Gear-driven two-shaft steering engine holder structure

Abstract

The utility model provides a gear-driven two-shaft steering engine holder structure, belongs to the field of video shooting equipment, and solves the technical problems of complex structure, large size and high cost of the conventional two-shaft holder structure. The device comprises a conductive slip ring, a horizontal steering engine, a horizontal bearing, a fixed main gear, a rotating pinion, a vertical steering engine, a vertical steering engine bracket, a rotating shaft, a limiting shifting piece and a limiting switch, the horizontal steering engine is responsible for the horizontal rotation motion of the whole holder; power transmission is achieved through a pair of non-metal gears, self-lubrication is achieved, the weight is light, and operation is stable. The vertical steering engine is responsible for the vertical rotary motion of the whole holder; a bearing structure is arranged, the steering engine does not bear radial force, and the service life of the steering engine is prolonged. According to the utility model, the conductive slip ring is arranged, so that a wire cannot be wound to cause faults during horizontal rotation; according to the utility model, the limiting structure is arranged, so that when rotating in the vertical direction, the rotating motion can be stopped when moving to a limit position.

Description

Technical Field

[0001] The utility model belongs to the field of robot mechanical design, and in particular relates to a two-axis steering gear platform structure with gear transmission. Background Art

[0002] Currently, most gimbals on the market use a motor combined with a synchronous belt transmission structure. The motor control of the gimbal requires a customized development board, and the transmission structure is relatively complex, resulting in a relatively high cost for the gimbal.

[0003] Therefore, technicians in this field are committed to developing a pan / tilt structure that is simple in structure, durable and low in cost.

[0004] For example, the Chinese patent application number: CN202223312180.6 discloses a pan / tilt structure, including a control panel, a transmission motor, a worm structure, bearings, a support ring, etc. The invention has a simple structure, is easy to operate, and is economical and applicable. However, it is necessary to add a motor control board and two sets of worm gear transmission structures. The worm gear transmission efficiency is low, and the large number of transmission parts increases the risk of mechanical failure. The layout and installation of the motor control board also need to be considered.

[0005] Another example is the Chinese patent application number: CN201610931654.5, which discloses a two-degree-of-freedom pan-tilt structure controlled by a servo. The structure is simple and has no limit system. If a mechanical failure occurs, it is easy to damage the electrical equipment. In addition, there is no bearing load-bearing structure installed, and the weight of the equipment is on the servo, which is easy to damage the servo if it is run for a long time. Summary of the invention

[0006] In view of the problems existing in the prior art, the utility model provides a two-axis steering gear pan / tilt structure with gear transmission, which makes up for the defects of existing similar products. The structure adopts a bearing structure to bear the weight, and the steering gear does not bear radial force, which prolongs the service life of the steering gear. It adopts non-metallic gear transmission, runs smoothly, and does not require lubrication.

[0007] The technical solution of the utility model is implemented in the following way:

[0008] A gear-driven two-axis steering gear pan-tilt structure, the device comprises a fixed plate, a rotating plate, a conductive slip ring, a horizontal steering gear, a horizontal bearing, a fixed main gear, a rotating sub-gear, a vertical steering gear, a vertical steering gear bracket, a longitudinal bearing, a side bracket, a lower shell lining plate, a lower shell, a rotating shaft, a limit switch, a limit support, a limit sheet, a camera module, and an infrared camera module;

[0009] The horizontal servo is responsible for the horizontal rotation movement of the entire gimbal, and a bearing structure is arranged between the fixed plate and the rotating plate, so that the fixed plate and the rotating plate can rotate horizontally relative to each other.

[0010] Preferably, the rotating plate can ensure the stability and smoothness of the horizontal rotational movement through the bearing structure.

[0011] The fixed main gear is set on the fixed plate by screws, the rotating sub gear is rigidly connected to the output shaft of the horizontal servo, the horizontal servo is fixed to the rotating plate by a metal bracket, and the rotating sub gear is driven to rotate by the horizontal servo, so that the rotating sub gear and the horizontal servo together with the rotating plate perform horizontal rotation around the fixed main gear.

[0012] Preferably, power is transmitted through a pair of non-metallic gears, which are self-lubricating, light in weight, high in transmission efficiency, and run smoothly and reliably.

[0013] The vertical servo is responsible for the vertical rotation movement of the entire gimbal. The rotating plate is provided with a vertical servo, which is fixed to the rotating plate through a metal bracket. The vertical servo drives the brackets on both sides through the rotating shafts at both ends. A vertical bearing is arranged between the rotating shaft and the vertical servo bracket, so that the vertical servo is not subjected to other external forces, thereby extending the service life of the vertical servo.

[0014] Preferably, the two side brackets are rigidly connected to the lower shell lining, the lower shell lining is rigidly connected to the middle shell, the middle shell is rigidly connected to the front shell, and the front shell is fixed with a camera module and an infrared camera module, so that the vertical servo can drive the camera module and the infrared camera module to rotate in the vertical direction.

[0015] The vertical servo is installed on the rotating plate. When the rotating plate performs horizontal rotational motion, it drives the camera module and the infrared camera module to rotate; thereby, the horizontal servo and the vertical servo drive the camera module and the infrared camera module to realize horizontal rotational motion and vertical rotational motion.

[0016] Furthermore, the device is also provided with a conductive slip ring, so that the wire will not be entangled and fail during horizontal rotation.

[0017] Furthermore, the device is also provided with a limit structure. When rotating in the vertical direction, a limit plate is provided on the rotating shaft. When the rotating shaft rotates, the limit plate is driven to rotate together. Two limit switches are provided on the movement path of the limit plate. When the limit plate touches the limit switch, the limit switch is actuated to send out an electrical signal to stop the movement.

[0018] Furthermore, the limit device is also provided with a second limit structure, and two metal bosses are provided on the limit bracket, and the two metal bosses are also located on the movement path of the paddle, and the limit angle of the two limit switches is smaller than the limit angle of the two metal bosses. When the limit switch fails and does not work, the limit piece continues to rotate, and the limit boss will block the limit piece from rotating, so that the vertical steering gear is blocked and the limit effect is achieved. To further protect the front shell from hitting the upper shell, the two metal boss structures are the second limit structure.

[0019] Furthermore, the lower shell adopts a three-section structure, the front shell fixes the camera module and the infrared camera module, the middle shell connects the side bracket and the lower shell lining, and the rear shell is easy to disassemble and repair. The three-section structure connection parts are provided with sealing strips to ensure the sealing of the shell. All the shells of this design are made of non-metallic materials to reduce weight and power consumption.

[0020] Beneficial effects of the utility model:

[0021] The pan / tilt structure adopts a servo for power drive, has low cost, compact structure and is reliable.

[0022] The gimbal structure uses a set of non-metallic gears for power transmission, which requires no lubrication, requires little maintenance, and reduces weight while meeting the intensity of use.

[0023] The pan-tilt structure utilizes two sets of bearing structures to ensure that the pan-tilt rotates smoothly and reliably in these two directions.

[0024] The pan / tilt structure is designed with a limit switch to automatically stop when the up / down rotation exceeds the range, thus protecting the camera module from colliding with the upper shell.

[0025] This gimbal structure adds a second limit structure, which can also block the servo for protection when the limit switch fails.

[0026] The non-metallic shell of the gimbal mechanism is designed to meet the requirements of waterproof and dustproof, further reduce weight and power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the upper structure of the utility model.

[0029] Figure 2 It is a schematic diagram of the lower structure of the utility model.

[0030] Figure 3 It is a schematic diagram of the limiting structure of the utility model.

[0031] Figure 4 It is a cross-sectional view of the utility model.

[0032] Figure 5 This is the appearance diagram of the utility model.

[0033] Figure identification: 2-rotating secondary gear, 3-fixed main gear, 4-front shell, 5-middle shell, 6-rear shell, 7-sealing strip, 8-upper shell; 11-vertical bearing; 13-rotating shaft; 23-fixed plate; 24-horizontal bearing; 25-rotating plate; 27-limit switch; 28-limit plate; 29-limit support; 30-vertical servo; 31-vertical servo bracket; 32-conductive slip ring; 36-horizontal servo bracket; 37-horizontal servo; 38-camera module; 39-infrared camera module; 40-lower shell lining; 41-side bracket DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] like Figure 1 As shown, a gear-driven two-axis servo gimbal structure includes a rotating plate 25, and the rotating plate 25 is fixed with a horizontal servo 37 through a horizontal servo bracket 36. A rotating sub-gear 2 is fixed on the wheel of the horizontal servo 37, and the rotating sub-gear 2 is meshed with a fixed main gear 3.

[0036] Furthermore, if Figure 4 As shown, the device includes a fixed plate 23, and a horizontal bearing 24 is arranged between the fixed plate 23 and the rotating plate 25, so that the fixed plate 23 and the rotating plate 25 can rotate relative to each other. Due to the bearing structure, the stability of the servo operation is improved, and the service life of the servo is extended. The fixed plate 23 is provided with a fixed main gear 3 by screws. When the horizontal servo 37 is powered on to drive the rotating sub-gear 2 to rotate, the rotating sub-gear 2 and the horizontal servo 37 together with the rotating plate 25 perform horizontal rotation around the fixed main gear 3; this design uses non-metallic gear meshing, the transmission is stable, and the maintenance is small.

[0037] Furthermore, if Figure 2As shown, the device is provided with a rotating plate 25, and the rotating plate 25 is fixed with a vertical steering gear 30 through a vertical steering gear bracket 31, and the vertical steering gear bracket 31 is provided with a vertical bearing 11, and the rotating shaft 13 is sleeved in the vertical bearing 11. The vertical steering gear 30 drives the brackets 41 on both sides through the rotating shafts 13 at both ends, and the brackets 41 on both sides are rigidly connected to the lower shell lining plate 40, the lower shell lining plate 40 is rigidly connected to the middle shell 5, and the middle shell 5 is rigidly connected to the front shell 4, and the front shell 4 is fixed with a camera module 38 and an infrared camera module 39 through a copper column or a bracket, so that the vertical steering gear 30 can drive the camera module 38 and the infrared camera module 39 to rotate in the vertical direction when powered on. Due to the bearing structure, the stability of the steering gear operation is improved, and the service life of the steering gear is extended.

[0038] Furthermore, the vertical steering engine 30 is installed on the rotating plate 25. When the rotating plate 25 performs horizontal rotation, it will drive the camera module 38 and the infrared camera module 39 to rotate together. Therefore, the camera module 38 and the infrared camera module 39 can realize horizontal rotation and vertical rotation.

[0039] Furthermore, if Figure 4 As shown, the device includes a fixing plate 23, and the fixing plate 23 is provided with a conductive slip ring 32 by screws. The conductive slip ring 32 is a conventional technology, and can realize an unlimited continuous rotation of two relative rotating mechanisms. When the device rotates horizontally, the wire will not be entangled and fail.

[0040] Furthermore, if Figure 3 As shown, the vertical servo support 31 of the device is provided with a limit support 29, and the limit support 29 is provided with a limit switch 27. When the vertical servo 30 is energized to drive the rotating shaft 13 to rotate, the rotating shaft 13 is provided with a limit plate 28. At the extreme position of the movement path of the limit plate 28, the two limit switches 27 will be triggered to act, and the limit switch will send out an electrical signal to stop the movement.

[0041] Furthermore, two metal bosses are arranged on the limit support 29 of the device, and the metal bosses are on the rotation path of the limit piece 28. The limit angle of the two metal bosses is greater than the angle of the triggering action of the two limit switches 27. When the limit switch 27 fails and does not act, the paddle continues to rotate, and the limit bosses will block the rotation of the limit piece 28, so that the vertical steering gear 30 is blocked and the limit effect is achieved. The limit angle of the limit switch 27 is smaller than the angle of the two metal bosses, so the limit bosses are the second limit.

[0042] Furthermore, if Figure 4As shown, a sealing strip 7 is arranged on the front shell 4 of the device, which is responsible for sealing the front shell 4 and the middle shell 5, and a sealing strip 7 is arranged on the rear shell 6, which is responsible for sealing the rear shell 6 and the middle shell 5, ensuring the sealing of the lower shell as a whole. The lower shell as a whole adopts a three-section structure, which is reliable in sealing and convenient for inspection and maintenance.

[0043] Furthermore, the rotating shaft connected to the vertical steering gear is arranged in the bearing of the steering gear bracket, so that the vertical steering gear only needs to drive the rotating shaft to move and does not bear other external forces such as gravity, thereby extending the service life of the steering gear.

[0044] It should be noted that when an element is referred to as being “fixedly connected” to another element, it can be directly fixed to the other element or indirectly fixed to the other element.

[0045] It should be understood that the terms "horizontal direction" and "vertical direction" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-axis servo gimbal structure with gear transmission, characterized in that: The structure includes a fixed plate, a rotating plate, a conductive slip ring, a horizontal servo, a horizontal servo bracket, a horizontal bearing, a fixed main gear, a rotating sub-gear, a vertical servo, a vertical servo bracket, a vertical bearing, a side bracket, a lower housing, a rotating shaft, a limit switch, a limit support, a limit sheet, a camera module, and an infrared camera module; The camera module and the infrared camera module are installed in the lower shell, the lower shell is fixedly connected to the side bracket, the side bracket is fixedly connected to the rotating shaft, the rotating shaft is mechanically connected to the vertical steering gear through a vertical bearing, the vertical steering gear bracket is installed with a vertical bearing and a vertical steering gear, and the vertical steering gear drives the camera module and the infrared camera module to rotate; the vertical steering gear bracket is installed on a rotating plate, a horizontal bearing is provided between the rotating plate and the fixed plate, and can rotate horizontally, the rotating plate is fixed with a horizontal steering gear bracket, the horizontal steering gear bracket is fixed with a horizontal steering gear, the horizontal steering gear is mechanically connected with a rotating sub-gear, the rotating plate is provided with a fixed main gear, the fixed main gear is meshed with the rotating sub-gear, the rotating plate and the fixed plate rotate relatively, so that the rotating plate drives the camera module and the infrared camera module to rotate; The vertical steering gear bracket is provided with a limit support, the limit support is provided with a limit switch, and the rotating shaft is provided with a limit plate. When the rotating shaft drives the limit plate to rotate, the limit plate contacts the limit switch to trigger a stop signal.

2. The pan / tilt structure according to claim 1, characterized in that: A pair of non-metallic gears are used for power transmission, which has high transmission efficiency.

3. The pan / tilt structure according to claim 1, characterized in that: Bearing structures are arranged at the horizontal rotation position and the vertical rotation position, so that the steering gear does not bear radial force, thereby extending its service life.

4. The pan / tilt structure according to claim 1, characterized in that: The lower shell is composed of a front shell, a middle shell and a rear shell, which is convenient for maintenance and is waterproof and dustproof.

5. The pan / tilt structure according to claim 1, characterized in that: The limit support has a metal boss feature. When the limit switch fails, the metal boss can block the rotation of the limit plate, thereby blocking the steering gear for protection.

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