Wall-climbing photographing robot

Abstract

The utility model discloses a wall-climbing photographing robot, which comprises a wall-climbing robot body and a pan-tilt camera arranged on the wall-climbing robot body through a rotary driving mechanism, the rotation driving mechanism comprises a first driving motor arranged in the wall-climbing robot body and a bearing seat arranged on the front face of the wall-climbing robot body and connected with an output shaft of the first driving motor, and the pan-tilt camera is fixed to the bearing seat. The first driving motor is controlled by the wall-climbing robot body and can drive the bearing base to rotate so that the pan-tilt camera can be kept in a horizontal state. The wall-climbing photographing device can meet the use requirements of wall-climbing photographing.

Description

Technical Field

[0001] The utility model relates to a wall-climbing photography robot. Background Art

[0002] With the rapid advancement of photography technology, motion photography is gaining popularity due to its unique dynamic visual effects. However, achieving stable and efficient motion photography in a variety of scenarios has always been a challenge in this field. Traditional motion photography relies primarily on drones and ground-based mobile devices, but their limitations in complex environments have become increasingly apparent. For example, drones may be restricted in their flight space in complex indoor or outdoor environments, while ground-based devices may encounter difficulties navigating uneven terrain such as stairs and slopes.

[0003] In view of this, there is a need to propose a wall-climbing photography robot to meet people's usage needs. Summary of the Invention

[0004] The technical problem to be solved by the utility model is to provide a wall-climbing photography robot which can meet the use requirements of wall-climbing photography.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solution: a wall-climbing photography robot, comprising a wall-climbing robot body and a pan-tilt camera installed on the wall-climbing robot body through a rotation drive mechanism, wherein the rotation drive mechanism comprises a first drive motor arranged in the wall-climbing robot body and a supporting seat arranged at the front of the wall-climbing robot body and connected to the output shaft of the first drive motor, the pan-tilt camera is fixed on the supporting seat, and the first drive motor is controlled by the wall-climbing robot body and can drive the supporting seat to rotate so that the pan-tilt camera maintains a horizontal state.

[0006] Furthermore, the supporting base includes a rotating plate connected to the first driving motor and driven to rotate by the first driving motor, and a supporting plate fixedly connected to the rotating plate for supporting the gimbal camera.

[0007] Furthermore, the wall-climbing robot body is a negative pressure adsorption wall-climbing robot, which includes a robot body, a sensor group, a communication module, a negative pressure adsorption module, a walking module and a control system. The control system is arranged in the robot body and is connected to the sensor group, communication module, negative pressure adsorption module and walking module. It controls the operation of the negative pressure adsorption module and walking module according to the received instructions and / or the acquired data, and is connected to the first drive motor to control the operation of the first drive motor, and at the same time communicates with external electronic devices through the communication module.

[0008] Furthermore, the robot body includes a shell, an air inlet is formed in the middle of the bottom plate of the shell, a frame-shaped negative pressure plate surrounds the air inlet and is fixed to the lower surface of the shell, thereby forming a negative pressure cavity at the lower surface of the shell, and the negative pressure adsorption module includes a negative pressure fan, which is arranged in the shell corresponding to the air inlet.

[0009] Furthermore, a frame-shaped first sealing member is provided on the lower surface of the negative pressure plate, and a frame-shaped second sealing member is provided between the negative pressure plate and the housing.

[0010] Furthermore, the sensor group also includes a negative pressure sensor arranged in the negative pressure chamber. The control system obtains the real-time negative pressure value measured by the negative pressure sensor and compares it with a preset negative pressure value, thereby controlling the operation of the negative pressure fan.

[0011] Furthermore, the walking module includes two crawler drive modules arranged on the left and right sides of the robot body, the drive module includes a mounting seat, a second drive motor fixed on the outside of the mounting seat, a driving wheel rotatably arranged in the mounting seat and connected to the second drive motor, and a driven wheel rotatably arranged in the mounting seat and connected to the driving wheel through a synchronous belt. The drive module also includes a tensioning wheel, which is rotatably arranged in the mounting seat and presses down to tension the synchronous belt.

[0012] Furthermore, a central shaft is provided inside the mounting seat, and the tensioning wheel is sleeved on the central shaft to achieve a rotatable setting.

[0013] Furthermore, the tensioning wheel can be rotatably set on a wheel seat, and a hanging piece is provided in the mounting seat above the wheel seat, and a vertically arranged compression spring is provided between the wheel seat and the hanging piece, so that the compression spring presses down the wheel seat, and the wheel seat includes an inverted U-shaped seat body and a core shaft fixed at the lower parts of both sides of the inverted U-shaped seat body, a sliding sleeve is formed on the top surface of the inverted U-shaped seat body, and the hanging piece is formed with a sliding rod, and the sliding rod can be slidably inserted in the sliding sleeve, the compression spring is sheathed on the sliding sleeve and the sliding rod, and the tensioning wheel can be rotatably sleeved on the core shaft.

[0014] Furthermore, the wall-climbing robot body is also provided with a fall protection module, which includes four airbags arranged at the four corners of the robot body. The airbag is connected to the exhaust duct of the negative pressure fan and is provided with a solenoid valve at its inflation port. The solenoid valve is connected to the control system and is controlled by the control system.

[0015] The beneficial technical effect of the present invention is that the pan-tilt camera is installed on the wall-climbing robot body through a rotary drive mechanism to form a wall-climbing photography robot, which can meet the use requirements of wall-climbing photography. Compared with existing drone photography and ground mobile equipment photography, it is more convenient to shoot scenes at high places. In addition, the use of a rotary drive mechanism to install the pan-tilt camera can adjust the pan-tilt camera according to the movement state of the wall-climbing robot body to keep it in a horizontal state, thereby ensuring the quality of the shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the wall-climbing photography robot.

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the wall-climbing robot.

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the wall-climbing robot body.

[0019] Figure 4 This is a schematic diagram of the decomposed structure of the wall-climbing robot.

[0020] Figure 5 This is a schematic diagram of the decomposed structure of the wall-climbing robot from another angle.

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of the drive module.

[0022] Figure 7 It is a structural diagram of another embodiment of the driving module.

[0023] Figure 8 It is a structural diagram of yet another embodiment of the driving module. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work shall fall within the scope of protection of the present invention.

[0025] It should be understood that, in the description of the present utility model, unless otherwise clearly specified and limited, the term "plurality" means two or more; the terms "first", "second", ... are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features; the terms "connection" and "installation" should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection or an integral connection, and can be a direct connection or an indirect connection through an intermediate medium.

[0026] See Figures 1 to 5 In some embodiments, the wall-climbing photography robot includes a wall-climbing robot body 10 and a pan-tilt camera 30 installed on the wall-climbing robot body 10 through a rotation drive mechanism 20, wherein the rotation drive mechanism 20 includes a first drive motor 21 arranged in the wall-climbing robot body 10 and a supporting base 22 arranged at the front of the wall-climbing robot body 10 and connected to the output shaft of the first drive motor 21, the pan-tilt camera 30 is fixed at the supporting base 22, and the first drive motor 21 is controlled by the wall-climbing robot body 10, and can drive the supporting base 22 to rotate so that the pan-tilt camera 30 remains in a horizontal state.

[0027] When the wall-climbing photography robot turns during the process of climbing the wall, the first drive motor 21 is controlled to work according to the turning angle of the wall-climbing robot body 10 to drive the supporting base 22 to rotate, thereby driving the pan-tilt camera 30 to rotate in the opposite clockwise direction by the same angle, so that the pan-tilt camera 30 remains in a horizontal state.

[0028] The pan-tilt camera 30 is installed on the wall-climbing robot body 10 through the rotating drive mechanism 20 to form a wall-climbing photography robot, which can meet the use requirements of wall-climbing photography. Compared with existing drone photography and ground mobile equipment photography, it can more conveniently shoot scenes at high places. In addition, the rotating drive mechanism 20 is used to install the pan-tilt camera 30. The pan-tilt camera 30 can be adjusted according to the movement state of the wall-climbing robot body 10 to keep it in a horizontal state, thereby ensuring the quality of the shooting.

[0029] Combine Figure 1 As shown, in this embodiment, the support base 22 includes a rotating plate 220 connected to the first drive motor 21 and driven for rotation by the first drive motor 21, and a supporting plate 221 fixedly connected to the rotating plate 220 for supporting the pan-tilt camera 30. Of course, in other embodiments, the support base 22 may also adopt other structural methods, such as directly fixing the pan-tilt camera 30 to the rotating plate 220 without providing a supporting plate 221.

[0030] The gimbal camera can be a two-axis gimbal camera or a three-axis gimbal camera currently on the market, which will not be described in detail here.

[0031] Referring to the accompanying drawings, in some preferred embodiments, the wall-climbing robot body 10 adopts a negative pressure adsorption wall-climbing robot, which includes a robot body 11, a sensor group, a communication module, a negative pressure adsorption module 12, a walking module 13 and a control system. The control system is arranged in the robot body and is connected to the sensor group, the communication module, the negative pressure adsorption module 12 and the walking module 13. It controls the operation of the negative pressure adsorption module 12 and the walking module 13 according to the received instructions and / or the acquired data, and is connected to the first drive motor 21 to control the operation of the first drive motor 21. At the same time, it communicates with external electronic devices through the communication module, for example, receiving control instructions from external control devices and transmitting images taken by the pan-tilt camera 30 to external devices.

[0032] The sensor group can be selected from various sensors used in wall-climbing robots in the prior art, such as posture sensors, photoelectric sensors, ranging sensors, etc.

[0033] The robot body 11 can be made of plastic material through injection molding and includes a housing 110. An air inlet 1100 is formed in the middle of the bottom plate of the housing 110. A frame-shaped negative pressure plate 111 surrounds the air inlet 1100 and is fixed to the lower surface of the housing 110, thereby forming a negative pressure chamber 112 on the lower surface of the housing 110. The negative pressure adsorption module 12 includes a negative pressure fan 120, which is disposed in the housing 110 corresponding to the air inlet 1100. By controlling the operation of the negative pressure fan 120, air in the negative pressure chamber 112 is extracted to form a negative pressure state, thereby allowing the wall-climbing robot body 10 to be adsorbed on the working wall.

[0034] In the embodiment shown in the drawings, the housing 110 includes a bottom shell 1101 and a top shell 1102 assembled with the bottom shell 1101 , and the top shell 1102 can be fastened by fasteners such as screws.

[0035] Referring to the accompanying drawings, in some preferred embodiments, a frame-shaped first seal 113 is provided on the lower surface of the negative pressure plate 111, and a frame-shaped second seal 114 is provided between the negative pressure plate 111 and the outer shell 110. By setting the first seal 113 and / or the second seal 114, the airtightness of the negative pressure chamber 112 is ensured, thereby ensuring the adsorption force of the wall-climbing robot body 10.

[0036] In some preferred embodiments, the negative pressure fan 120 is fixed in the housing 110 through a vibration damping member, and sound-absorbing cotton is provided on each inner side wall of the housing 110, so that the operating noise of the negative pressure fan 120 can be reduced.

[0037] Preferably, the sensor group also includes a negative pressure sensor arranged in the negative pressure chamber 112. The control system obtains the real-time negative pressure value measured by the negative pressure sensor and compares it with a preset negative pressure value, thereby controlling the operation of the negative pressure fan 120 to keep the negative pressure state of the negative pressure chamber 112 in an ideal state.

[0038] The walking module 13 includes two track-type driving modules 130 disposed on the robot body 11. Figure 6 In this embodiment, the driving module 130 includes a mounting base 131, a second driving motor 132 fixed to the outside of the mounting base 131, a driving wheel 133 rotatably disposed in the mounting base 131 and connected to the second driving motor 132, and a driven wheel 135 rotatably disposed in the mounting base 131 and connected to the driving wheel 133 through a synchronous belt 134.

[0039] See Figure 7 In another embodiment, the drive module 130 further includes a tensioning pulley 136 rotatably disposed within the mounting base 131 and configured to press downwardly and tension the synchronous belt 134. This configuration of the tensioning pulley 136 allows the tensioning pulley 136 to press downwardly and tension the synchronous belt 134 during use, increasing the contact area between the synchronous belt 134 and the wall, improving the performance stability of the drive module 130, and making it suitable for use in more complex environments. In this embodiment, a spindle 137 is disposed within the mounting base 131, and the tensioning pulley 136 is sleeved on the spindle 137 to achieve a rotatable configuration.

[0040] See Figure 8In yet another embodiment, the tensioning wheel 136 of the driving module 130 is rotatably mounted on a wheel seat 138. A suspending member 139 is provided above the wheel seat 138 in the mounting base 131. A vertically disposed compression spring 140 is interposed between the wheel seat 138 and the suspending member 139, so that the compression spring 140 presses down on the wheel seat 138. Thus, the compression spring 140 exerts a downward force on the tensioning wheel 136, ensuring that the tensioning wheel 136 is in constant contact with the synchronous belt 134, thereby maximizing the contact between the synchronous belt 134 and the wall. In this embodiment, the wheel seat 138 includes an inverted U-shaped seat 1380 and a spindle 1381 fixed to the lower portions of both sides of the inverted U-shaped seat 1380. A sliding sleeve 1382 is formed on the top surface of the inverted U-shaped seat 1381. The hanging member 139 is formed with a sliding rod 1390. The sliding rod 1390 is slidably inserted into the sliding sleeve 1382. The compression spring 140 is externally mounted on the sliding sleeve 1382 and the sliding rod 1390. The tensioning wheel 136 is rotatably mounted on the spindle 1381, thereby achieving the installation of the tensioning wheel 136. The cooperation between the sliding sleeve 1382 and the sliding rod 1390 can prevent the tensioning wheel 136 from shaking.

[0041] In some preferred embodiments, the wall-climbing robot body 10 is further equipped with a fall protection module. This fall protection module includes four airbags located at the four corners of the robot body. The airbags are connected to the exhaust duct of the negative pressure blower 120 and have solenoid valves at their inflation ports. The solenoid valves are connected to and controlled by the control system. When the wall-climbing robot body 10 detects a fall, the negative pressure blower 120 operates at maximum speed, and the solenoid valves of the airbags open simultaneously. The operation of the negative pressure blower 120 drives air into the airbags, causing them to deploy and protect the wall-climbing photography robot.

[0042] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Those skilled in the art may make various equivalent changes and improvements based on the above embodiment. Any equivalent changes or modifications made within the scope of the claims shall fall within the scope of protection of the present invention.

Claims

1. A wall-climbing photography robot, characterized by: The wall-climbing photography robot includes a wall-climbing robot body and a pan-tilt camera installed on the wall-climbing robot body through a rotation drive mechanism, wherein the rotation drive mechanism includes a first drive motor arranged in the wall-climbing robot body and a supporting seat arranged at the front of the wall-climbing robot body and connected to the output shaft of the first drive motor. The pan-tilt camera is fixed on the supporting seat. The first drive motor is controlled by the wall-climbing robot body and can drive the supporting seat to rotate so that the pan-tilt camera remains in a horizontal state.

2. The wall-climbing photography robot according to claim 1, wherein: The supporting base includes a rotating plate connected to the first driving motor and driven to rotate by the first driving motor, and a supporting plate fixedly connected to the rotating plate and used for supporting the pan-tilt camera.

3. The wall-climbing photography robot according to claim 1, wherein: The wall-climbing robot body is a negative pressure adsorption wall-climbing robot, which includes a robot body, a sensor group, a communication module, a negative pressure adsorption module, a walking module and a control system. The control system is arranged in the robot body and is connected to the sensor group, communication module, negative pressure adsorption module and walking module. It controls the operation of the negative pressure adsorption module and walking module according to the received instructions and / or the acquired data, and is connected to the first drive motor to control the operation of the first drive motor. At the same time, it communicates with external electronic devices through the communication module.

4. The wall-climbing photography robot according to claim 3, wherein: The robot body includes a shell, an air inlet is formed in the middle of the bottom plate of the shell, a frame-shaped negative pressure plate surrounds the air inlet and is fixed to the lower surface of the shell, thereby forming a negative pressure cavity at the lower surface of the shell, and the negative pressure adsorption module includes a negative pressure fan, which is arranged in the shell corresponding to the air inlet.

5. The wall-climbing photography robot according to claim 4, characterized in that: A frame-shaped first sealing member is provided on the lower surface of the negative pressure plate, and a frame-shaped second sealing member is provided between the negative pressure plate and the shell.

6. The wall-climbing photography robot according to claim 4, wherein: The sensor group also includes a negative pressure sensor arranged in the negative pressure chamber. The control system obtains the real-time negative pressure value measured by the negative pressure sensor and compares it with a preset negative pressure value, thereby controlling the operation of the negative pressure fan.

7. The wall-climbing photography robot according to claim 3, wherein: The walking module includes two crawler drive modules arranged on the left and right sides of the robot body, the drive module includes a mounting seat, a second drive motor fixed to the outside of the mounting seat, a driving wheel rotatably arranged in the mounting seat and connected to the second drive motor, and a driven wheel rotatably arranged in the mounting seat and connected to the driving wheel through a synchronous belt. The drive module also includes a tensioning wheel, which is rotatably arranged in the mounting seat and presses down to tension the synchronous belt.

8. The wall-climbing photography robot according to claim 7, wherein: A central shaft is provided inside the mounting seat, and the tensioning wheel is sleeved on the central shaft to achieve a rotatable setting.

9. The wall-climbing photography robot according to claim 7, wherein: The yoke is secured to the chassis and has a cam which is secured to the chassis by a spring which is secured to the chassis' base and has a cam which is secured to the chassis' base when the yoke is in a cam state.

10. The wall-climbing photography robot according to claim 4, characterized in that: The wall-climbing robot body is also provided with a fall protection module, which includes four airbags arranged at the four corners of the robot body. The airbag is connected to the exhaust duct of the negative pressure fan and is provided with a solenoid valve at its inflation port. The solenoid valve is connected to the control system and is controlled by the control system.

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