Holder device and inspection robot

Abstract

The utility model relates to the technical field of inspection equipment, and provides a holder device and an inspection robot, the holder device comprises a housing, a pitching adjusting mechanism, a rotation driving mechanism, a first camera module and a second camera module; a mounting space is formed in the shell; the pitching adjusting mechanism is arranged in the mounting space, and the two rotating output ends of the pitching adjusting mechanism are located on the opposite side walls of the shell; the rotary driving mechanism comprises a holder base and a driving assembly, and the driving assembly is arranged between the holder base and the shell; the first camera module is connected with one of the rotary output ends through a first connecting piece; and the second camera module is connected with the other rotary output end through a second connecting piece. According to the utility model, the two camera modules are connected with the shell through the connecting pieces, and the pitching adjusting mechanism is arranged in the mounting space, so that the whole structure is compact, the two camera modules are convenient to mount and dismount through the connecting pieces, and the mounting and later maintenance are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection equipment, in particular to a pan-tilt device and an inspection robot. Background Art

[0002] With the increasingly wide application of information technology, the number and capacity of data computer rooms have increased geometrically, and the corresponding requirements for computer room maintenance and inspection have also increased. Due to the characteristics of dense computer room machines, large heat generation, high noise, and time-consuming and boring inspection work in the data computer room, it is suitable to use automated equipment to replace manual inspection work.

[0003] In some typical technical solutions, a pan-tilt device usually sets a camera module for driving and adjusting, and one camera module is difficult to meet the requirements of all-weather inspection in the computer room.

[0004] In other typical technical solutions, the pan-tilt device has two camera modules. However, in order to realize the rotation and pitching adjustment of the two camera modules, a relatively complex structure is often designed, which occupies a large volume and is not conducive to preparation, installation, and later maintenance. And the camera module is often connected to the pitching adjustment device and the rotation adjustment device, which makes it difficult to replace the camera module and is not conducive to installation and later maintenance. Summary of the Utility Model

[0005] The utility model provides a pan-tilt device and an inspection robot to solve the defect that the structure of the pan-tilt device in the prior art is complex and not conducive to replacement and later maintenance.

[0006] The first aspect of the utility model provides a pan-tilt device, comprising: a housing, a pitching adjustment mechanism, a rotation driving mechanism, a first camera module, and a second camera module; an installation space is provided in the housing; the pitching adjustment mechanism is arranged in the installation space, and the pitching adjustment mechanism has two rotation output ends, and the two rotation output ends are respectively located on the side walls on opposite sides in the installation space; the rotation driving mechanism comprises a pan-tilt base and a driving component, the pan-tilt base is arranged below the housing, and the driving component is arranged between the pan-tilt base and the housing, and the driving component is used for supporting the housing and driving the housing to rotate; the first camera module is connected to one of the rotation output ends through a first connecting piece to adjust the pitching angle of the first camera module in the vertical direction; the second camera module is connected to the other of the rotation output ends through a second connecting piece to adjust the pitching angle of the second camera module in the vertical direction.

[0007] According to the pan-tilt device provided by the present utility model, the pitch adjustment mechanism includes a fixing plate, a first driving part, a rotating shaft, and a first phase detection component; the fixing plate is fixedly connected to the housing and is located within the installation space, the first driving part is disposed on the fixing plate, the first driving part is drivingly connected to the rotating shaft through a first transmission component to drive the rotating shaft to rotate, the rotating shaft passes through the fixing plate, and both ends of the rotating shaft extend out of the side wall on their respective sides; one end of the rotating shaft that extends out is connected to the first camera module through the first connecting member, and the other end of the rotating shaft that extends out is connected to the second camera module through the second connecting member; the first phase detection component includes a sensing part and a detection block, the detection block is disposed on the rotating shaft, the sensing part is disposed on the fixing plate, and the sensing part cooperates with the detection block to sense the rotation phase of the rotating shaft.

[0008] According to the pan-tilt device provided by the present utility model, a transmission connecting member is provided on the shaft body near one end of the rotating shaft, and a first limiting block is provided on the transmission connecting member; the pitch adjustment mechanism further includes a support ring and a second limiting block, the support rings are provided on both side walls, the second limiting block is fixedly disposed on the support ring, and the second limiting block is used to abut against the first limiting block during the rotation of the rotating shaft so that the rotating shaft rotates within a predetermined rotation angle range.

[0009] According to the pan-tilt device provided by the present utility model, the first transmission component includes a first pulley and a second pulley, the first pulley is connected to the output end of the first driving part, the second pulley is connected to the transmission connecting member, the diameter of the first pulley is smaller than the diameter of the second pulley, and the first pulley and the second pulley are drivingly connected through a transmission belt.

[0010] According to the pan-tilt device provided by the present utility model, a first stepped portion is provided at one end of the rotating shaft, the first connecting member is provided on the first stepped portion through a fastening member, a second stepped portion is provided at the other end of the rotating shaft, and the second connecting member is provided on the second stepped portion through a fastening member.

[0011] According to the pan-tilt device provided by the present utility model, the driving component includes a support shaft, a second driving part, and a conductive slip ring; the second driving part is fixedly disposed at the bottom of the housing, one end of the support shaft is located within the installation space and is rotationally connected to the housing through a rotational connection component, the other end of the support shaft is fixedly connected to the pan-tilt base, the support shaft is drivingly connected to the second driving part through a second transmission component to drive the housing to rotate; the conductive slip ring is disposed at one end of the support shaft within the installation space, and the conductive slip ring is used for the circuit access of the pan-tilt device.

[0012] According to the pan-tilt device provided by the utility model, the conductive slip ring is connected to the support shaft through a connecting plate; the connecting plate is provided with a bending portion, and the bending portion is provided with a second phase detection component, and the second phase detection component is used to detect the rotation phase of the shell; the support shaft is provided with a wire through hole in the axial direction, a part of the conductive slip ring is located in the wire through hole, and the wire through hole is used to lay wires.

[0013] According to the pan-tilt device provided by the utility model, the second transmission assembly includes a third pulley and a fourth pulley, the third pulley is connected to the output end of the second driving part, the fourth pulley is fixedly connected to the support shaft, and a traction belt is arranged between the third pulley and the fourth pulley so that the shell rotates around the support shaft under the drive of the second driving component.

[0014] According to the pan-tilt device provided by the utility model, the first camera module includes an infrared camera module and a first mounting shell, the infrared camera module is installed in the first mounting shell, and a first gap is provided between the first mounting shell and the shell; the second camera module includes a visible light camera module and a second mounting shell, the visible light camera module is installed in the second mounting shell, and a second gap is provided between the second mounting shell and the shell.

[0015] The second aspect of the utility model provides an inspection robot, comprising: a mobile chassis, a lifting mechanism and a pan-tilt device as described in the above item; the lifting mechanism is fixed on the mobile chassis; the pan-tilt device is connected to the lifting mechanism, and the lifting mechanism is used to drive the pan-tilt device to move in a vertical direction.

[0016] The utility model provides a pan-tilt device, which connects two camera modules to a shell by means of connecting pieces, and sets a pitch adjustment mechanism in an installation space in the shell, so that the overall structure is compact, and the two camera modules are easy to install and disassemble through the connecting piece connection, which is beneficial to installation and later maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a structural schematic diagram of the pan-tilt device provided by the utility model.

[0019] Figure 2It is a schematic internal structure diagram of the pan-tilt device provided by the present utility model.

[0020] Figure 3 It is an exploded structure diagram of the pitch adjustment mechanism in the pan-tilt device provided by the present utility model.

[0021] Figure 4 It is an exploded structure diagram of the assembly of the first camera module in the pan-tilt device provided by the present utility model.

[0022] Figure 5 It is one of the schematic internal structure diagrams of the rotation drive mechanism in the pan-tilt device provided by the present utility model.

[0023] Figure 6 It is another schematic internal structure diagram of the rotation drive mechanism in the pan-tilt device provided by the present utility model.

[0024] Figure 7 It is an exploded structure diagram of the rotation drive mechanism in the pan-tilt device provided by the present utility model.

[0025] Figure 8 It is a schematic structure diagram of the rotating shaft in the pan-tilt device provided by the present utility model.

[0026] Figure 9 It is one of the schematic structure diagrams of the inspection robot provided by the present utility model.

[0027] Figure 10 It is another schematic structure diagram of the inspection robot provided by the present utility model.

[0028] Reference numerals:

[0029] 1. Chassis; 2. Pan-tilt device; 21. First camera module; 211. Infrared camera module; 212. First mounting housing; 22. Second camera module; 221. Visible light camera module; 222. Second mounting housing; 23. Housing; 24. Pitch adjustment mechanism; 241. First driving part; 242. Fixed plate; 2421. Electrical fixing part; 2422. Connecting column; 243. Rotating shaft; 2431. First step part; 2432. Second step part; 2433. Hollow structure; 2434. Notch; 244. Transmission connecting piece; 2441. First limiting block; 245. First transmission assembly; 2451. First pulley; 2452. Second pulley; 2453. Transmission belt; 246. Support ring; 2461. Second limiting block; 247. First phase detection assembly; 2471. Sensing component; 2472. Detection block; 248. Support bearing; 249. Limiting sleeve; 25. Rotation driving mechanism; 251. Pan-tilt base; 252. Second driving part; 253. Conductive slip ring; 254. Second transmission assembly; 2541. Third pulley; 2542. Fourth pulley; 2543. Traction belt; 255. Support shaft; 2551. Step part; 2552. Limiting component; 256. Rotation support piece; 257. Connecting plate; 2571. Bent part; 2572. Second phase detection assembly; 258. Baffle; 259. Rotation bearing; 26. First connecting piece; 27. Second connecting piece; 3. Lifting mechanism; 31. Display screen; 32. Alarm module; 33. Wireless communication module; 34. Environmental information monitoring module; 35. Linear guide rail module. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0031] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the embodiments of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0032] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0033] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0034] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0035] The following is combined with Figures 1 - 5A pan-tilt device for describing the present utility model includes a housing 23, a pitch adjustment mechanism 24, a rotation drive mechanism 25, a first camera module 21, and a second camera module 22; there is an installation space inside the housing 23; the pitch adjustment mechanism 24 is arranged in the installation space, and the pitch adjustment mechanism 24 has two rotation output ends, and the two rotation output ends are respectively located on the side walls on opposite sides inside the installation space; the rotation drive mechanism 25 includes a pan-tilt base 251 and a drive component, the drive component is arranged between the pan-tilt base 251 and the housing 23, and the drive component is used to support the housing 23 and drive the housing 23 to rotate; the first camera module 21 is connected to one of the rotation output ends through a first connecting member 26 to adjust the pitch angle of the first camera module 21 in the vertical direction; the second camera module is connected to the other of the rotation output ends through a second connecting member 27 to adjust the pitch angle of the second camera module 22 in the vertical direction. The pan-tilt device 2 mainly provides adjustment of the rotation angle and pitch angle for the camera module. In this embodiment, by arranging the two camera modules on both sides of the housing 23 and realizing the adjustment of the two camera modules through the pitch mechanism, the overall device has a compact structure, occupies a small space, and realizes the modular setting of the camera module through the connecting member, which is convenient for the installation, replacement, and later maintenance of the camera module.

[0036] As Figure 1 , 2 shown, the overall structure of the housing 23 is a rectangular housing 23 structure. Rotation holes are provided on two opposite side walls of the housing 23, and the rotation output ends of the pitch adjustment mechanism 24 are arranged in the rotation holes so that it can be connected to the first camera module 21 and the second camera module 22 through the first connecting member 26 and the second connecting member 27.

[0037] Specifically, the housing 23 is a metal housing 23. The housing 23 includes two plate body structures that are generally U-shaped. The two U-shaped plate body structures are connected, and an installation chamber with a cavity structure is formed inside. The inside of the installation chamber is used to install each component of the pitch adjustment mechanism 24 and the rotation drive mechanism 25. This method can protect each component in the transmission structure, improve its service life, and make the overall structure more compact.

[0038] It can be understood that usually, in the pan-tilt device 2, the rotation mechanism and the pitch mechanism are both connected to the camera module, and this connection method makes it difficult for the camera module to be quickly loaded and unloaded. In this embodiment, by arranging the pitch adjustment mechanism 24 inside the housing 23 and connecting it to the two camera modules respectively, the pitch adjustment of the camera module is realized, and the rotation drive mechanism 25 realizes the overall rotation of the camera module by directly driving the housing 23 to rotate. This makes the structure connected to the camera module simple, convenient for replacement and later maintenance.

[0039] Furthermore, when inspecting and maintaining the machine room, the camera module needs to be adjusted according to the layout in the machine room, because the camera module usually has a fixed viewing angle, and different camera models have different viewing angles. At this time, the original camera module needs to be replaced and adjusted to adapt it to a specific scene. In the technical solution provided in this embodiment, through the arrangement of the first connecting member 26 and the second connecting member 27, when replacing and adapting, only the two connecting members need to be disassembled to achieve the replacement and adaptation of the camera module, which is beneficial to the installation and subsequent maintenance of the camera module.

[0040] According to an embodiment provided by the utility model, the pitch adjustment mechanism 24 includes a fixed plate 242, a first driving unit 241, a rotating shaft 243 and a first phase detection component 247; the fixed plate 242 is fixedly connected to the housing 23 and is located in the installation space, the first driving unit 241 is arranged on the fixed plate 242, the first driving unit 241 is transmission-connected to the rotating shaft 243 through the first transmission component 245, so as to drive the rotating shaft 243 to rotate, the rotating shaft 243 is penetrated through the fixed plate 242, and both ends of the rotating shaft 243 extend from the side wall of each side; one end of the rotating shaft 243 extending out is connected to the first camera module 21 through the first connecting member 26, and the other end of the rotating shaft 243 extending out is connected to the second camera module 22 through the second connecting member 27. In this embodiment, in order to make the overall structure compact, the fixed plate 242 is arranged in the installation space, and the first transmission component 245 and the first driving unit 241 are arranged in the installation space, so that the overall structure is more compact and the overall space occupation can be reduced.

[0041] The first phase detection component 247 includes a sensing component 2471 and a detection block 2472. The detection block 2472 is disposed on the rotating shaft 243, and the sensing component 2471 is disposed on the fixed plate 242. The sensing component 2471 cooperates with the detection block 2472 to sense the rotation phase of the rotating shaft 243. In intelligent control, it is necessary to implement the sensing of the pitch adjustment angle, that is, it is necessary to detect the current pitch position of the camera module. In this embodiment, the horizontal position of the camera module is determined by the cooperation of the detection block 2472 and the sensing component 2471. The actual position is achieved by controlling the rotation angle on this basis, which provides a feasible technical solution for intelligent control.

[0042] In the specific setting, the fixed plate 242 is connected to the installation space through multiple connecting columns 2422, that is, one end of the multiple connecting columns 2422 is connected to the fixed plate 242, and the other end of the connecting column 2422 is connected to a side wall of the shell 23 to achieve support for the fixed plate 242, and the fixed plate 242 is set parallel to the side wall connected with the connecting column 2422.

[0043] like Figure 2 , Figure 4As shown, the first driving part 241 is a driving motor. The housing part of the first driving part 241 is connected to the fixing plate 242 by bolts. The output end of the first driving part 241 drives the rotating shaft 243 to rotate through the first transmission assembly 245, thereby realizing the driving of the rotating shaft 243. The rotation of the rotating shaft 243 can drive the first camera module 21 and the second camera module 22 connected to both ends of the rotating shaft 243 to rotate, thereby adjusting the pitching angle of the camera module.

[0044] In a specific example, such as Figure 3 、 Figure 8 As shown, the rotating shaft 243 is configured as a hollow structure 2433, and a notch 2434 is further provided on the shaft body of the rotating shaft 243. The notch 2434 communicates with the hollow structure 2433. The hollow rotating shaft 243 facilitates the wiring of connecting wires, and the setting of the notch 2434 is conducive to the routing arrangement of the wires. Specifically, the connecting wires of the first camera module 21 and the second camera module 22 pass through the hollow structure 2433 inside the rotating shaft 243, and then the wires and the connecting wires of the first driving part 241 are output together by the notch 2434, and finally connected to an external power supply and a control system to realize the overall control. This method is conducive to the overall wiring and makes the overall occupied space small, improving the overall compactness.

[0045] In a specific implementation manner, the sensing component 2471 includes a U-shaped sensor. Initially, the detection block 2472 is located in the sensing space of the U-shaped sensor, and the rotation phase of the pan-tilt angle of the pan-tilt head can be confirmed through the detection block 2472. Specifically, when the detection block 2472 blocks the U-shaped sensor, the two camera modules are in a horizontal state, and this state is defined as 0 degrees at this time. When the two camera modules rotate downward, the control program controls the driving motor to rotate clockwise. When the detection block 2472 deviates from the U-shaped sensor, the rotation phase of the driving motor is recorded to obtain the angle at which the two camera modules rotate downward. Among them, the U-shaped sensor is used to detect whether it is blocked to determine the 0-degree position.

[0046] Such as Figure 2 、 Figure 3 As shown, through holes are provided on the plate body of the fixing plate 242. The shaft body of the rotating shaft 243 passes through the through holes, and both ends of the rotating shaft 243 are rotatably connected to two opposite side walls respectively, so that the rotating shaft 243 can rotate.

[0047] In a specific implementation manner, one side of the fixing plate 242 further has an electrical fixing part 2421. The electrical fixing part 2421 is perpendicular to the plate body of the fixing plate 242 to form an "L" shaped structure. The electrical fixing part 2421 is used to connect a circuit board or other electronic components. This method makes the overall compactness stronger and the occupied volume smaller.

[0048] In an embodiment provided by the present utility model, a transmission connecting member 244 is provided on the shaft body near one end of the rotating shaft 243, and a first limiting block 2441 is provided on the transmission connecting member 244; the pitch adjustment mechanism 24 further includes a support ring 246 and a second limiting block 2461. Support rings 246 are provided on the side walls on both sides, and the second limiting block 2461 is fixedly provided on the support ring 246. The second limiting block 2461 is used to abut against the first limiting block 2441 during the rotation of the rotating shaft 243, so that the rotating shaft 243 rotates within a predetermined rotation angle range. The support ring 246 is connected to the inner wall surface of the side wall by bolts. A support bearing 248 is provided inside the support ring 246. Both ends of the rotating shaft 243 are connected by the support bearing 248, and the support bearing 248 can support the rotating shaft 243 to realize the rotation of the rotating shaft 243.

[0049] It can be understood that since the camera module itself has a certain viewing angle coverage range, this enables the pitch adjustment mechanism 24 to select a smaller pitch adjustment range to cover the required positions. In this embodiment, through the setting of the limiting blocks, during the rotation of the rotating shaft 243, the abutment between the limiting blocks is used to limit the pitch range. This method is simple and effective and can realize the limitation of the pitch angle.

[0050] In a specific example, there are two second limiting blocks 2461, and the two second limiting blocks 2461 are arranged at intervals. When the two camera modules are in the horizontal position, the included angle between the first limiting block 2441 and the two second limiting blocks 2461 is approximately 91 degrees. That is, the clockwise rotation angle of the camera module is 91 degrees, and the counterclockwise rotation angle is also 91 degrees, so as to realize the limit adjustment of the pitch angle.

[0051] As Figure 3 shown, both the second limiting block 2461 and the second limiting block 2461 are connected by bolts. This method facilitates the adjustment of the positions of the first limiting block 2441 and the second limiting block 2461, so as to realize the adjustment of the rotation range of the pitch angle and improve the flexibility of the pitch angle adjustment.

[0052] When specifically setting, as Figure 3 、 Figure 4 shown, the transmission connecting member 244 is sleeved on the rotating shaft 243, and the transmission connecting member 244 is fixed to the rotating shaft 243 by bolts. And there is a certain distance between the end face of the transmission connecting member 244 and the end face of the support ring 246, so that the rotating shaft 243 realizes the limiting cooperation only through the abutment of the first limiting block 2441 and the second limiting block 2461 during rotation.

[0053] In the embodiment provided by the present utility model, in order to improve the connection stability, one end of the rotating shaft 243 is provided with a first stepped portion 2431, and the first connecting member 26 is arranged on the first stepped portion 2431 through a fastener; the other end of the rotating shaft 243 is provided with a second stepped portion 2432, and the second connecting member 27 is arranged on the second stepped portion 2432 through a fastener. Both the first stepped portion 2431 and the second stepped portion 2432 are processed platform structures, so that the cross-section of the rotating shaft 243 is a "D" - shaped structure. This way makes the components connected at this position more stable and avoids circumferential rotation.

[0054] In a specific example, as Figure 3 shown, the first stepped portion 2431 is a first platform axially opened at one end of the rotating shaft 243, and the second stepped portion 2432 is a second platform axially opened at the other end of the rotating shaft 243. The length of the second platform is greater than the length of the first platform. Among them, the first connecting member 26 is connected to the first stepped portion 2431, and the detection block 2472, the support ring 246 and the second connecting member 27 are connected to the second stepped portion 2432. This way makes the components connected to the first stepped portion 2431 and the second stepped portion 2432 more stable.

[0055] In some embodiments provided by the present utility model, the first transmission assembly 245 includes a first belt pulley 2451 and a second belt pulley 2452. The first belt pulley 2451 is connected to the output end of the first driving portion 241, the second belt pulley 2452 is connected to the transmission connecting member 244, the diameter of the first belt pulley 2451 is smaller than the diameter of the second belt pulley 2452, and the first belt pulley 2451 and the second belt pulley 2452 are connected by a transmission belt 2453. When the first camera module 21 and the second camera module 22 rotate, they rotate simultaneously through the first transmission assembly 245, realizing the simultaneous rotation of the two camera modules.

[0056] It can be understood that the two camera modules are connected through the rotating shaft 243, and through the first transmission assembly 245, one driving motor can drive the two camera modules to act simultaneously, maintaining the synchronization of the actions of the two camera modules. Further, through the coaxial rotation method, the driving motor can drive the two camera modules to rotate at a lower power. And, through the belt transmission method, the noise of the transmission assembly can be reduced, weakening the noise influence during the pan - tilt adjustment.

[0057] When specifically setting, the diameter of the first belt pulley 2451 is smaller than the diameter of the second belt pulley 2452, which makes the transmission ratio less than 1. This can improve the response time of the rotating shaft 243 and make the pitch adjustment more sensitive.

[0058] In an embodiment provided by the present utility model, the driving assembly includes a support shaft 255, a second driving part 252, and a conductive slip ring 253; the second driving part 252 is fixedly arranged at the bottom of the housing 23, one end of the support shaft 255 is located in the installation space and is rotatably connected to the housing 23 through a rotating connection assembly, the other end of the support shaft 255 is fixedly connected to the pan-tilt base 251, and the support shaft 255 is drivingly connected to the second driving part 252 through a second transmission assembly 254 to drive the housing 23 to rotate; the conductive slip ring 253 is arranged at one end of the support shaft 255 located in the installation space, and the conductive slip ring 253 is used for the circuit access of the pan-tilt device 2. The support shaft 255 is used to support the weight of the housing 23 and various components inside the housing 23, which requires the support shaft 255 to have a high load-bearing capacity. In this embodiment, by setting the support shaft 255 as a fixed support structure, the whole housing 23 rotates around the support shaft 255 during the horizontal rotation process, so as to achieve a high load-bearing capacity of the support shaft 255.

[0059] It can be understood that if the support shaft 255 is used as a rotating part, the support shaft 255 and the pan-tilt base 251 must be rotatably connected, which will weaken the load-bearing capacity of the support shaft 255 and result in low overall stability. In this embodiment, by setting the support shaft 255 as a fixed support structure, high load-bearing is achieved, and the housing 23 can be rotated, thereby driving the two camera modules to rotate 360 degrees.

[0060] As Figure 7 shown, the second driving part 252 is a driving motor, the outer shell part of the second driving part 252 is arranged in the installation space, and the output end of the second driving part 252 extends out from the bottom plate of the housing 23 and is drivingly connected to the support shaft 255 through the second transmission assembly 254.

[0061] Specifically, the second transmission assembly 254 includes a third pulley 2541 and a fourth pulley 2542. The third pulley 2541 is connected to the output end of the second driving part 252, and the fourth pulley 2542 is fixedly connected to the support shaft 255. A traction belt 2543 is wound between the third pulley 2541 and the fourth pulley 2542, so that the housing 23 rotates around the support shaft 255 under the drive of the second driving part 252. Transmission teeth are provided on the inner side surface of the traction belt 2543. The third pulley 2541 is a small pulley, and the fourth pulley 2542 is a large pulley. The small pulley is connected to the second driving part 252, and the large pulley is fixedly connected to the support shaft 255. The belt is connected between the small pulley and the large pulley. When performing horizontal rotation, the belt, as a connecting component, connects the output end of the second driving part 252 to the support shaft 255. At this time, the body of the second driving part 252 receives a reaction force and begins to rotate around the support shaft 255, thus realizing the rotation of the housing 23 around the support shaft 255. That is, at this time, the belt, as a traction component, causes the housing 23 to rotate around the support shaft 255. During the rotation process, the belt is always connected to the large pulley and the small pulley to realize the traction during the rotation process and ensure the rotation of the housing 23 around the support shaft 255.

[0062] When specifically arranged, the rotation connection assembly includes a rotation support member 256 and rotation bearings 259 connected to both ends of the rotation support member 256. The rotation support member 256 is connected to the bottom surface of the housing 23, and the rotation bearing 259 is rotatably connected to the support shaft 255, so that when driven by the second driving part 252, the whole housing 23 can be driven to rotate. Further, the bottom of the support shaft 255 has a stepped portion 2551 and a connection flange connected to the bottom end of the support shaft 255. The connection flange is connected to the bottom surface of the step. The stepped portion 2551 abuts against the rotation bearing 259 at the bottom. A limiting member 2552 is provided on the shaft body of the upper part of the support shaft 255. The limiting member 2552 abuts against the inner ring of the rotation bearing 259 at the upper part. A baffle 258 is further connected to the rotation support member 256. The baffle 258 abuts against the rotation bearing 259 at the upper part, thereby realizing the rotational connection between the support shaft 255 and the housing 23 and improving the load-bearing capacity of the support shaft 255. That is, through the baffle 258, the abutment against the upper rotation bearing 259 can be realized, and through the lower rotation bearing 259 abutting against the stepped portion 2551, the two rotation bearings 259 are in contact and abutment, thereby realizing the effective load-bearing in the vertical direction and improving its load-bearing capacity in the vertical direction.

[0063] According to an embodiment provided by the present utility model, the conductive slip ring 253 is connected to the support shaft 255 through the connecting plate 257; the connecting plate 257 has a bending portion 2571, and a second phase detection component is provided on the bending portion 2571, and the second phase detection component is used to detect the rotation phase of the housing 23. The housing 23 needs to rotate as a whole, which causes the internal connecting wires to twist and knot. In this embodiment, the setting of the conductive slip ring 253 can realize the connection of the wires, and thus can avoid the wires from twisting and knotting during the rotation of the housing 23.

[0064] Further, by providing a bending portion 2571 on the connecting plate 257, and a second phase detection component is provided on the bending portion 2571, and the second phase detection component detects the rotation phase of the horizontal rotation of the housing 23, so as to realize the sensing of the horizontal rotation phase. Through the connection on the bending portion 2571, the overall structure is made more compact, reducing the overall space occupation.

[0065] In a specific example, the structure of the second phase detection component 2572 is the same as that of the first phase detection component 247, including a second detection block and a second sensing portion. The second detection block is provided on the bending portion 2571, and the second sensing portion is provided on the fixing plate 242 in the installation space. During horizontal rotation, the support shaft 255 is fixed differently, and the housing 23 rotates around the support shaft 255. When the second detection block blocks the second sensing portion, the phase of the housing relative to the support shaft 255 can be known.

[0066] In the specific embodiment provided by the present utility model, a wire passing through hole is provided in the axial direction of the support shaft 255, and a part of the conductive slip ring 253 is located in the wire passing through hole, and the wire passing through hole is used for laying wires. Through the setting of the wire passing through hole in the support shaft 255, it is convenient for the arrangement of the wires in the overall device during rotation, so that the overall structure occupies a small space and the wiring does not affect the overall space occupation.

[0067] Specifically, the upper part of the conductive slip ring 253 is used to connect various wires for connecting two camera modules and the first driving part 241, and the lower part of the wire slip ring is used for the access of power supply and communication signals, thus realizing an overall compact layout and making the overall space occupied by the entire pan-tilt device 2 smaller.

[0068] In the embodiment provided by the present utility model, the first camera module 21 includes an infrared camera module 211 and a first mounting housing 212. The infrared camera module 211 is installed within the first mounting housing 212, and there is a first gap between the first mounting housing 212 and the housing 23. The second camera module 22 includes a visible light camera module 221 and a second mounting housing 222. The visible light camera module 221 is installed within the second mounting housing 222, and there is a second gap between the second mounting housing 222 and the housing 23. Through the modular design, the first housing is connected to the rotating shaft 243 through a first connecting member 26, and the second housing is connected to the rotating shaft 243 through a second connecting member 27, which is conducive to the replacement and later maintenance of the camera module.

[0069] Specifically, a limiting sleeve 249 is sleeved on one end of the rotating shaft 243 where it is connected to the two camera modules. Through the limiting sleeve 249, there is a first gap between the first camera module 21 and the housing 23, and through the limiting sleeve 249, there is a second gap between the second camera module 22 and the housing 23. This way avoids the interference between the camera module and the outer wall surface of the housing 23 during rotation, and realizes the free rotation of the camera module.

[0070] It can be understood that in some scenarios, it is necessary to achieve the matching of the camera model and the scenario on-site. At this time, it is necessary to frequently replace the camera module for adaptation. In this embodiment, through the modular design, the camera module can be disassembled and installed through the connecting member, and its specific circuit is electrically connected through plugging or other connection methods, which is conducive to quick assembly and disassembly and improves the efficiency of on-site adaptation. And during the later maintenance process, if there is a problem with the camera module, it can be easily replaced, reducing the replaced parts, lowering the use cost and the difficulty of maintenance.

[0071] As Figure 9 、 Figure 10 shown, the second aspect of the present utility model provides an inspection robot, which includes a mobile chassis 1, a lifting mechanism 3, and a pan-tilt device 2 provided as described in any one of the above; the lifting mechanism 3 is fixedly arranged on the mobile chassis 1; the pan-tilt device 2 is connected to the lifting mechanism 3, and the lifting mechanism 3 is used to drive the pan-tilt device 2 to move in the vertical direction. The mobile chassis 1 can drive the lifting mechanism 3 and the pan-tilt device 2 to move to any place. In this way, efficient inspection of each area in the computer room can be realized, and through the lifting mechanism 3, inspections at different heights in different areas are achieved, improving the applicability of the robot.

[0072] When specifically setting, a display screen 31 for interaction, as well as other functional modules such as an alarm module 32, a wireless communication module 33, and an environmental information monitoring module 34 are also provided on the main body of the inspection robot. At the same time, there are also essential functional modules such as an industrial control computer, a power supply, a speaker, an array microphone, and a central control board that are not shown in the figure.

[0073] Among them, the lifting mechanism 3 includes a linear guide rail module 35. The linear guide rail module 35 can select modules with different lifting heights according to needs, so as to Figure 10 The shown linear guide rail module 35 is divided into two levels, which can realize lifting in the range of 0 - 1.7 m. With the conventional field of view range of the pan-tilt head, it can reach a conventional visible range of 0 - 3 m in height. Generally speaking, both the visible light camera and the infrared camera itself have a certain visible angle range. When the camera is placed horizontally, it can observe the conical area centered on the camera in the front. After the pan-tilt head has a 180° pitch rotation range and a 360° horizontal rotation range, the requirement for the visible angle of the camera is greatly reduced, which is beneficial to the selection range and cost of the camera model, that is, it has a wider selection range.

[0074] In summary, the inspection robot in this embodiment can collect video information (such as the signal light display of equipment operation) through the infrared camera and the visible light camera, and collect environmental information through the multi-functional sensor. These information are processed on the central control board, and finally it is determined whether the monitored equipment is operating normally according to the standards preset by the customer.

[0075] Through the description of the above implementation manners, those skilled in the art can clearly understand that through the symmetrical setting of the two camera modules on the pan-tilt head device 2 in each implementation manner, the overall structure is more compact, and through the connection method of the connecting piece, the two camera modules can be modularly installed and disassembled, which is beneficial to the installation of the on-site adaptation scenario and the later maintenance. Further, through the setting of the second transmission component 254, the bearing capacity of the support shaft 255 is stronger, and it has higher rotation stability.

[0076] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pan-tilt device, characterized in that, Comprising: A housing having an installation space therein; A pitch adjustment mechanism disposed in the installation space, the pitch adjustment mechanism having two rotational output ends located on the side walls on opposite sides within the installation space respectively; A rotation drive mechanism, the rotation drive mechanism including a pan-tilt base and a drive assembly, the pan-tilt base being disposed below the housing, the drive assembly being disposed between the pan-tilt base and the housing, and the drive assembly being used for supporting the housing and driving the housing to rotate; A first camera module, the first camera module being connected to one of the rotational output ends through a first connecting member to adjust the pitch angle of the first camera module in the vertical direction; A second camera module, the second camera module being connected to the other of the rotational output ends through a second connecting member to adjust the pitch angle of the second camera module in the vertical direction.

2. The pan-tilt device according to claim 1, wherein The pitch adjustment mechanism includes a fixing plate, a first driving portion, a rotating shaft and a first phase detection component; The fixing plate is fixedly connected to the housing and is located within the installation space, the first driving portion is disposed on the fixing plate, the first driving portion is in transmission connection with the rotating shaft through a first transmission assembly to drive the rotating shaft to rotate, the rotating shaft penetrates through the fixing plate, and both ends of the rotating shaft extend out from the side walls on their respective sides; One end of the rotating shaft extending out is connected to the first camera module through the first connecting member, and the other end of the rotating shaft extending out is connected to the second camera module through the second connecting member; The first phase detection component includes a sensing member and a detection block, the detection block is disposed on the rotating shaft, the sensing member is disposed on the fixing plate, and the sensing member cooperates with the detection block to sense the rotation phase of the rotating shaft.

3. The pan-tilt device according to claim 2, wherein, A transmission connecting member is provided on the shaft body near one end of the rotating shaft, and a first limiting block is provided on the transmission connecting member; The pitch adjustment mechanism further includes a support ring and a second limiting block, the support rings are provided on both side walls, the second limiting block is fixedly provided on the support ring, and the second limiting block is used for abutting against the first limiting block during the rotation of the rotating shaft to enable the rotating shaft to rotate within a predetermined rotation angle range.

4. The pan-tilt device according to claim 3, characterized in that The first transmission assembly includes a first pulley and a second pulley, the first pulley is connected to the output end of the first driving portion, the second pulley is connected to the transmission connecting member, the diameter of the first pulley is smaller than that of the second pulley, and the first pulley and the second pulley are in transmission connection through a transmission belt.

5. The pan-tilt device according to claim 2, wherein, A first stepped portion is provided at one end of the rotating shaft, the first connecting member is provided on the first stepped portion through a fastening member, a second stepped portion is provided at the other end of the rotating shaft, and the second connecting member is provided on the second stepped portion through a fastening member.

6. The pan-tilt device according to claim 1, wherein The drive assembly includes a support shaft, a second driving portion and a conductive slip ring; The second driving part is fixedly arranged at the bottom of the shell, one end of the support shaft is located in the installation space and is rotatably connected to the shell through a rotating connection assembly, the other end of the support shaft is fixedly connected to the pan / tilt base, and the support shaft is transmission-connected to the second driving part through a second transmission assembly to drive the shell to rotate; The conductive slip ring is arranged at one end of the support shaft located in the installation space, and the conductive slip ring is used for circuit access of the pan / tilt device.

7. The pan-tilt device according to claim 6, wherein The conductive slip ring is connected to the support shaft via a connecting plate; The connecting plate has a bending portion, and the bending portion is provided with a second phase detection component, and the second phase detection component is used to detect the rotation phase of the shell; A wire through hole is provided in the axial direction of the support shaft, a part of the conductive slip ring is located in the wire through hole, and the wire through hole is used for laying a wire.

8. The pan-tilt device according to claim 6, wherein, The second transmission assembly includes a third pulley and a fourth pulley, the third pulley is connected to the output end of the second driving part, the fourth pulley is fixedly connected to the support shaft, and a traction belt is arranged between the third pulley and the fourth pulley so that the shell rotates around the support shaft under the drive of the second driving part.

9. The pan-tilt device according to claim 1, wherein The first camera module comprises an infrared camera module and a first mounting shell, the infrared camera module is mounted in the first mounting shell, and a first gap is formed between the first mounting shell and the housing; The second camera module includes a visible light camera module and a second mounting shell, the visible light camera module is mounted in the second mounting shell, and a second gap is defined between the second mounting shell and the housing.

10. An inspection robot, characterized in that, include: Mobile chassis; A lifting mechanism, wherein the lifting mechanism is fixedly arranged on the mobile chassis; According to any one of claims 1 to 9, the pan-tilt device is connected to the lifting mechanism, and the lifting mechanism is used to drive the pan-tilt device to move in a vertical direction.

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