Rail rocker arm robot

Abstract

The invention discloses a track rocker arm robot, which is suitable for bearing a camera device, and comprises a track laid on a supporting surface; the rail car comprises a supporting chassis, a first roller mechanism and a second roller mechanism, the first roller mechanism and the second roller mechanism are arranged on the supporting chassis, the first roller mechanism is matched with the rail to achieve reciprocating motion of the rail car along the rail, and the second roller mechanism is supported on the supporting face to achieve movement of the rail car on the supporting face; the camera shooting rocker arm is installed on the supporting chassis of the rail car and used for bearing a camera shooting device and adjusting the pitching angle and the horizontal rotation angle of the camera shooting device. Through the double-roller mechanism design of the first roller mechanism and the second roller mechanism of the rail car, seamless connection of'accurate movement along the rail 'and'flexible separation from the rail transfer' of the large camera rocker arm robot is achieved, meanwhile, the double requirements of'rail reciprocating sliding 'and'overall transfer' are met, and the dilemma of the industry is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of carrying robot technology, in particular to a track swing arm robot. BACKGROUND

[0002] In the field of camera shooting, swing arm robots as the core equipment of carrying camera shooting devices have been widely used in film and television production, live broadcast of large-scale activities, industrial detection and other scenes. The core value of the swing arm robot is to realize multi-angle and large-range image acquisition by adjusting the pitch angle and controlling the horizontal rotation angle of the camera shooting device, so as to meet the diversification demand of the picture angle in different shooting scenes.

[0003] At present, the mainstream large-scale camera shooting swing arm robot on the market adopts a fixed installation method to anchor the swing arm robot as a whole on the support surface (such as the ground or stage surface) by using fixed structures such as concrete pouring base and heavy bracket, in order to ensure the structural stability and load capacity (usually professional cameras, lenses and supporting transmission equipment need to be carried). The swing arm robot can only rely on its own mechanical transmission to realize the angle adjustment of the camera shooting device in the fixed area, and almost has no overall moving ability.

[0004] However, with the continuous upgrading of shooting demand, the fixed swing arm robot gradually exposes obvious limitations: first, the shooting range is limited, and only a limited area centered on the fixed installation point can be covered, which is difficult to meet the demand of long-distance tracking shooting (such as long shots of character movement in films and television dramas, or scene switching shooting in large venues) or large-scale panoramic shooting; second, the equipment relocation cost is high. If the shooting position needs to be adjusted, the fixed structure needs to be removed, the equipment needs to be moved as a whole and needs to be reinstalled and debugged, which not only consumes a lot of manpower and time, but also easily causes the positioning accuracy of the equipment to decrease due to repeated disassembly and assembly, affecting the shooting quality; third, the adaptability is insufficient. In the temporarily built shooting scene (such as outdoor variety shows and temporary exhibitions), the fixed installation method is difficult to quickly respond to the scene changes, reducing the flexibility of the shooting process.

[0005] Although there are some small movable camera supports (such as portable tripods with wheels) in the prior art, their load capacity is weak, and they cannot carry large professional camera shooting devices and swing arm structures. In addition, the stability during movement is poor, which makes it difficult to ensure the stability of the shooting picture. As for the moving solution of large swing arms, there is no mature technology that can balance the load capacity, moving flexibility and running stability of the equipment at present, which cannot effectively solve the application pain points of the fixed swing arm robot in diversified shooting scenes. Therefore, it is a technical problem to be solved in the field to develop a camera shooting swing arm device that can realize overall stable movement without sacrificing the load capacity and adjustment accuracy.

[0006] In view of this, the present application is proposed. SUMMARY

[0007] To address the aforementioned technical problems, this invention proposes a track-mounted rocker robot, specifically employing the following technical solution: A track-mounted rocker robot suitable for carrying a camera device includes: The track is laid on the supporting surface; The railcar includes a support chassis and a first roller mechanism and a second roller mechanism disposed on the support chassis. The first roller mechanism cooperates with the track to realize the reciprocating motion of the railcar along the track, and the second roller mechanism supports the support surface to realize the movement of the railcar on the support surface. A camera jib arm is mounted on the support chassis of the railcar to support the camera device and adjust the pitch and horizontal rotation angles of the camera device.

[0008] As an optional embodiment of the present invention, the first roller mechanism includes first roller assemblies installed on both sides of the support chassis, and the first roller assemblies on both sides respectively cooperate with the guide rails on both sides of the track; The second roller mechanism includes second rollers installed at the front and rear ends of both sides of the support chassis. The relative positional relationship between the second roller and the first roller assembly satisfies the following: there is a horizontal displacement interval between the second roller and the first roller assembly, and the lowest rolling contact surface of the second roller is lower than the lowest rolling contact surface of the first roller assembly.

[0009] As an optional embodiment of the present invention, the first roller assembly includes a first roller seat and a plurality of first rollers rotatably mounted on the first roller seat. The plurality of first rollers are arranged in a straight line such that all of the plurality of first rollers are in rolling contact with the guide rail of the track; the lowest contact surfaces of the plurality of first rollers constitute the lowest rolling contact surface of the first roller assembly.

[0010] As an optional embodiment of the present invention, the supporting chassis includes supporting beams located at the front and rear ends, the second roller is rotatably disposed at both ends of the supporting beams, the first roller seat of the first roller assembly is fixedly installed at both ends of the supporting beams, and the first roller assembly is located inside or outside the second roller.

[0011] As an optional embodiment of the present invention, the two ends of the support beam are respectively rotatably connected to the support swing arm, the second roller is rotatably mounted on the support swing arm, the first roller seat of the first roller assembly is fixedly mounted on the support swing arm, and the first roller assembly is located outside the second roller.

[0012] As an optional embodiment of the present invention, the support arm includes a connecting seat and a connecting shaft fixedly installed on the connecting seat. The connecting seat is rotatably connected to the end of the support beam. The second roller is rotatably installed in the middle of the connecting shaft through a rolling bearing. The first roller seat of the first roller assembly is fixedly installed at the free end of the connecting shaft.

[0013] As an optional embodiment of the present invention, the free end of the connecting shaft has a stepped shaft section, the first roller seat has a connecting sleeve, the connecting sleeve is fitted on the stepped shaft section, one side of the connecting sleeve is limited and abutted against the stepped shaft section, and the other side of the connecting sleeve is fastened by a locking nut fitted on the free end of the stepped shaft section.

[0014] As an optional embodiment of the present invention, the track includes two parallel guide rails and a connecting beam connecting the two guide rails. There is a first height difference between the top of the connecting beam and the top of the guide rails, and a second height difference between the lowest rolling contact surface of the second roller and the lowest rolling contact surface of the first roller assembly. The first height difference is greater than the second height difference.

[0015] As an optional embodiment of the present invention, the track includes a plurality of leveling feet disposed at the bottom of the plurality of connecting crossbeams, and by adjusting the height of the leveling feet, the guide rails on both sides are kept horizontal and aligned.

[0016] As an optional embodiment of the present invention, the camera jib arm includes: The boom is mounted on the support chassis of the railcar; A horizontal drive motor is used to drive the vertical arm to perform horizontal rotation adjustment; A pitch-and-telescopic boom is mounted on the vertical arm, allowing it to pitch and rotate. A pitch drive motor is used to drive the pitch telescopic arm to adjust its pitch rotation. The camera jib is equipped with a horizontal rotation locking mechanism and a pitch rotation locking mechanism. The horizontal rotation locking mechanism locks the free horizontal rotation of the vertical arm, and the horizontal drive motor is connected to the vertical arm. The pitch rotation locking mechanism locks the free pitch rotation of the pitch telescopic arm, and the pitch drive motor is connected to the pitch telescopic arm. When the camera jib switches to automatic control mode, it controls the horizontal and pitch motors of the camera jib to adjust horizontally and vertically, respectively. The horizontal rotation locking mechanism unlocks the free horizontal rotation of the vertical arm, and the pitch rotation locking mechanism unlocks the free pitch rotation of the pitch telescopic arm. The camera jib then switches to manual control mode, allowing manual operation to adjust the horizontal and pitch of the camera jib.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention provides a track-mounted jib robot that simultaneously meets the dual requirements of "track reciprocating sliding" and "overall transfer," overcoming a dilemma in the industry. Through a dual-roller mechanism design of a track vehicle consisting of a "first roller mechanism + a second roller mechanism," this invention achieves a seamless connection between the "precise track-following movement" and "flexible track-detachment transfer" of a large-scale camera-mounted jib robot. To address the "reciprocating sliding requirement of the track," the first roller mechanism works precisely with the track. On one hand, the track's laying and positioning (which allows for pre-calibration of flatness to avoid height differences during splicing) ensures the consistency of the track vehicle's trajectory as it reciprocates, solving the problem of "shaky footage caused by bumps" in existing simple track solutions. On the other hand, the double / multi-wheel support structure of the first roller mechanism and the track significantly improves load-bearing stability. Even when supporting professional film cameras and telephoto lenses weighing over 50kg, it can avoid the risk of tipping over, meeting the stringent requirements for "movement stability" in dynamic tracking shooting (such as running follow-up shots of people or push-pull shots of venues), and ensuring the smoothness of long-take footage.

[0018] To address the need for "overall relocation," the second roller mechanism is directly supported on the support surface, allowing the track vehicle to move independently completely detached from the track. Unlike traditional fixed jib arms, there is no need to remove the base, disconnect cables, or move the entire track. Simply push the equipment manually or use mechanical drive (such as adding a motor) to quickly move it between different shooting areas (such as areas A and B of a film set, or the main and secondary stages of a concert). The relocation process takes only 10-30 minutes (compared to the traditional 1-3 hours), and avoids the coaxiality error of the jib arm's pitch and horizontal axes caused by repeated disassembly and assembly, thus maintaining shooting accuracy at all times. At the same time, the second roller mechanism can be designed with a locking function (such as brake pads) to quickly fix it after it is moved to the target area, solving the defects of small universal wheels in "lack of locking accuracy and insufficient load-bearing capacity," and balancing relocation flexibility with fixed stability.

[0019] Therefore, the track-mounted rocker robot of the present invention has the following technical effects: 1. Improve shooting efficiency and quality, and reduce manpower and time costs.

[0020] From an efficiency perspective: The dual-roller design of the track vehicle eliminates the cumbersome process of "disassembly-transportation-assembly-calibration" of traditional equipment. When switching between multiple scenes, there is no need to interrupt the shooting preparation for too long. It is especially suitable for the "continuous shooting" needs of film and television crews and large-scale events (such as completing the shooting of multiple areas in one day), reducing the manpower input of professional personnel and reducing the cost of equipment handling and debugging.

[0021] From a quality perspective: the track provides a rigid support benchmark for the track vehicle, and with the precise guidance of the first roller mechanism, the camera jib arm will not be affected by bumps or deviations when moving along the track, thus ensuring the accuracy of the pitch angle and horizontal rotation adjustment. At the same time, the whole transfer does not require disassembly, avoiding gaps or positioning deviations caused by repeated disassembly of the mechanical structure, ensuring that the camera device is always in a stable working state. The clarity and stability of the captured images are significantly better than traditional fixed jibs (avoiding image deviation caused by coaxiality errors after disassembly) and simple moving brackets (avoiding image blurring caused by load shaking).

[0022] 2. Enhance device adaptability and scenario expansion capabilities.

[0023] Load adaptability: The support chassis of the railcar provides a stable installation base for the camera jib arm, which can support large camera devices (including signal transmission modules, backup power supplies and other auxiliary equipment), solving the problem of "insufficient load" of existing small mobile brackets, and adapting to the needs of "heavy equipment load-bearing" in film and television, industrial monitoring and other fields.

[0024] Scene adaptation: On the one hand, the track can be flexibly laid out according to shooting needs (such as straight or curved tracks) to meet the movement path design in different scenarios (such as 360° tracking shooting on a circular stage); on the other hand, the movement function of the second roller mechanism allows the equipment to be flexibly moved to a corner area when not shooting (such as storage or scene cleaning), avoiding the occupation of core shooting space, especially suitable for the "rapid deployment-rapid withdrawal" requirements of temporary scenes (such as outdoor variety shows and temporary exhibitions).

[0025] The present invention provides a track-mounted jib robot that, by setting up a horizontal rotation locking mechanism and a pitch rotation locking mechanism, and in conjunction with a horizontal drive mechanism and a pitch drive mechanism, enables the camera jib 300 to flexibly switch between manual control mode and automatic control mode. It has the beneficial effects of diverse control methods, flexible operation, strong adaptability, high shooting stability and easy precise control. Attached Figure Description Figure 1 A three-dimensional structural diagram of a track-mounted rocker robot according to an embodiment of the present invention. Figure 1 ; Figure 2 A three-dimensional structural diagram of a track-mounted rocker robot according to an embodiment of the present invention. Figure 2 ; Figure 3 Schematic diagram of the three-dimensional structure of the track vehicle in this embodiment of the invention Figure 1 ; Figure 4 Schematic diagram of the three-dimensional structure of the track vehicle in this embodiment of the invention Figure 2 ; Figure 5 A top view of the railcar according to an embodiment of the present invention; Figure 6 The track car edge of the embodiment of the present invention Figure 5 A cross-sectional view of the AA plane; Figure 7 Reference diagram of the usage status of the railcar according to an embodiment of the present invention; Figure 8 A cross-sectional view of the support arm in an embodiment of the present invention; Figure 9 In this embodiment of the invention, the vertical arm is Figure 8 A magnified view of a section at point B in the middle; Figure 10 In this embodiment of the invention, the vertical arm is Figure 8 A magnified view of a section at point C. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0027] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Example 1 See Figures 1 to 7As shown, this embodiment of a track-mounted rocker robot is suitable for carrying a camera device and includes: Track 100 is laid on the supporting surface; The railcar 200 includes a support chassis 201 and a first roller mechanism and a second roller mechanism disposed on the support chassis 201. The first roller mechanism cooperates with the track 100 to realize the railcar 200 reciprocating along the track 100. The second roller mechanism supports the support surface to realize the railcar 100 moving on the support surface. The camera jib arm 300 is mounted on the support chassis of the railcar 200 and is used to support the camera device 400 and adjust the pitch angle and horizontal rotation angle of the camera device 400.

[0032] This embodiment of a track-mounted jib robot simultaneously satisfies the dual requirements of "track reciprocating sliding" and "overall transfer," overcoming the industry's dilemma. This embodiment achieves a seamless connection between the large camera-mounted jib robot's "precise track-following movement" and "flexible track-detachment transfer" through a dual-roller mechanism design of the track vehicle 200, consisting of a "first roller mechanism + a second roller mechanism." To address the "reciprocating sliding requirement of the track," the first roller mechanism works precisely with track 100. On one hand, the positioning of track 100 (which allows for pre-calibration of flatness to avoid height differences during splicing) ensures the consistency of the trajectory of the track vehicle 200 as it reciprocates along the track, solving the problem of "shaking caused by bumps" in existing simple track solutions. On the other hand, the double / multi-wheel support structure of the first roller mechanism and the track significantly improves load-bearing stability. Even when supporting professional film cameras and telephoto lenses weighing over 50kg, it can avoid the risk of tipping over, meeting the stringent requirements for "movement stability" in dynamic tracking shooting (such as running follow-up shots of people or push-pull shots of venues), and ensuring the smoothness of long-take footage.

[0033] To address the "overall relocation requirement," the second roller mechanism is directly supported on the support surface, allowing the track vehicle 200 to move independently completely detached from the track 100. Unlike traditional fixed jib arms, there is no need to remove the base or disconnect the cables, nor is it necessary to move the entire track. Simply push it manually or drive it mechanically (such as by adding a motor) to quickly move the equipment between different shooting areas (such as areas A and B of a film set, or the main and secondary stages of a concert). The relocation process takes only 10-30 minutes (compared to the traditional 1-3 hours), and avoids the coaxiality error of the jib arm's pitch and horizontal axes caused by repeated disassembly and assembly, thus maintaining shooting accuracy at all times. At the same time, the second roller mechanism can be designed with a locking function (such as brake pads) to quickly fix it after it is moved to the target area, solving the defects of small universal wheels in "lack of locking accuracy and insufficient load-bearing capacity," and balancing relocation flexibility with fixed stability.

[0034] Therefore, the track-mounted rocker robot of this embodiment has the following technical effects: 1. Improve shooting efficiency and quality, and reduce manpower and time costs.

[0035] From an efficiency perspective: The dual-roller design of the Track Cart 200 eliminates the cumbersome process of "disassembly-transportation-assembly-calibration" of traditional equipment. When switching between multiple scenes, there is no need to interrupt the shooting preparation for too long. It is especially suitable for the "continuous shooting" needs of film and television crews and large-scale events (such as completing the shooting of multiple areas in one day), reducing the manpower input of professional personnel and reducing the cost of equipment handling and debugging.

[0036] From a quality perspective: Track 100 provides a rigid support benchmark for track vehicle 200, and with the precise guidance of the first roller mechanism, the camera jib 300 will not be affected by bumps or deviations when moving along the track, thus ensuring the accuracy of pitch angle and horizontal rotation adjustment. At the same time, the overall transfer does not require disassembly, avoiding gaps or positioning deviations caused by repeated disassembly of the mechanical structure, ensuring that the camera device 400 is always in a stable working state. The clarity and stability of the captured images are significantly better than traditional fixed jibs (avoiding image deviation caused by coaxiality errors after disassembly) and simple moving brackets (avoiding image blurring caused by load shaking).

[0037] 2. Enhance device adaptability and scenario expansion capabilities.

[0038] Load adaptability: The support chassis 201 of the railcar 200 provides a stable installation base for the camera jib arm 300, which can support large camera devices 400 (including signal transmission modules, backup power supplies and other auxiliary equipment), solving the problem of "insufficient load" of existing small mobile brackets, and adapting to the needs of "heavy equipment load-bearing" in film and television, industrial monitoring and other fields.

[0039] Scene adaptation: On the one hand, the Track 100 can be flexibly laid out according to shooting needs (such as straight or curved tracks) to meet the movement path design in different scenarios (such as 360° tracking shooting on a circular stage); on the other hand, the movement function of the second roller mechanism allows the equipment to be flexibly moved to a corner area when not shooting (such as storage or scene clearing), avoiding the occupation of core shooting space, especially suitable for the "rapid deployment-rapid withdrawal" requirements of temporary scene construction (such as outdoor variety shows and temporary exhibitions).

[0040] Further, see Figure 3 and Figure 4 As shown in this embodiment, a track-mounted rocker robot has a first roller mechanism including first roller assemblies 204 installed on both sides of the support chassis 201, and the first roller assemblies 204 on both sides cooperate with the guide rails 101 on both sides of the track 100 respectively. The second roller mechanism includes second rollers 203 installed at the front and rear ends of both sides of the support chassis 201. The relative positional relationship between the second rollers 203 and the first roller assembly 204 satisfies the following: there is a horizontal displacement interval between the second rollers 203 and the first roller assembly 204, and the lowest rolling contact surface of the second rollers 203 is lower than the lowest rolling contact surface of the first roller assembly 204.

[0041] This embodiment of a track-mounted rocker robot achieves seamless mechanical switching between track movement and transfer, protecting the precision of core components. Addressing the critical design issue of a horizontal displacement gap between the second roller 203 and the first roller assembly 204, with the lowest rolling contact surface of the second roller 203 being lower than that of the first roller assembly 204, its technical effectiveness is reflected in "automatic mode switching" and "high-precision component protection." Seamless switching between dual modes: This height difference allows the equipment to automatically switch between "track movement mode" and "transfer mode" without any electronic control components or manual adjustment.

[0042] Track shifting mode: After the track 100 is laid, the top surface of the guide rails 101 on both sides of the track 100 is higher than the supporting surface (ground). The lowest rolling contact surface of the first roller assembly 204 is in contact with the top surface of the track 100. There is a horizontal displacement interval between the second roller 203 and the first roller assembly 204. Only the first roller assembly 204 participates in the track movement to avoid interference between the second roller 203 and the track 100.

[0043] Transfer mode: After the first roller assembly 204 is separated from the track 100, the lowest rolling contact surface of the second roller 203 is lower than the lowest rolling contact surface of the first roller assembly 204. Therefore, the second roller 203 contacts the ground first, and the lowest rolling contact surface of the first roller assembly 204 forms a gap with the ground (suspended state). Only the second roller 203 participates in the overall transfer, and the first roller assembly 204 does not interfere. There is no need for manual disassembly or lifting of parts.

[0044] As an optional implementation of this embodiment, the first roller assembly 204 includes a first roller seat 2041 and a plurality of first rollers 2042 rotatably mounted on the first roller seat 2041. The plurality of first rollers 2042 are arranged in a straight line, such that all of the plurality of first rollers 2042 are in rolling contact with the guide rail 101 of the track 100; the lowest contact surfaces of the plurality of first rollers 2042 constitute the lowest rolling contact surface of the first roller assembly 204. In this way, the first roller assembly 204 of this embodiment can achieve a more stable and reliable engagement with the guide rail 101 of the track 100.

[0045] As an optional implementation of this embodiment, the support chassis 201 of this embodiment includes support beams 202 located at the front and rear ends, the second rollers 203 are rotatably disposed at both ends of the support beams 202, the first roller seat 2041 of the first roller assembly 204 is fixedly installed at both ends of the support beams 202, and the first roller assembly 204 is located inside or outside the second rollers 203.

[0046] Specifically, in this embodiment, the two ends of the supporting beam 202 are rotatably connected to the supporting swing arms 205. The second roller 203 is rotatably mounted on the supporting swing arms 205. The first roller seat 2041 of the first roller assembly 204 is fixedly mounted on the supporting swing arms 205, and the first roller assembly 204 is located outside the second roller 203. Thus, in this embodiment, the supporting swing arms 205 are rotatably mounted to meet the turning and movement requirements of the track-mounted rocker robot.

[0047] See Figure 5 and Figure 6 As shown, the support arm 205 in this embodiment includes a connecting seat 2051 and a connecting shaft 2052 fixedly installed on the connecting seat 2051. The connecting seat 2051 is rotatably connected to the end of the support beam 202. The second roller 203 is rotatably installed in the middle of the connecting shaft 2052 through a rolling bearing 2031. The first roller seat 2041 of the first roller assembly 204 is fixedly installed at the free end of the connecting shaft 2052.

[0048] In order to fix the first roller seat 2041 on the connecting shaft 2052, the free end of the connecting shaft 2052 in this embodiment has a stepped shaft section 2053. The first roller seat 2041 has a connecting sleeve, which is fitted onto the stepped shaft section 2053. One side of the connecting sleeve is limited and abuts against the stepped shaft section 2053, and the other side of the connecting sleeve is fastened by a locking nut 2043 fitted onto the free end of the stepped shaft section 2053.

[0049] As an optional implementation method in this embodiment, such as Figure 1 and Figure 2As shown in this embodiment, a track-mounted rocker robot includes a track 100 comprising parallel guide rails 101 on both sides and a connecting beam 102 connecting the guide rails 101. A first height difference exists between the top of the connecting beam 102 and the top of the guide rails 101, and a second height difference exists between the lowest rolling contact surface of the second roller 203 and the lowest rolling contact surface of the first roller assembly 204. The first height difference is greater than the second height difference. Thus, when the track vehicle 200 slides back and forth on the track 100, the second roller 203 is suspended in the air and will not interfere with the track 100, ensuring that the track vehicle 200 can move smoothly along the track 100.

[0050] Furthermore, the track 100 in this embodiment includes multiple leveling feet 103 disposed at the bottom of the multiple connecting crossbeams 102. By adjusting the height of the leveling feet 103, the guide rails 101 on both sides are kept horizontal and aligned. Since the camera jib arm 300 has a large overall weight, this embodiment needs to ensure the absolute horizontal stability of the track 100. By adjusting the height of the leveling feet 103, the guide rails 101 on both sides are kept horizontal and aligned, providing sufficient and reliable support for the track vehicle 200 and ensuring its smooth and stable movement along the track.

[0051] In addition, the track 100 in this embodiment also includes a connecting longitudinal beam 104, which is laid in the same direction as the guide rail 101 and is fixedly connected to each of the connecting crossbeams 102, further increasing the overall structural stability of the track 100.

[0052] In this embodiment, to achieve the reciprocating motion of the railcar 200 on the rail 100, reference is made... Figure 2 and Figure 4 As shown, in this embodiment, a traction belt 105 is laid on the track 100 in a direction parallel to the guide rail 101. One side of the traction belt 105 has a transmission meshing tooth. In this embodiment, a drive device is provided at the bottom of the support chassis 201 of the track vehicle 200. The drive device includes a drive motor 207, a transmission meshing gear 208 connected to the output end of the drive motor 207, and a guide roller group located outside the transmission meshing gear 208. The traction belt 105 passes around the guide roller group and meshes with the meshing gear 208 for transmission. The drive motor 207 drives the transmission meshing gear 208 to rotate, and the transmission meshing gear 208 meshes with the traction belt 105 to drive the track vehicle 200 to reciprocate.

[0053] See Figure 7As shown, when the track vehicle 200 of this embodiment moves from the support surface (such as the ground) onto the track 100, a support plate 500 can be erected between the track 100 and the support surface. The track vehicle 200 carries the camera jib arm 300. The second roller 203 moves from the support surface onto the track 100 through the support plate 500 until the second roller 203 disengages from the support plate 500. The first roller assembly 204 is supported on the guide rail 101 of the track 100.

[0054] Example 2 See Figure 1 , Figure 2 , Figures 8 to 10 As shown, this embodiment, based on Embodiment 1, further provides a track-mounted robot capable of both manual and automatic control, suitable for carrying a camera device 400, including a camera rocker arm 300 for carrying the camera device 400. The camera rocker arm 300 includes: 310mm boom; A horizontal drive mechanism is used to drive the vertical arm 310 to perform horizontal rotation adjustment; The tilting telescopic arm 320 is mounted on the vertical arm 310 and can be tilted and rotated. A pitch drive mechanism is used to drive the pitch telescopic arm 320 to perform pitch rotation adjustment; The camera jib 300 is equipped with a horizontal rotation locking mechanism and a pitch rotation locking mechanism. The horizontal rotation locking mechanism locks the free horizontal rotation of the vertical arm 310. The horizontal drive mechanism is connected to the vertical arm 310. The pitch rotation locking mechanism locks the free pitch rotation of the pitch telescopic arm 320. The pitch drive mechanism is connected to the pitch telescopic arm 320. When the camera jib 300 switches to automatic control mode, its horizontal drive mechanism and pitch drive mechanism are controlled to perform horizontal and pitch adjustments respectively. The horizontal rotation locking mechanism unlocks the free horizontal rotation of the vertical arm 310, and the pitch rotation locking mechanism unlocks the free pitch rotation of the pitch telescopic arm 320. The camera jib 300 then switches to manual control mode, allowing manual operation to control its horizontal and pitch adjustments.

[0055] The track-mounted robot in this embodiment, by setting up a horizontal rotation locking mechanism and a pitch rotation locking mechanism, and in conjunction with a horizontal drive mechanism and a pitch drive mechanism, realizes the flexible switching between manual control mode and automatic control mode of the camera jib 300. It has the beneficial effects of diverse control methods, flexible operation, strong adaptability, high shooting stability and easy precise control.

[0056] Specifically, its technical effects include: It achieves manual / automatic control: through the coordinated action of the locking mechanism and the drive mechanism, users can flexibly choose manual or automatic control mode according to actual shooting needs, improving the convenience and adaptability of operation and meeting the requirements of various complex shooting scenarios.

[0057] Improved control precision and stability: In automatic control mode, precise horizontal and pitch adjustments are made through the drive mechanism, avoiding shake and errors caused by human operation, making it suitable for shooting tasks with high precision and high repeatability requirements.

[0058] It enhances system compatibility and functionality: it is compatible with the intuitiveness and flexibility of traditional manual operation, and also has the programmability and stability of automated control, thus expanding the application range of the track-mounted rocker robot.

[0059] See Figure 1 , Figure 2 , Figure 8 and Figure 9 As shown, the pitch extension 320 in this embodiment includes a pitch base 322 and a telescopic arm assembly 321. The pitch base 322 is rotatably mounted on the upper end of the vertical arm 310, the telescopic arm assembly 321 is fixedly mounted on the pitch base 322, and the pitch rotation locking mechanism is mounted on the pitch base 322. The pitch rotation locking mechanism has a locked state and an unlocked state: In the locked state, the pitch rotation locking mechanism is locked to the output end of the pitch drive mechanism, the pitch rotation locking mechanism locks the pitch base 322 to rotate freely, and the output end of the pitch drive mechanism is connected to the pitch base 322 in a transmission connection. In the unlocked state, the pitch rotation locking mechanism is unlocked and separated from the output end of the pitch drive mechanism, and the pitch base 322 can rotate freely in pitch.

[0060] Furthermore, the pitch drive mechanism described in this embodiment is mounted on the boom 310 and includes a pitch drive motor 601, a pitch reducer 603, and a pitch brake pad 605. The pitch drive motor 601 is connected to the pitch reducer 603, the output end 604 of the pitch reducer 603 is connected to the pitch brake pad 605, and the pitch rotation locking mechanism locks / unlocks the pitch brake pad 605.

[0061] The pitch rotation locking mechanism described in this embodiment includes: Pitch positioning block 701 is fixedly installed on the pitch base 322, and pitch positioning block 701 has a pitch locking screw hole inside; The pitch fixing locking block 702 has one end fixedly connected to the pitch positioning block 701, and the other end extends to fit and contact one side of the pitch brake pad 605. The pitch movable locking block 704 is slidably disposed inside the pitch locking screw hole of the pitch positioning block 701, and the pitch movable locking block 704 is located on the other side of the pitch brake pad 605. A pitch locking screw 705 is threaded into the pitch locking screw hole. One end of the pitch locking screw 705 located inside the pitch locking screw hole is fixedly connected to the pitch movable locking block 704. By adjusting the pitch locking screw 705 to move inward spirally within the pitch locking screw hole, the pitch movable locking block 704 is driven to make contact with the other side of the pitch brake pad 605, thus achieving a locking engagement with the pitch brake pad 605. By adjusting the pitch locking screw 705 to move outward spirally within the pitch locking screw hole, the pitch movable locking block 704 is driven away from the other side of the pitch brake pad 605, thus unlocking the pitch brake pad 605.

[0062] In this embodiment, a first brake pad 703 is fixed on the side of the pitch movable locking block 704 near the pitch brake pad 605 to increase the braking friction between the pitch movable locking block 704 and the pitch brake pad 605.

[0063] Furthermore, the pitch rotation locking mechanism described in this embodiment includes a pitch locking knob 706 and a pitch locking screw 705. The pitch locking knob 706 is operated to adjust the pitch locking screw 705 by turning it in or out.

[0064] In this embodiment, the pitch brake pad 605 has a fan-shaped structure, and the center of the pitch brake pad 605 is fixedly connected to the output end 604 of the pitch reducer 603.

[0065] In this embodiment, the upper end of the support arm 310 has a mounting groove 313, and the two side connecting arms 3221 of the pitch seat 322 are rotatably mounted on the two side walls of the mounting groove 313.

[0066] See Figure 1 , Figure 2 , Figure 8 and Figure 10 As shown, the boom 310 in this embodiment includes a boom base 311 and a boom body 312. The boom body 312 is rotatably mounted on the upper end of the boom base 311. The pitch seat 322 is rotatably mounted on the boom body 312. The horizontal rotation locking mechanism is mounted on the boom base 311. The horizontal rotation locking mechanism has a locked state and an unlocked state: In the locked state, the horizontal rotation locking mechanism is locked to the output end of the horizontal drive mechanism. The horizontal rotation locking mechanism locks the horizontal free rotation of the upright arm body 312, and the horizontal drive mechanism drives the upright arm body 312 to rotate horizontally for adjustment. In the unlocked state, the horizontal rotation locking mechanism is unlocked and separated from the output end of the horizontal drive mechanism, and the vertical arm body 312 rotates freely horizontally.

[0067] Specifically, the horizontal drive mechanism described in this embodiment includes a horizontal drive motor 801, a horizontal reducer 802, and a horizontal brake pad 804. The horizontal drive motor 801 is fixedly installed at the lower end of the boom body 312. The horizontal drive motor 801 is connected to the horizontal reducer 802 in a transmission connection. The output end 803 of the horizontal reducer 802 is connected to the horizontal brake pad 804. The horizontal brake pad 804 is located inside the boom base 311. The horizontal rotation locking mechanism locks / unlocks the horizontal brake pad 804.

[0068] The horizontal rotation locking mechanism described in this embodiment includes: A horizontal positioning block 901 is fixedly installed inside the support arm base 311, and the horizontal positioning block 901 has a horizontal locking screw hole inside. A horizontal fixing locking block 902 is fixedly connected at one end to the horizontal positioning block 901, and the other end extends to fit and contact one side of the horizontal brake pad 804. A horizontal movable locking block 904 is slidably disposed inside the horizontal locking screw hole of the horizontal positioning block 901, and the horizontal movable locking block 904 is located on the other side of the horizontal brake pad 804. A horizontal locking screw 905 has one end inserted into the support arm base 311 and threadedly connected to the horizontal locking screw hole, and the other end extending out of the support arm base 311. The end of the horizontal locking screw 905 located inside the horizontal locking screw hole is fixedly connected to the horizontal movable locking block 904. By adjusting the horizontal locking screw 905 to move inward spirally within the horizontal locking screw hole, the horizontal movable locking block 904 is driven to make contact with the other side of the horizontal brake pad 804, thereby achieving a locking engagement with the horizontal brake pad 804. By adjusting the horizontal locking screw 905 to move outward spirally within the horizontal locking screw hole, the horizontal movable locking block 904 is driven away from the other side of the horizontal brake pad 804, thereby achieving unlocking from the horizontal brake pad 804.

[0069] In this embodiment, a second brake pad 903 is fixed on the side of the horizontal movable locking block 904 near the horizontal brake pad 804 to increase the braking friction between the horizontal movable locking block 904 and the horizontal brake pad 804.

[0070] Furthermore, the horizontal rotation locking mechanism described in this embodiment includes a horizontal locking knob 906, which is fixedly connected to one end of the horizontal locking screw 905 located on the outside of the support arm base 311. The horizontal locking knob 906 is operated to adjust the screwing in / out of the horizontal locking screw 905.

[0071] In this embodiment, a manual operation panel 314 is provided at the bottom of the boom body 312, which makes it convenient for the operator to hold and operate the boom body 312 for horizontal rotation adjustment in manual control mode.

[0072] The track-mounted rocker robot of this embodiment includes a track vehicle 200, and the vertical arm base 311 is fixedly installed on the track vehicle 200.

[0073] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. A track-mounted rocker robot suitable for carrying a camera device, characterized in that, include: The track is laid on the supporting surface; The railcar includes a support chassis and a first roller mechanism and a second roller mechanism disposed on the support chassis. The first roller mechanism cooperates with the track to realize the reciprocating motion of the railcar along the track, and the second roller mechanism supports the support surface to realize the movement of the railcar on the support surface. A camera jib arm is mounted on the support chassis of the railcar to support the camera device and adjust the pitch and horizontal rotation angles of the camera device.

2. The track-mounted rocker robot according to claim 1, characterized in that, The first roller mechanism includes first roller assemblies installed on both sides of the supporting chassis, and the first roller assemblies on both sides respectively cooperate with the guide rails on both sides of the track; The second roller mechanism includes second rollers installed at the front and rear ends of both sides of the support chassis. The relative positional relationship between the second roller and the first roller assembly satisfies the following: there is a horizontal displacement interval between the second roller and the first roller assembly, and the lowest rolling contact surface of the second roller is lower than the lowest rolling contact surface of the first roller assembly.

3. The track-mounted rocker robot according to claim 2, characterized in that, The first roller assembly includes a first roller seat and a plurality of first rollers rotatably mounted on the first roller seat. The plurality of first rollers are arranged in a straight line such that all of the plurality of first rollers are in rolling contact with the guide rail of the track. The lowest contact surfaces of the plurality of first rollers constitute the lowest rolling contact surface of the first roller assembly.

4. A track-mounted rocker robot according to claim 3, characterized in that, The supporting chassis includes supporting beams located at the front and rear ends. The second roller is rotatably disposed at both ends of the supporting beams. The first roller seat of the first roller assembly is fixedly installed at both ends of the supporting beams. The first roller assembly is located inside or outside the second roller.

5. A track-mounted rocker robot according to claim 4, characterized in that, The two ends of the support beam are rotatably connected to support swing arms, the second roller is rotatably mounted on the support swing arms, the first roller seat of the first roller assembly is fixedly mounted on the support swing arms, and the first roller assembly is located outside the second roller.

6. A track-mounted rocker robot according to claim 5, characterized in that, The support arm includes a connecting seat and a connecting shaft fixedly mounted on the connecting seat. The connecting seat is rotatably connected to the end of the support beam. The second roller is rotatably mounted on the middle of the connecting shaft via a rolling bearing. The first roller seat of the first roller assembly is fixedly mounted on the free end of the connecting shaft.

7. A track-mounted rocker robot according to claim 6, characterized in that, The free end of the connecting shaft has a stepped shaft section, the first roller seat has a connecting sleeve, the connecting sleeve is fitted on the stepped shaft section, one side of the connecting sleeve is limited and abutted against the stepped shaft section, and the other side of the connecting sleeve is fastened by a locking nut fitted on the free end of the stepped shaft section.

8. A track-mounted rocker robot according to claim 2, characterized in that, The track includes two parallel guide rails and a connecting beam connecting the two guide rails. There is a first height difference between the top of the connecting beam and the top of the guide rails. There is a second height difference between the lowest rolling contact surface of the second roller and the lowest rolling contact surface of the first roller assembly. The first height difference is greater than the second height difference.

9. A track-mounted rocker robot according to claim 8, characterized in that, The track includes multiple leveling feet set at the bottom of multiple connecting crossbeams. By adjusting the height of the leveling feet, the guide rails on both sides are kept horizontal and aligned.

10. A track-mounted rocker robot according to claim 1, characterized in that, The camera crane includes: The boom is mounted on the support chassis of the railcar; A horizontal drive motor is used to drive the vertical arm to perform horizontal rotation adjustment; A pitch-and-telescopic boom is mounted on the vertical arm, allowing it to pitch and rotate. A pitch drive motor is used to drive the pitch telescopic arm to adjust its pitch rotation. The camera jib is equipped with a horizontal rotation locking mechanism and a pitch rotation locking mechanism. The horizontal rotation locking mechanism locks the free horizontal rotation of the vertical arm, and the horizontal drive motor is connected to the vertical arm. The pitch rotation locking mechanism locks the free pitch rotation of the pitch telescopic arm, and the pitch drive motor is connected to the pitch telescopic arm. When the camera jib switches to automatic control mode, it controls the horizontal and pitch motors of the camera jib to adjust horizontally and vertically, respectively. The horizontal rotation locking mechanism unlocks the free horizontal rotation of the vertical arm, and the pitch rotation locking mechanism unlocks the free pitch rotation of the pitch telescopic arm. The camera jib then switches to manual control mode, allowing manual operation to adjust the horizontal and pitch of the camera jib.

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