Vehicle-mounted holder for robot
By designing an inverted barrel base and horizontal rotating disc on the nuclear detection robot, combined with protective lead plate and driving mechanism, the problem of nuclear detection robot camera being susceptible to radiation interference is solved, and flexible rotation and radiation resistance is achieved The improvement of capacity extends service life and reduces production costs.
Patent Information
- Application Number
- CN202421794361.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-29
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2034-07-29
AI Technical Summary
When a nuclear detection robot works in a nuclear-contaminated area, the camera is susceptible to radiation interference and damage, resulting in a short service life and difficulty in rotating flexibly, affecting the video acquisition capability.
A vehicle-mounted gimbal was designed, using an inverted barrel base and a horizontal rotating disc, combining a rectangular outer protective barrel and an inner protective barrel, equipped with a protective lead plate, a rotary drive mechanism and a pitch drive mechanism, and equipped with a stepper motor and limiting mechanism to ensure flexible rotation and radiation protection of the camera.
It realizes the flexible rotation of the camera and improves radiation resistance, extends the service life, and meets the video acquisition needs of nuclear detection robots in nuclear-contaminated areas. It also has a compact structure and low production cost.
Smart Images
Figure CN222351958U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a vehicle-mounted cloud platform, in particular to a vehicle-mounted cloud platform installed on a nuclear detection robot. Background Art
[0002] A nuclear detection robot is a robot that can go deep into a nuclear contaminated area to explore, monitor, and sample the area. In order for the rear control personnel to observe the robot's surrounding environment in real time, a vehicle-mounted pan-tilt device needs to be installed on the robot. Since the vehicle-mounted pan-tilt has to work in a nuclear radiation environment, radiation will interfere with and damage the pan-tilt electronic equipment, especially when radiation irradiates the photosensitive elements inside the camera, it will damage the photosensitive elements and shorten the service life of the camera. In order to protect the camera from damage by radiation, it is necessary to wrap a protective lead plate outside the camera, and the weight of the camera wrapped with a protective lead plate will increase significantly. It is difficult to make the camera wrapped with a protective lead plate flexibly rotate using an ordinary pan-tilt structure, especially the camera is difficult to complete the pitch movement, which restricts the video acquisition capability of the nuclear detection robot. Utility Model Content
[0003] The technical problem to be solved by the utility model is to provide a vehicle-mounted pan-tilt platform for a robot, which can meet the working needs of a nuclear detection robot in a nuclear contaminated area and has the advantages of low production cost, strong radiation resistance, and long service life.
[0004] The technical solution adopted to solve the technical problem is as follows: A vehicle-mounted gimbal for a robot comprises an inverted cylindrical base, a horizontal rotating disc is mounted on the bottom of the cylindrical base, a camera support seat is fixed on the horizontal rotating disc, the camera support seat comprises a connecting cylinder body for connecting and fixing with the edge of the horizontal rotating disc, two parallel supporting vertical plates are arranged on the connecting cylinder body, the supporting vertical plates are parallel to the axis of the connecting cylinder body, a camera assembly that can pitch and rotate around the pivot axis is pivotally connected between the two supporting vertical plates, and a rotating drive for controlling the rotation of the horizontal rotating disc is mounted on the horizontal rotating disc. The invention discloses a pitch driving mechanism for controlling the pitch movement of a camera assembly, wherein the camera assembly comprises a rectangular outer protective barrel and a rectangular inner protective barrel, the pivot shaft is fixed to the outer wall of the outer protective barrel, a protective lead plate is filled between the outer protective barrel and the inner protective barrel, a camera with a lens facing upward is installed in the inner protective barrel, a lens protection lead plate and a cover plate for closing the upper opening of the outer protective barrel are provided above the lens, a camera hole is provided in the lens protection lead plate and the cover plate at a position corresponding to the lens, a plane reflector is fixed on the cover plate at an angle of 45 degrees to the axis of the lens, and anti-glare shading plates are provided on both sides and above the plane reflector.
[0005] As a further improvement of the utility model: a bearing sleeve is fixed at the center of the horizontal rotating disc, a bearing and a shaft tube are installed in the bearing sleeve, and the lower end of the shaft tube is fixed at the center of the barrel bottom of the barrel base.
[0006] As a further improvement scheme of the utility model: the rotation drive mechanism includes a horizontal rotating motor fixed on a horizontal rotating disc, the motor shaft of the horizontal rotating motor is parallel to the shaft tube, a horizontal rotating drive pulley is installed at the motor shaft end of the horizontal rotating motor, a non-rotating fixed pulley is provided at the center of the bottom of the barrel of the cylindrical base, and a transmission belt is provided between the fixed pulley and the horizontal rotating drive pulley.
[0007] As a further improvement of the present utility model: the pitch drive mechanism includes a pitch drive motor fixed on a horizontal rotating disk, the motor shaft of the pitch drive motor is parallel to the pivot axis of the camera assembly, a pitch drive pulley is installed at the motor shaft end of the pitch drive motor, a pitch pulley cooperating with the pitch drive pulley is provided at the pivot axis end of the camera assembly, and a transmission belt is provided between the pitch drive pulley and the pitch pulley.
[0008] As a further improvement of the present invention: a pitch limit mechanism is provided on the supporting vertical plate, and the pitch limit mechanism includes a pointer block installed at the end of the pivot shaft of the camera assembly and rotating together with the pivot shaft. A pitch angle limit switch and an elevation angle limit switch are provided on the supporting vertical plate, which are triggered by the pointer block and cause the pitch drive motor to stop when the pivot shaft rotates to the extreme position.
[0009] As a further improvement of the utility model: a limit column cooperating with the pointer block to prevent the camera assembly from continuing to make a pitch motion under the action of inertia after the pitch drive motor stops is also provided on the support vertical plate.
[0010] As a further improvement of the present invention: a protective cover is provided on the outer side of each of the two supporting vertical plates to enclose the pitch limit mechanism and the pitch pulley, and the protective cover is composed of an arc-shaped vertical plate coaxial with the connecting cylinder and an upper end plate perpendicular to the supporting vertical plate, the two side edges of the arc-shaped vertical plate are fitted with the two side edges of the supporting vertical plate, and the upper end plate closes the opening between the upper end of the arc-shaped vertical plate and the upper end of the supporting vertical plate.
[0011] As a further improvement of the utility model: the outer diameters of the arc-shaped vertical plate, the cylindrical base and the connecting cylinder are equal.
[0012] As a further improvement of the present invention: the horizontal rotation motor and the pitch drive motor are both stepping motors.
[0013] Beneficial effects: The robot vehicle-mounted pan-tilt platform of the utility model adopts a rotatable horizontal rotating disk set on a barrel-shaped base, a camera support seat is installed on the horizontal rotating disk, a camera assembly with a protective lead plate is pivotally connected to the camera support seat, and a rotation drive mechanism for controlling the rotation of the horizontal rotating disk and a pitch drive mechanism for controlling the pitch movement of the camera assembly are installed on the horizontal rotating disk. Therefore, the camera assembly of the robot vehicle-mounted pan-tilt platform of the utility model can be flexibly rotated according to the needs of the on-site environment to complete the on-site image acquisition work. Since a protective lead plate and a double-layer protective barrel are added to the outside of the camera, a camera hole is left only in front of the lens, an anti-glare shading lead plate is arranged above the camera hole, and a flat plane reflector is used for framing and other protective measures, the camera of the robot vehicle-mounted pan-tilt platform of the utility model has stronger radiation resistance and longer service life, can meet the working needs of nuclear detection robots in nuclear contaminated areas, and also has the advantages of simple structure and low production cost. Due to the technical features that a bearing sleeve is fixed at the center of the horizontal rotating disc, a bearing and a shaft tube are installed in the bearing sleeve, and the lower end of the shaft tube is fixed at the center of the barrel bottom of the cylindrical base, the video output cable of the camera passes through the shaft tube and enters the robot body, which can not only avoid the cable exposure, but also prevent the cable from being entangled. Due to the technical features that the rotating drive mechanism includes a horizontal rotating motor fixed on the horizontal rotating disc, the motor shaft of the horizontal rotating motor is parallel to the shaft tube, a horizontal rotating driving pulley is installed at the motor shaft end of the horizontal rotating motor, a non-rotatable fixed pulley is provided at the center of the barrel bottom of the cylindrical base, and a transmission belt is provided between the fixed pulley and the horizontal rotating driving pulley, the robot vehicle-mounted pan / tilt structure of the utility model is more compact and the horizontal rotation angle is more accurate. The pitch drive mechanism includes a pitch drive motor fixed on a horizontal rotating disc, the motor shaft of the pitch drive motor is parallel to the pivot axis of the camera assembly, a pitch drive pulley is installed at the motor shaft end of the pitch drive motor, a pitch pulley matching the pitch drive pulley is provided at the pivot axis end of the camera assembly, and a transmission belt is provided between the pitch drive pulley and the pitch pulley, so that the driving torque of the pitch action is larger, which can meet the flexible rotation requirements of the heavy-mounted camera assembly after the protective lead plate is installed. The pitch limit mechanism is provided on the support vertical plate, the pitch limit mechanism includes a pointer block installed at the pivot axis end of the camera assembly and rotating with the pivot axis, and a pitch angle limit switch and an elevation angle limit switch are provided on the support vertical plate, which are triggered by the pointer block and stop the pitch drive motor when the pivot axis rotates to the limit position, so that the radiation caused by excessive pitching can be prevented from directly entering the camera, and the photosensitive element inside the camera is further protected.Due to the technical feature that a limit column is provided on the support plate to cooperate with the pointer block to prevent the camera assembly from continuing to make a pitch motion under the action of inertia after the pitch drive motor stops, the defects of the camera assembly being heavy and difficult to stop under the action of inertia are overcome, so that the pitch motion of the camera assembly can be stopped in time after the pitch reaches the set safety limit position. Due to the technical feature that a protective cover is provided on the outer side of each of the two support plates to close the pitch limit mechanism and the pitch pulley, the protective cover is composed of an arc-shaped plate coaxial with the connecting cylinder and an upper end plate perpendicular to the support plate, the two sides of the arc-shaped plate fit with the two sides of the support plate, and the upper end plate closes the opening between the upper end of the arc-shaped plate and the upper end of the support plate, the pitch drive mechanism and the pitch limit mechanism can be effectively prevented from being exposed, so that the environmental adaptability of the equipment is stronger and the operation is more reliable. Due to the technical feature that the outer diameters of the arc-shaped vertical plate, the cylindrical base and the connecting cylinder are equal, the overall contour of the robot vehicle-mounted pan-tilt of the utility model is cylindrical, which can effectively prevent the robot vehicle-mounted pan-tilt from interfering, colliding or scratching with external equipment during operation. Due to the technical feature that both the horizontal rotation motor and the pitch drive motor are stepping motors, the camera in the robot vehicle-mounted pan-tilt of the utility model is more accurately pointed, which is conducive to realizing digital control. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The vehicle-mounted pan / tilt platform for robots of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0015] Figure 1 It is a three-dimensional structural diagram of the vehicle-mounted pan / tilt platform for robots of the utility model;
[0016] Figure 2 This is an axial cross-sectional structural diagram of the vehicle-mounted pan / tilt platform for robots of the utility model;
[0017] Figure 3 It is a three-dimensional structural diagram of the camera support seat in the vehicle-mounted pan-tilt platform for robots of the utility model;
[0018] Figure 4 It is a partial three-dimensional structural diagram of the pitch limiting mechanism of the vehicle-mounted pan-tilt platform for robots of the utility model. DETAILED DESCRIPTION
[0019] like Figure 1 , Figure 2 As shown, the robot vehicle-mounted pan-tilt platform of the utility model comprises an inverted cylindrical base 6, a horizontal rotating disc 17 is mounted on the bottom of the cylindrical base, and a camera support seat is fixed on the horizontal rotating disc.
[0020] like Figure 3As shown, the camera support seat includes a connecting cylinder 5 for connecting and fixing with the edge of a horizontal rotating disk, and two parallel supporting vertical plates 7 are arranged on the connecting cylinder, and the supporting vertical plates are parallel to the axis of the connecting cylinder.
[0021] A camera assembly that can pitch and rotate around a pivot axis is pivotally connected between the two supporting uprights of the camera support seat, and a rotation drive mechanism for controlling the rotation of the horizontal rotating disk and a pitch drive mechanism for controlling the pitch movement of the camera assembly are installed on the horizontal rotating disk. The camera assembly includes a rectangular outer protective barrel 4 and a rectangular inner protective barrel 14, and the pivot axis 13 is fixed to the outer wall of the outer protective barrel. A protective lead plate 15 is filled between the outer protective barrel and the inner protective barrel. A camera with a lens 11 facing upward is installed in the inner protective barrel, and a lens protection lead plate 12 and a cover plate 3 that closes the upper opening of the outer protective barrel are provided above the lens. A camera hole 2 is opened in the lens protection lead plate and the cover plate at the position of the lens corresponding to the lens, and a plane reflector 10 that forms an angle of 45 degrees with the lens axis is fixed on the cover plate, and anti-glare shading plates 1 are provided on both sides and above the plane reflector.
[0022] like Figure 2 As shown, a bearing sleeve 19 is fixed at the center of the horizontal rotating disc, a bearing 21 and a shaft tube 22 are installed in the bearing sleeve, and the lower end of the shaft tube is fixed at the center of the barrel bottom 26 of the cylindrical base. The rotary drive mechanism includes a horizontal rotary motor 16 fixed on the horizontal rotating disc, the motor shaft of the horizontal rotary motor is parallel to the shaft tube, a horizontal rotary drive pulley 18 is installed at the motor shaft end of the horizontal rotary motor, a non-rotatable fixed pulley 20 is provided at the center of the barrel bottom of the cylindrical base, and a transmission belt is provided between the fixed pulley and the horizontal rotary drive pulley. Figure 2 In the embodiment, the horizontal rotating drive pulley and the fixed pulley are arranged below the horizontal rotating disc, and a horizontal rotating motor shaft hole is opened on the horizontal rotating disc so that the motor shaft can pass through the horizontal rotating disc and connect with the horizontal rotating drive pulley below. This structure makes the structure of the vehicle-mounted pan-tilt head for the robot more compact.
[0023] The pitch drive mechanism includes a pitch drive motor 25 fixed on a horizontal rotating disk, the motor shaft of the pitch drive motor is parallel to the pivot axis of the camera assembly, a pitch drive pulley 24 is installed at the motor shaft end of the pitch drive motor, a pitch pulley 23 cooperating with the pitch drive pulley is provided at the pivot axis end of the camera assembly, and a transmission belt is provided between the pitch drive pulley and the pitch pulley.
[0024] like Figure 4As shown, a pitch limit mechanism is provided on the support plate, and the pitch limit mechanism includes a pointer block 29 installed at the end of the pivot shaft of the camera assembly and rotating with the pivot shaft. A pitch limit switch 30 and an elevation limit switch 28 are provided on the support plate, which are triggered by the pointer block and stop the pitch drive motor when the pivot shaft rotates to the limit position. A limit column 27 is also provided on the support plate, which cooperates with the pointer block to prevent the camera assembly from continuing to make a pitch motion under the action of inertia after the pitch drive motor stops. A protective cover is provided on the outer side of each of the two support plates to close the pitch limit mechanism and the pitch pulley. The protective cover is composed of an arc-shaped plate 9 coaxial with the connecting cylinder and an upper end plate 8 perpendicular to the support plate. The two sides of the arc-shaped plate fit with the two sides of the support plate, and the upper end plate closes the opening between the upper end of the arc-shaped plate and the upper end of the support plate.
[0025] Preferably, the outer diameters of the arc-shaped vertical plate, the cylindrical base and the connecting cylinder are equal, and the horizontal rotation motor and the pitch drive motor are both stepping motors.
Claims
1. A robot vehicle-mounted pan / tilt platform, comprising an inverted cylindrical base, a horizontal rotating disc mounted on the bottom of the cylindrical base, a camera support seat fixed on the horizontal rotating disc, and characterized in that: The camera support seat includes a connecting cylinder for being connected and fixed to the edge of a horizontal rotating disk, two parallel supporting uprights are provided on the connecting cylinder, the supporting uprights are parallel to the axis of the connecting cylinder, a camera assembly that can pitch and rotate around a pivot axis is pivoted between the two supporting uprights, a rotating drive mechanism for controlling the rotation of the horizontal rotating disk and a pitch drive mechanism for controlling the pitch action of the camera assembly are installed on the horizontal rotating disk, the camera assembly includes a rectangular outer protective barrel and a rectangular inner protective barrel, the pivot axis is fixed to the outer wall of the outer protective barrel, a protective lead plate is filled between the outer protective barrel and the inner protective barrel, a camera with a lens facing upward is installed in the inner protective barrel, a lens protection lead plate and a cover plate for closing the upper opening of the outer protective barrel are provided above the lens, a camera hole is opened at the lens protection lead plate and the cover plate corresponding to the lens position, a plane reflector is fixed on the cover plate at an angle of 45 degrees to the axis of the lens, and anti-glare shading plates are provided on both sides and above the plane reflector.
2. The vehicle-mounted pan / tilt platform for robots according to claim 1, characterized in that: A bearing sleeve is fixed at the center position of the horizontal rotating disc, a bearing and a shaft tube are arranged in the bearing sleeve, and the lower end of the shaft tube is fixed at the center position of the barrel bottom of the barrel-shaped base.
3. The vehicle-mounted pan / tilt platform for a robot according to claim 2, characterized in that: The rotary drive mechanism comprises a horizontal rotary motor fixed on a horizontal rotary disc, wherein the motor shaft of the horizontal rotary motor is parallel to the shaft tube, a horizontal rotary drive pulley is mounted on the motor shaft end of the horizontal rotary motor, a non-rotatable fixed pulley is arranged at the center of the barrel bottom of the cylindrical base, and a transmission belt is arranged between the fixed pulley and the horizontal rotary drive pulley.
4. The vehicle-mounted pan / tilt platform for a robot according to claim 3, characterized in that: The pitch drive mechanism includes a pitch drive motor fixed on a horizontal rotating disk, the motor shaft of the pitch drive motor is parallel to the pivot axis of the camera assembly, a pitch drive pulley is installed at the motor shaft end of the pitch drive motor, a pitch pulley cooperating with the pitch drive pulley is provided at the pivot axis end of the camera assembly, and a transmission belt is provided between the pitch drive pulley and the pitch pulley.
5. The vehicle-mounted pan / tilt platform for a robot according to claim 4, characterized in that: A pitch limit mechanism is provided on the supporting vertical plate, and the pitch limit mechanism includes a pointer block installed at the pivot shaft end of the camera assembly and rotating together with the pivot shaft. A pitch angle limit switch and an elevation angle limit switch are provided on the supporting vertical plate, which are triggered by the pointer block and cause the pitch drive motor to stop when the pivot shaft rotates to the extreme position.
6. The vehicle-mounted pan / tilt platform for a robot according to claim 5, characterized in that: A limiting column is also provided on the supporting vertical plate, which cooperates with the pointer block to prevent the camera assembly from continuing to make a pitch motion under the action of inertia after the pitch drive motor stops.
7. The vehicle-mounted pan / tilt platform for a robot according to claim 6, wherein: A protective cover is provided on the outer side of each of the two supporting vertical plates to enclose the pitch limit mechanism and the pitch pulley. The protective cover is composed of an arc-shaped vertical plate coaxial with the connecting cylinder and an upper end plate perpendicular to the supporting vertical plate. The two side edges of the arc-shaped vertical plate are fitted with the two side edges of the supporting vertical plate, and the upper end plate closes the opening between the upper end of the arc-shaped vertical plate and the upper end of the supporting vertical plate.
8. The vehicle-mounted pan / tilt platform for a robot according to claim 7, characterized in that: The outer diameters of the arc-shaped vertical plate, the cylindrical base and the connecting cylinder are equal.
9. The vehicle-mounted pan / tilt platform for a robot according to claim 3 or 4, characterized in that: The horizontal rotation motor and the pitch drive motor are both stepping motors.