the outside of the gimbal beam frame and is used to adjust the height of the gimbal beam frame upward or downward; Stabilizing and controlling components for auxiliary support of the gimbal frame are arranged on both sides of the outside of the base, and each stabilizing and controlling component includes a cross beam plate fixedly connected to the gimbal frame, and an outer pile and a plug plate for rotating with the rise of the gimbal frame are arranged on the outside of the cross beam plate, and the plug plate is movably connected to the inside of the outer pile, and a fixed spring plate with a buffer function is arranged on the outside of the outer pile, and an upper notch is opened on the outside of the fixed spring plate, and one end of the outer pile away from the cross beam plate is rotatably connected to the inside of the upper notch, and a fixing seat fixedly connected to the base is arranged on the outside of the fixed spring plate; An adjustment and positioning assembly for fixing the plugging plate is arranged inside the outer pile, and the adjustment and positioning assembly includes a moving plate and an inclined guide plate for fixing the plugging plate inside the outer pile, and a plurality of slots for assisting the moving plate and the inclined guide plate to be inserted are arranged on both sides of the outer side of the outer pile; A winding assembly for quickly resetting the plug plate is arranged outside the fixing seat; A groove is provided on the outside of the cross beam plate, a convex plate is rotatably connected inside the groove, the convex plate is fixedly connected to the plug plate, the plug plate rotates inside the groove through the convex plate, and an inner groove is provided inside the plug plate; The number of the movable plates and the inclined guide plates is set to two, the two movable plates are symmetrically arranged inside the inner notch, the outside of each movable plate is opened with a slot opening, and the inside of the slot opening is fixedly connected with a guide slide plate; Empty slots are provided on both sides of the inner slot, and an elastic belt is fixedly connected to the inside of each empty slot, and a short pile is movably sleeved inside each elastic belt, and the two short piles are respectively fixedly connected to the outside of the two movable plates, and the movable plates move stably laterally inside the inner slot through the short piles and the elastic belt; Short plates are movably connected to both sides of the inner notch, and a push plate is fixedly connected to the opposite side of the two short plates, and a connecting hanging plate is fixedly connected to the inside of the push plate, and a pull rope used to pull the plug plate to move inside the outer pile is fixedly connected to the outside of the connecting hanging plate. A slot is provided on the side of the two moving plates facing the guide slide plate to facilitate the movement of the pull rope, and a baffle is arranged on the outside of the push plate, and the baffle is arranged between the connecting hanging plate and the push plate, and an elastic rope is fixedly connected to the outside of the baffle; The winding assembly includes a wire drum for connecting with a pull rope, one end of the pull rope away from the connecting hanging plate is wound around the inside of the wire drum, a horizontal axis is fixedly sleeved inside the wire drum, vertical platforms are movably sleeved on both sides of the outside of the horizontal axis, mounting seats are fixedly connected to the outside of the two vertical platforms, the mounting seats are fixedly connected to the outside of the fixing seats, a mounting plate is fixedly connected to the outside of the mounting seats, a forward and reverse motor for providing kinetic energy to the wire drum is fixedly connected to the outside of the mounting plate, the output shaft of the forward and reverse motor movably passes through the mounting plate, a transmission belt is movably sleeved on the output shaft of the mounting plate and the outside of the horizontal axis, the transmission belt is driven by the rotation of the output shaft of the forward and reverse motor to rotate the horizontal axis, and the rotation of the horizontal axis drives the wire drum to rotate synchronously.

2. A camera fixing device based on a patrol quadruped robot according to claim 1, characterized in that: The outside of the base is fixedly connected with a lateral clamping plate, which is used to clamp the base on the lateral clamping plate on the back of the quadruped robot. Two main suction cups are fixedly connected to the lower part of the outside of the base. The outside of the two main suction cups are both provided with docking studs for pressing. The docking studs spirally penetrate the outside of the base and extend upward therefrom.

3. The camera fixing device based on the inspection quadruped robot according to claim 1, characterized in that: The vertical plate is fixedly connected to the outside of the bottom beam, and the electric control motor is fixed to the outside of the bottom beam through the vertical plate; The lifting assembly also includes a limit bend plate and a limit slot for assisting in connecting the vertical gear frame plate and the pan-tilt beam frame for lifting and lowering. The limit slot is opened on the outside of the pan-tilt beam frame, one end of the limit bend plate is movably connected to the inside of the limit slot, and the other end of the limit bend plate is fixedly connected to the outside of the bottom beam.

4. The camera fixing device based on the inspection quadruped robot according to claim 1, characterized in that: The inclined guide plate is arranged on the side of the moving plate away from the inner slot, and the side of the inclined guide plate close to the cross beam plate is inclined. The two inclined guide plates move away from each other and penetrate the inner wall of the inner slot and extend to the inside of the slot.

5. The camera fixing device based on the inspection quadruped robot according to claim 1, characterized in that: The push plate is in a U shape, and two ends of the push plate are respectively located outside the two guide slide plates.

6. The camera fixing device based on the inspection quadruped robot according to claim 1, characterized in that: The elastic rope moves to penetrate the push plate and fix it to the inner wall of the inner notch. The push plate is kept separated from the guide slide plate inside the inner notch by the accumulated elastic force provided by the elastic rope.

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