Self-adaptive camera track robot

Abstract

The utility model discloses a self-adaptive camera track robot which comprises a bearing vehicle body. The front roller mechanism comprises a front rotating supporting arm and front roller sets, the middle of the front rotating supporting arm is connected with the front end of the bottom of the bearing vehicle body in a relative rotating mode, and the front roller sets are installed at the two ends of the front rotating supporting arm respectively; the rear roller mechanism comprises a rear rotating supporting arm and rear roller sets, the middle of the rear rotating supporting arm is connected with the rear end of the bottom of the bearing vehicle body in a relatively rotating mode, and the rear roller sets are installed at the two ends of the rear rotating supporting arm respectively; and the bearing vehicle body is erected on the track through the front roller mechanism and the rear roller mechanism. When the self-adaptive camera track robot enters the bent track from the straight track (or enters the straight track from the bent track), the front rotating support arm or the rear rotating support arm can adaptively rotate along with the trend of the bent track, and the front roller group and the rear roller group at the two ends can be attached to the track, so that stable movement is realized; and the problem of visual change of the image of the camera caused by inclination is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of photographic equipment, and particularly relates to an adaptive camera track robot. Background Art

[0002] A camera track robot, as a common camera carrying device, mainly consists of a track and a carrying vehicle body mounted on the track. The camera is installed on the carrying vehicle body, and by driving the carrying vehicle body to move back and forth along the track, the shooting requirements of the camera can be realized.

[0003] See Figure 1 As shown in the figure, for the existing camera track robot, both ends of the front and rear fixed beams 102 of the carrying vehicle body 101 are respectively rotatably connected to the rolling wheel sets 103. The rolling wheel sets 103 are mounted on the track 200. Since the track 200 is generally composed of a straight track and a curved track, the relative rotation of the rolling wheel sets 103 with respect to the fixed beam 102 can meet the turning requirements on the curved track. However, when the camera track robot travels on the track 200, when entering the curved track from the straight track or entering the straight track from the curved track, due to the different postures of the front and rear rolling wheel sets 103 of the camera track robot (one pair of wheels is on the straight track and one pair of wheels is on the curved track), and the front and rear fixed beams 102 are fixedly arranged and cannot adapt to the change of the track direction. At the same time, there is a speed difference between the inner and outer sides of the turning radius of the rolling wheel sets 103 on the curved track, resulting in a slight inclination of the camera track robot. This inclination angle will cause a visible change in the camera image, which is unacceptable for high-level shooting.

[0004] In view of this, the present utility model patent is specifically proposed. Content of the Utility Model

[0005] In order to solve the above problems, the present utility model provides an adaptive camera track robot, which can perform adaptive movement posture adjustment during the transition between the straight track and the curved track, realize smooth movement, and avoid the problem that the inclination causes a visible change in the camera image.

[0006] Specifically, the following technical solutions are adopted:

[0007] An adaptive camera track robot, comprising:

[0008] A carrying vehicle body;

[0009] A front roller mechanism, including a front rotating support arm and a front roller set. The middle part of the front rotating support arm is relatively rotatably connected to the front end of the bottom of the carrying vehicle body, and the front roller sets are respectively installed at both ends of the front rotating support arm;

[0010] The rear roller mechanism includes a rear rotating support arm and a rear roller set. The middle part of the rear rotating support arm is rotatably connected to the rear end of the bottom of the carrying vehicle body, and the rear roller sets are respectively installed at both ends of the rear rotating support arm;

[0011] The carrying vehicle body is erected on the track through the front roller mechanism and the rear roller mechanism, and the carrying vehicle body can reciprocate relative to the track.

[0012] As an optional implementation mode of the present invention, the carrying vehicle body includes a front fixed support arm, a rear fixed support arm and a connecting support arm. The front fixed support arm and the rear fixed support arm are arranged in parallel, and both ends of the connecting support arm are fixedly connected to the front fixed support arm and the rear fixed support arm respectively;

[0013] The middle part of the front rotating support arm is rotatably connected to the front fixed support arm, and the middle part of the rear rotating support arm is rotatably connected to the rear fixed support arm.

[0014] As an optional implementation mode of the present invention, the middle part of the front rotating support arm and the middle part of the front fixed support arm are rotatably connected through a front crossed roller bearing, and the middle part of the rear rotating support arm and the middle part of the rear fixed support arm are rotatably connected through a rear crossed roller bearing.

[0015] As an optional implementation mode of the present invention, the upper end surface of the middle part of the front rotating support arm has a first installation groove, the lower end surface of the middle part of the front fixed support arm has a second installation groove, the rotating inner ring of the front crossed roller bearing is fixedly connected in the first installation groove, and the rotating outer ring of the front crossed roller bearing is fixedly connected in the second installation groove;

[0016] The upper end surface of the middle part of the rear rotating support arm has a third installation groove, the lower end surface of the middle part of the rear fixed support arm has a fourth installation groove, the rotating inner ring of the rear crossed roller bearing is fixedly connected in the third installation groove, and the rotating outer ring of the rear crossed roller bearing is fixedly connected in the fourth installation groove.

[0017] As an optional implementation mode of the present invention, the front roller set includes a front roller installation block and a front roller. The front roller installation block is fixedly connected to the end of the front rotating support arm, and freely rotatable front rollers are respectively installed on both side walls of the front roller installation block;

[0018] The rear roller set includes a rear roller installation block and a rear roller. The rear roller installation block is fixedly connected to the end of the rear rotating support arm, and freely rotatable rear rollers are respectively installed on both side walls of the rear roller installation block.

[0019] As an alternative embodiment of the present utility model, the front roller mounting block is integrally in a triangular prism structure, including a first horizontal arm, a first inclined arm and a second inclined arm. One end of the first inclined arm and one end of the second inclined arm are respectively connected to both ends of the first horizontal arm, and the other end of the first inclined arm is connected to the other end of the second inclined arm. The end of the front rotating support arm is fixedly connected to the first horizontal arm, and freely rotatable front rollers are respectively mounted on the first inclined arm and the second inclined arm.

[0020] As an alternative embodiment of the present utility model, the rear roller mounting block is integrally in a triangular prism structure, including a second horizontal arm, a third inclined arm and a fourth inclined arm. One end of the third inclined arm and one end of the fourth inclined arm are respectively connected to both ends of the second horizontal arm, and the other end of the third inclined arm is connected to the other end of the fourth inclined arm. The end of the rear rotating support arm is fixedly connected to the second horizontal arm, and freely rotatable rear rollers are respectively mounted on the third inclined arm and the fourth inclined arm.

[0021] As an alternative embodiment of the present utility model, a fifth mounting groove is provided on the first horizontal arm of the front roller mounting block. The end of the front rotating support arm is fixedly mounted in the fifth mounting groove, and the upper surface of the end of the front rotating support arm is flush with the first horizontal arm of the front roller mounting block.

[0022] A sixth mounting groove is provided on the second horizontal arm of the rear roller mounting block. The end of the rear rotating support arm is fixedly mounted in the sixth mounting groove, and the upper surface of the end of the rear rotating support arm is flush with the second horizontal arm of the rear roller mounting block.

[0023] As an alternative embodiment of the present utility model, a seventh mounting groove is provided on the upper surface of the end of the front rotating support arm. A polyoxymethylene slider is mounted in the seventh mounting groove, and the top of the polyoxymethylene slider abuts against the lower surface of the end of the front fixed support arm.

[0024] As an alternative embodiment of the present utility model, an eighth mounting groove is provided on the upper surface of the end of the rear rotating support arm. A polyoxymethylene slider is mounted in the eighth mounting groove, and the top of the polyoxymethylene slider abuts against the lower surface of the end of the rear fixed support arm.

[0025] Compared with the prior art, the beneficial effects of the present utility model are:

[0026] An adaptive camera rail robot of the present utility model has a front rotating arm of the front roller mechanism rotatable relative to the load-carrying vehicle body, and a rear rotating arm of the rear roller mechanism rotatable relative to the load-carrying vehicle body. In this way, during the movement of the adaptive camera rail robot of the present utility model on the rail, when entering a curved rail from a straight rail (or entering a straight rail from a curved rail), the front rotating arm or the rear rotating arm will rotate adaptively along the direction of the curved rail, so that the front roller group and the rear roller group at both ends can be kept in contact with the rail, the stress state is more average, the speed difference between the inner and outer sides of the turning radius of the rollers on the curved rail is avoided, smooth movement is realized, and the problem that the camera image changes visibly due to inclination is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Reference diagram of the usage state of a camera rail robot in the prior art;

[0028] Figure 2 Reference diagram of the usage state of an adaptive camera rail robot according to an embodiment of the present utility model;

[0029] Figure 3 Partial explosion diagram of an adaptive camera rail robot according to an embodiment of the present utility model;

[0030] Figure 4 Top view of an adaptive camera rail robot according to an embodiment of the present utility model;

[0031] Figure 5 An adaptive camera rail robot according to an embodiment of the present utility model along Figure 4 Sectional view taken along plane A-A. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model.

[0033] Therefore, the following detailed description of the embodiments of the present utility model is not intended to limit the scope of the claimed present utility model, but merely represents some embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.

[0034] It should be noted that, without conflict, the embodiments in the present utility model and the features and technical solutions in the embodiments may be combined with each other.

[0035] It should be noted that like reference numerals and letters refer to like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present utility model is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present utility model 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 therefore should not be construed as a limitation of the present utility model. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0037] See Figures 2 - 5 As shown, an adaptive camera rail robot in this embodiment includes:

[0038] A load-carrying vehicle body 101;

[0039] A front roller mechanism 106, including a front rotating support arm 106A and a front roller group. The middle part of the front rotating support arm 106A is rotatably connected to the front end of the bottom of the load-carrying vehicle body 101, and the front roller group is respectively installed at both ends of the front rotating support arm 106A;

[0040] A rear roller mechanism 107, including a rear rotating support arm 107A and a rear roller group. The middle part of the rear rotating support arm 107A is rotatably connected to the rear end of the bottom of the load-carrying vehicle body 101, and the rear roller group is respectively installed at both ends of the rear rotating support arm 107A;

[0041] The load-carrying vehicle body 101 is mounted on the track 200 through the front roller mechanism 106 and the rear roller mechanism 107, and the load-carrying vehicle body 101 can reciprocate relative to the track 200.

[0042] An adaptive camera rail robot according to this embodiment. The front rotating arm 106A of the front roller mechanism 106 is rotatable relative to the load-carrying vehicle body 101, and the rear rotating arm 107A of the rear roller mechanism 107 is rotatable relative to the load-carrying vehicle body 101. In this way, during the movement of the adaptive camera rail robot of this embodiment on the rail 200, when entering a curved rail from a straight rail (or entering a straight rail from a curved rail), the front rotating arm 106A or the rear rotating arm 107A will rotate adaptively along with the trend of the curved rail, so that the front roller group and the rear roller group at both ends can be kept in contact with the rail 200, the stress state is more even, the speed difference between the inner and outer sides of the turning radius of the rollers on the curved rail is avoided, smooth movement is achieved, and the problem of visible changes in the camera image caused by tilting is avoided.

[0043] As an optional implementation manner of this embodiment, the load-carrying vehicle body 101 described in this embodiment includes a front fixed arm 101A, a rear fixed arm 101B, and a connecting arm 101C. The front fixed arm 101A and the rear fixed arm 101B are arranged in parallel, and both ends of the connecting arm 101C are fixedly connected to the front fixed arm 101A and the rear fixed arm 101B respectively; the middle part of the front rotating arm 106A is rotatably connected to the middle part of the front fixed arm 101A, and the middle part of the rear rotating arm 107A is rotatably connected to the middle part of the rear fixed arm 101B. The front rotating arm 106A and the rear rotating arm 107A of this embodiment are respectively rotatably connected to the load-carrying vehicle body 101, meeting the attitude adaptive requirements for entering a curved rail from a straight rail and entering a straight rail from a curved rail.

[0044] As an optional implementation manner of this embodiment, the middle part of the front rotating arm 106A is rotatably connected to the middle part of the front fixed arm 101A through a front crossed roller bearing 108A, and the middle part of the rear rotating arm 107A is rotatably connected to the middle part of the rear fixed arm 101B through a rear crossed roller bearing 108B. The front rotating arm 106A and the rear rotating arm 107A of this embodiment are respectively rotatably connected to the load-carrying vehicle body 101 through crossed roller bearings, with a simple structure, being stable and reliable.

[0045] Specifically, in order to install the front crossed roller bearing 108A, the upper end surface of the middle part of the front rotating arm 106A of this embodiment has a first installation groove 106E, the lower end surface of the middle part of the front fixed arm 101A has a second installation groove 120, the rotating inner ring of the front crossed roller bearing 108A is fixedly connected in the first installation groove 106E, and the rotating outer ring of the front crossed roller bearing 108A is fixedly connected in the second installation groove 120.

[0046] Correspondingly, in order to install the rear crossed roller bearing 108B, the upper end surface of the middle part of the rear rotating arm 107A in this embodiment has a third installation groove 107E, and the lower end surface of the middle part of the rear fixed arm 101B has a fourth installation groove (not shown). The rotating inner ring of the rear crossed roller bearing 108B is fixedly connected in the third installation groove 107E, and the rotating outer ring of the rear crossed roller bearing 108B is fixedly connected in the fourth installation groove.

[0047] As an alternative implementation of this embodiment, the front roller set in this embodiment includes a front roller mounting block 106B and front rollers 106C. The front roller mounting block 106B is fixedly connected to the end of the front rotating arm 106A. Free-rolling front rollers 106C are respectively installed on both side walls of the front roller mounting block 106B. The rear roller set includes a rear roller mounting block 107B and rear rollers 107C. The rear roller mounting block 107B is fixedly connected to the end of the rear rotating arm 107A. Free-rolling rear rollers 107C are respectively installed on both side walls of the rear roller mounting block 107B. The front roller set in this embodiment is fixedly connected to the end of the front rotating arm 106A, and the rear roller set is fixedly connected to the end of the rear rotating arm 107A. In this way, when entering the curved rail from the straight rail (or entering the straight rail from the curved rail), the front rotating arm 106A and the rear rotating arm 107A perform adaptive rotation, and the front roller set and the rear roller set can keep in contact with the track 200, avoiding the inclination of the front roller set and the rear roller set caused by speed differences.

[0048] Specifically, the front roller mounting block 106B in this embodiment is integrally in a triangular prism structure, including a first horizontal arm, a first inclined arm, and a second inclined arm. One end of the first inclined arm and one end of the second inclined arm are respectively connected to both ends of the first horizontal arm, and the other end of the first inclined arm is connected to the other end of the second inclined arm. The end of the front rotating arm 106A is fixedly connected to the first horizontal arm. Free-rolling front rollers 106C are respectively installed on the first inclined arm and the second inclined arm.

[0049] The rear roller mounting block 107B in this embodiment is integrally in a triangular prism structure, including a second horizontal arm, a third inclined arm, and a fourth inclined arm. One end of the third inclined arm and one end of the fourth inclined arm are respectively connected to both ends of the second horizontal arm, and the other end of the third inclined arm is connected to the other end of the fourth inclined arm. The end of the rear rotating arm 107A is fixedly connected to the second horizontal arm. Free-rolling rear rollers 107C are respectively installed on the third inclined arm and the fourth inclined arm.

[0050] To achieve the fixed connection between the front rotating arm 106A and the front roller mounting block 106B, in this embodiment, a fifth mounting groove is provided on the first horizontal arm of the front roller mounting block 106B, and the end of the front rotating arm 106A is fixedly installed in the fifth mounting groove, and the upper surface of the end of the front rotating arm 106A is flush with the first horizontal arm of the front roller mounting block 106B.

[0051] To achieve the fixed connection between the rear rotating arm 107A and the rear roller mounting block 107B, in this embodiment, a sixth mounting groove is provided on the second horizontal arm of the rear roller mounting block 107B, and the end of the rear rotating arm 107A is fixedly installed in the sixth mounting groove, and the upper surface of the end of the rear rotating arm 107A is flush with the second horizontal arm of the rear roller mounting block 107B.

[0052] See Figures 3 - 5 As shown, further, a seventh mounting groove 106D is provided on the upper surface of the end of the front rotating arm 106A in this embodiment, and a polyoxymethylene slider 109 is installed in the seventh mounting groove 106D, and the top of the polyoxymethylene slider 109 abuts against the lower surface of the end of the front fixed arm 106A.

[0053] In this embodiment, an eighth mounting groove 107D is provided on the upper surface of the end of the rear rotating arm 107A, and a polyoxymethylene slider 109 is installed in the eighth mounting groove 107D, and the top of the polyoxymethylene slider 109 abuts against the lower surface of the end of the rear fixed arm 107A.

[0054] Thus, the middle part of the front rotating arm 106A of this embodiment is rotatably connected to the middle part of the front fixed arm 101A through a front crossed roller bearing 108A, and both ends are respectively supported by polyoxymethylene sliders 109 at both ends of the front fixed arm 101A, ensuring sufficient support for the front rotating arm 106A; the middle part of the rear rotating arm 107A is rotatably connected to the middle part of the rear fixed arm 101B through a rear crossed roller bearing 108B, and both ends are respectively supported by polyoxymethylene sliders 109 at both ends of the rear fixed arm 101B, ensuring sufficient support for the rear rotating arm 107A; in this way, the load-bearing stability of the load-bearing vehicle body 101 and the camera is ensured, and the stability of the captured image is ensured.

[0055] See Figure 2 As shown, an adaptive camera rail robot of this embodiment includes a telescopic arm 104 and a camera pan-tilt 105. The telescopic arm 104 is fixedly installed on the load-bearing vehicle body 101, and the camera pan-tilt 105 is installed at the telescopic end of the telescopic arm 104. The camera is installed on the camera pan-tilt 105. In this way, under the telescopic movement of the telescopic arm 104, the up-and-down shooting image requirements of the camera are met, and combined with the reciprocating operation of the load-bearing vehicle body 101 along the track 200, the horizontal shooting image requirements of the camera are met.

[0056] The above embodiments are only used to illustrate the present utility model and do not limit the technical solutions described by the present utility model. Although the present specification has described the present utility model in detail with reference to the above respective embodiments, the present utility model is not limited to the above specific implementation manners. Therefore, any modification or equivalent replacement of the present utility model; and all technical solutions and their improvements that do not depart from the spirit and scope of the utility model are covered by the scope of the claims of the present utility model.

Claims

1. An adaptive camera track robot, characterized in that, Comprising: A load-carrying vehicle body; A front roller mechanism, including a front rotating support arm and a front roller set. The middle part of the front rotating support arm is rotatably connected to the front end of the bottom of the load-carrying vehicle body, and the front roller set is respectively installed at both ends of the front rotating support arm; A rear roller mechanism, including a rear rotating support arm and a rear roller set. The middle part of the rear rotating support arm is rotatably connected to the rear end of the bottom of the load-carrying vehicle body, and the rear roller set is respectively installed at both ends of the rear rotating support arm; The load-carrying vehicle body is erected on the track through the front roller mechanism and the rear roller mechanism, and the load-carrying vehicle body can reciprocate relative to the track.

2. The adaptive camera track robot according to claim 1, wherein The load-carrying vehicle body includes a front fixed support arm, a rear fixed support arm and a connecting support arm. The front fixed support arm and the rear fixed support arm are arranged in parallel, and both ends of the connecting support arm are fixedly connected to the front fixed support arm and the rear fixed support arm respectively; The middle part of the front rotating support arm is rotatably connected to the front fixed support arm, and the middle part of the rear rotating support arm is rotatably connected to the rear fixed support arm.

3. The adaptive camera rail robot according to claim 2, characterized in that, The middle part of the front rotating support arm and the middle part of the front fixed support arm are rotatably connected through a front crossed roller bearing, and the middle part of the rear rotating support arm and the middle part of the rear fixed support arm are rotatably connected through a rear crossed roller bearing.

4. The adaptive camera rail robot according to claim 3, wherein The upper end surface of the middle part of the front rotating support arm has a first installation groove, and the lower end surface of the middle part of the front fixed support arm has a second installation groove. The rotating inner ring of the front crossed roller bearing is fixedly connected in the first installation groove, and the rotating outer ring of the front crossed roller bearing is fixedly connected in the second installation groove; The upper end surface of the middle part of the rear rotating support arm has a third installation groove, and the lower end surface of the middle part of the rear fixed support arm has a fourth installation groove. The rotating inner ring of the rear crossed roller bearing is fixedly connected in the third installation groove, and the rotating outer ring of the rear crossed roller bearing is fixedly connected in the fourth installation groove.

5. The adaptive camera rail robot according to claim 3, wherein, The front roller set includes a front roller mounting block and a front roller. The front roller mounting block is fixedly connected to the end of the front rotating support arm, and freely rotatable front rollers are respectively installed on both side walls of the front roller mounting block; The rear roller set includes a rear roller mounting block and a rear roller. The rear roller mounting block is fixedly connected to the end of the rear rotating support arm, and freely rotatable rear rollers are respectively installed on both side walls of the rear roller mounting block.

6. The adaptive camera rail robot according to claim 5, wherein, The front roller mounting block is integrally in a triangular prism structure, including a first horizontal arm, a first inclined arm and a second inclined arm. One end of the first inclined arm and one end of the second inclined arm are respectively connected to both ends of the first horizontal arm, and the other end of the first inclined arm is connected to the other end of the second inclined arm. The end of the front rotating support arm is fixedly connected to the first horizontal arm, and freely rotatable front rollers are respectively installed on the first inclined arm and the second inclined arm.

7. An adaptive camera rail robot according to claim 6, wherein The rear roller mounting block is integrally in a triangular prism structure, including a second horizontal arm, a third inclined arm and a fourth inclined arm. One end of the third inclined arm and one end of the fourth inclined arm are respectively connected to both ends of the second horizontal arm, and the other end of the third inclined arm is connected to the other end of the fourth inclined arm. The end of the rear rotating support arm is fixedly connected to the second horizontal arm, and freely rotatable rear rollers are respectively installed on the third inclined arm and the fourth inclined arm.

8. An adaptive camera rail robot according to claim 7, wherein The first horizontal arm of the front roller mounting block has a fifth mounting groove, and the end of the front rotating support arm is fixedly installed in the fifth mounting groove, and the upper surface of the end of the front rotating support arm is flush with the first horizontal arm of the front roller mounting block; The second horizontal arm of the rear roller mounting block has a sixth mounting groove, and the end of the rear rotating support arm is fixedly installed in the sixth mounting groove, and the upper surface of the end of the rear rotating support arm is flush with the second horizontal arm of the rear roller mounting block.

9. The adaptive camera rail robot according to claim 8, characterized in that, The upper surface of the end of the front rotating support arm is provided with a seventh mounting groove, and a polyoxymethylene slider is installed in the seventh mounting groove, and the top of the polyoxymethylene slider abuts against the lower surface of the end of the front fixed support arm.

10. An adaptive camera rail robot according to claim 8, characterized in that, The upper surface of the end of the rear rotating support arm is provided with an eighth mounting groove, and a polyoxymethylene slider is installed in the eighth mounting groove, and the top of the polyoxymethylene slider abuts against the lower surface of the end of the rear fixed support arm.

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