Visual teleoperation lifting device based on hot-line work robot

Abstract

The utility model provides a visual teleoperation lifting device based on a hot-line work robot, which comprises a mounting bracket, a driving assembly is arranged at the bottom of the mounting bracket, the driving end of the driving assembly is connected with a connecting rod assembly, and the tail end of the connecting rod assembly is connected with a camera assembly. By means of the length ratio of the transmission rod, it is guaranteed that tail end monitoring equipment is in a horizontal state, good consistency is guaranteed through independent power control, and high lifting precision and rigidity are guaranteed through the combination of the steel wire rope and the synchronous belt.

Description

Technical Field

[0001] The present invention belongs to the technical field of live-working robots, and in particular relates to a visual remote-controlled lifting device based on a live-working robot. Background Art

[0002] Existing inspection or operation robots, such as the folding lifting mechanism mentioned in CN113147953B, have each joint degree of freedom controlled individually by a servo, which places high demands on control accuracy and consistency of each degree of freedom. They have defects such as low reliability, low consistency, and low lifting accuracy. Summary of the Invention

[0003] Purpose of the invention: In view of the above existing technologies, a visual remote control lifting device based on a live working robot is proposed;

[0004] Technical solution: A visual remote-controlled lifting device based on an electric working robot includes a mounting bracket, a driving assembly is provided at the bottom of the mounting bracket, a driving end of the driving assembly is connected to a connecting rod assembly, and the end of the connecting rod assembly is connected to a camera assembly.

[0005] Preferably, the driving assembly includes a handle screw, a stepping motor, a small gear, a large gear, a linear guide rail, a slider, a bearing seat, a spring buffer, a ball screw, a ball screw nut, a slider mounting seat, and a nut mounting seat;

[0006] The stepper motor is connected to the bottom end of the mounting bracket, the driving end of the stepper motor is connected to the pinion, and the pinion is engaged with the large gear. The mounting bracket is connected to a bearing seat, and the bearing of the bearing seat is connected to the large gear. One end of the large gear is connected to a ball screw, and the other end of the ball screw is connected to the mounting bracket through a bearing seat. The ball screw is engaged with a ball screw nut, and one side of the ball screw nut is connected to a nut mounting seat, and the bottoms of both sides of the nut mounting seat are respectively connected to slider mounting seats, and the slider mounting seat is equipped with a slider, and the slider is slidably connected to a linear guide rail, and the linear guide rail is provided on the mounting bracket. Both sides of the nut mounting seat are also connected to a first connecting shaft, and the first connecting shaft is connected to the connecting rod assembly.

[0007] Preferably, the connecting rod assembly includes two symmetrical first connecting rods, a second connecting rod, a third connecting rod, a fourth connecting rod, and a fifth connecting rod;

[0008] The two symmetrical first connecting rods are respectively rotatably connected to the first connecting shaft, and the two second connecting rods are rotatably connected to the other end of the mounting bracket;

[0009] The middle parts of the two first connecting rods are also rotatably connected to the second connecting rod via a second connecting shaft;

[0010] The two third connecting rods are both rotatably connected to the second connecting rod via a third connecting shaft;

[0011] The other ends of the two third connecting rods are rotatably connected to the fourth connecting rod via a fourth connecting shaft;

[0012] The other ends of the two first connecting rods are rotatably connected to the fourth connecting rod through the fifth connecting shaft, and the fifth connecting shaft is provided with a connecting seat and a first transmission wire wheel, the first connecting rod and the connecting seat and the first transmission wire wheel are all fixedly connected, and the first transmission wire wheel is connected to the transmission wire wheel with a wire rope, and the other end of the wire rope is connected to the second transmission wire wheel, and the second transmission wire wheel is connected to the two ends of the transmission shaft, and the transmission shaft bearing is connected between the two fourth connecting rods, and the transmission shaft is also connected to a small pulley, and the small pulley is connected to a synchronous belt, and the other end of the synchronous belt is connected to the large pulley, and the large pulley bearing is connected to the large pulley connecting seat.

[0013] Preferably, the camera assembly includes a panoramic camera connecting frame, a dome camera connecting frame, a panoramic camera, and a dome camera. The large pulley connecting seat is connected to the panoramic camera connecting frame, the panoramic camera is connected to the panoramic camera connecting frame, the panoramic camera is connected to the dome camera connecting frame, and the dome camera is provided on the dome camera connecting frame.

[0014] Preferably, the diameter ratio of the small pulley to the large pulley is 1:2.

[0015] Beneficial effects: The utility model ensures that the terminal monitoring equipment is in a horizontal state through the length ratio of the transmission rod, the independent power control ensures good consistency, and the combination of the wire rope and the synchronous belt ensures high lifting accuracy and rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the drive assembly of the utility model;

[0018] Figure 3 This is a schematic structural diagram of the connecting rod assembly of the utility model;

[0019] Figure 4 This is a schematic diagram of the front structure of the utility model;

[0020] Figure 5 This is a schematic diagram of the position of the steel wire rope of the utility model;

[0021] Figure 6 It is a schematic diagram of the contraction structure of the utility model;

[0022] Figure 7It is a schematic diagram of the elongated structure of the utility model;

[0023] 1. Drive assembly, 2. Connecting rod assembly, 3. Camera assembly, 101. Mounting bracket, 102. Handle screw, 103. Stepper motor, 104. Pinion, 105. Gear, 106. Linear guide, 107. Slider, 108. Bearing seat, 109. Spring buffer, 110. Ball screw, 111. Ball screw nut, 112. Slider mounting seat, 113. Nut mounting seat, 201. First connecting rod, 202. Second connecting rod, 203 , intermediate support shaft, 204, third connecting rod, 205, connecting seat, 206, first transmission wire wheel, 207, fourth connecting rod, 208, wire rope, 209, second transmission wire wheel, 210, small pulley connecting seat, 211, small pulley, 212, synchronous belt, 213, fifth connecting rod, 214, idler wheel mounting seat, 301, large pulley connecting seat, 302, panoramic camera connecting frame, 303, ball camera connecting frame, 304, panoramic camera, 305, ball camera. DETAILED DESCRIPTION

[0024] The present invention will be further explained below with reference to the accompanying drawings.

[0025] A visual remote control lifting device based on an electric working robot includes a mounting bracket 101. A driving component 1 is provided at the bottom of the mounting bracket 101. The driving end of the driving component 1 is connected to a connecting rod component 2. The end of the connecting rod component 2 is connected to a camera component 3.

[0026] The driving assembly 1 includes a handle screw 102, a stepping motor 103, a small gear 104, a large gear 105, a linear guide 106, a slider 107, a bearing seat 108, a spring buffer 109, a ball screw 110, a ball screw nut 111, a slider mounting seat 112, and a nut mounting seat 113;

[0027] The stepper motor 103 is connected to the bottom end of the mounting bracket 101, and the driving end of the stepper motor 103 is connected to the small gear 104, and the small gear 104 is engaged with the large gear 105. The mounting bracket 101 is connected to a bearing seat 108, and the bearing seat 108 is connected to the large gear 105. One end of the large gear 105 is connected to a ball screw 110, and the other end of the ball screw 110 is connected to the mounting bracket 101 through the bearing seat. The ball screw 110 is engaged with a ball screw nut 111, and one side of the ball screw nut 111 is connected to a nut mounting seat 113. The bottoms of both sides of the nut mounting seat 113 are respectively connected to slider mounting seats 112, and the slider mounting seat 112 is installed with a slider 107. The slider 107 is slidably connected to the linear guide 106, and the linear guide 106 is provided on the mounting bracket 101. The two sides of the nut mounting seat 113 are also connected to the first connecting shaft, and the first connecting shaft is connected to the connecting rod assembly 2.

[0028] The connecting rod assembly 2 includes two symmetrical first connecting rods 201, a second connecting rod 202, a third connecting rod 204, a fourth connecting rod 207, and a fifth connecting rod 213;

[0029] Two symmetrical first connecting rods 201 are respectively rotatably connected to the first connecting shaft, and two second connecting rods 202 are rotatably connected to the other end of the mounting bracket 101;

[0030] The middle parts of the two first connecting rods 201 are also rotatably connected to the second connecting rod 202 via a second connecting shaft;

[0031] The two third connecting rods 204 are both rotatably connected to the second connecting rod 202 via a third connecting shaft;

[0032] The other ends of the two third connecting rods 204 are rotatably connected to the fourth connecting rod 207 via a fourth connecting shaft;

[0033] The other ends of the two first connecting rods 201 are rotatably connected to the fourth connecting rod 207 through the fifth connecting shaft. The fifth connecting shaft is provided with a connecting seat 205 and a first transmission wire wheel 206. The first connecting rod 201 and the connecting seat 205 and the first transmission wire wheel 206 are all fixedly connected. The first transmission wire wheel 206 is transmission-connected with a wire rope 208. The other end of the wire rope 208 is transmission-connected to the second transmission wire wheel 209. The second transmission wire wheel 209 is connected to both ends of the transmission shaft. The transmission shaft bearing is connected between the two fourth connecting rods 207. A small pulley 210 is also connected to the transmission shaft. The small pulley 210 is transmission-connected with a synchronous belt 212. The other end of the synchronous belt 212 is transmission-connected to the large pulley, and the large pulley bearing is connected to the large pulley connecting seat 301.

[0034] The camera assembly 3 includes a panoramic camera connecting frame 302, a dome camera connecting frame 303, a panoramic camera 304, and a dome camera 305. The large pulley connecting seat 301 is connected to the panoramic camera connecting frame 302, the panoramic camera 304 is connected to the panoramic camera connecting frame 302, the panoramic camera 304 is connected to the dome camera connecting frame 303, and the dome camera 305 is provided on the dome camera connecting frame 303.

[0035] The diameter ratio of the small pulley 210 to the large pulley is 1:2.

[0036] How it works:

[0037] Regarding the bottom drive assembly 1:

[0038] First, start the stepper motor 103. The driving end of the stepper motor 103 drives the small gear 104 to rotate. The small gear 104 engages with the large gear 105. The large gear 105 rotates. The large gear 105 is mounted on one side of the bearing seat 108. The other side is connected to the ball screw 110. The ball screw 110 is also mounted on the other end of the mounting bracket 101 through the bearing seat. The ball screw 110 rotates as the large gear 105 rotates. The ball screw 110 is threadedly connected to the ball screw nut 111. The ball screw nut 111 is mounted on one side of the nut mounting seat 113. The nut mounting seat 113 is mounted on the linear guide 106 through the slider mounting seats 112 and the slider 107 at both ends. Therefore, as the ball screw 110 rotates, the nut mounting seat 113 and the slider mounting seat 112 move along the linear guide 106.

[0039] About connecting rod assembly 2:

[0040] The slider mounting seat 112 is also connected to a first connecting shaft, and a first connecting rod 201 is sleeved on the first connecting shaft. The first connecting rod 201 moves with the movement of the slider mounting seat 112, and the other end of the first connecting rod 201 rotates. A second connecting shaft is provided between the other end of the first connecting rod 201 and the fourth connecting rod 207. A connecting seat 205 and a first transmission wire wheel 206 are provided on the second connecting shaft. The connecting seat 205 and the first transmission wire wheel 206 are fixedly connected, and are also fixedly connected to the other end of the first connecting rod 201. In this way, as the other end of the first connecting rod 201 rotates, the connecting seat 205 and the first transmission wire wheel 206 also rotate, and the first transmission wire wheel 206 is connected to the wire rope 208 for transmission. The other end of the wire rope 208 is connected to the second transmission wire wheel 209 for transmission. The second transmission wire wheel 209 is connected to the end of the third connecting shaft, and the wire rope 208 drives the second transmission wire wheel 209 to rotate, and the third connecting shaft rotates. At the same time, the third connecting shaft bearing is connected between the fourth connecting rod 207 and the sixth connecting rod. The third connecting shaft is also connected to a small pulley 211, and the small pulley 211 rotates with the rotation of the third connecting shaft. The small pulley 211 is connected to the synchronous belt 212 for transmission, and the other end of the synchronous belt 212 is connected to the large pulley for transmission. The large pulley rotates as the wire rope 208 moves, and the large pulley is connected to the large pulley connecting seat 301. As the large pulley rotates, the large pulley connecting seat 301 rotates, but in order to keep the large pulley connecting seat 301 from rotating, that is, to keep the panoramic camera 304 level, the diameter ratio of the large pulley and the small pulley is set to 2:1.

[0041] Regarding other parts of connecting rod assembly 2:

[0042] A second connecting rod 202 is mounted on the other end of the mounting bracket 101. The second connecting rod 202 is rotatably connected to the first connecting rod 201 via a mounting shaft. Meanwhile, the end of the second connecting rod 202 is rotatably connected to the third connecting rod 204 via a mounting shaft. The third connecting rod 204 is rotatably connected to the fourth connecting rod 207 via a mounting shaft. This allows for lifting.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A visual remote control lifting device based on a live working robot, characterized in that: The mounting bracket (101) comprises a driving assembly (1) provided at the bottom of the mounting bracket (101), a driving end of the driving assembly (1) being connected to a connecting rod assembly (2), and a terminal end of the connecting rod assembly (2) being connected to a camera assembly (3).

2. A visual remote control lifting device based on a live working robot as claimed in claim 1, characterized in that: The driving assembly (1) includes a handle screw (102), a stepping motor (103), a small gear (104), a large gear (105), a linear guide rail (106), a slider (107), a bearing seat (108), a spring buffer (109), a ball screw (110), a ball screw nut (111), a slider mounting seat (112), and a nut mounting seat (113); The stepper motor (103) is connected to the bottom end of the mounting bracket (101), the driving end of the stepper motor (103) is connected to the small gear (104), the small gear (104) is engaged with the large gear (105), the mounting bracket (101) is connected to a bearing seat (108), the bearing of the bearing seat (108) is connected to the large gear (105), one end of the large gear (105) is connected to a ball screw (110), the other end of the ball screw (110) is connected to the mounting bracket (101) through the bearing seat, and the ball screw (110) is connected to the mounting bracket (101). 0) is engaged with a ball screw nut (111), one side of the ball screw nut (111) is connected to a nut mounting seat (113), the bottoms of both sides of the nut mounting seat (113) are respectively connected to slider mounting seats (112), the slider mounting seat (112) is installed with a slider (107), the slider (107) is slidably connected to a linear guide rail (106), the linear guide rail (106) is provided on the mounting bracket (101), and the two sides of the nut mounting seat (113) are also connected to a first connecting shaft, and the first connecting shaft is connected to the connecting rod assembly (2).

3. A visual remote control lifting device based on a live working robot as described in claim 2, characterized in that: The connecting rod assembly (2) comprises two symmetrical first connecting rods (201), a second connecting rod (202), a third connecting rod (204), a fourth connecting rod (207), and a fifth connecting rod (213); The two symmetrical first connecting rods (201) are respectively rotatably connected to the first connecting shaft, and the two second connecting rods (202) are rotatably connected to the other end of the mounting bracket (101); The middle portions of the two first connecting rods (201) are also rotatably connected to the second connecting rod (202) via a second connecting shaft; The two third connecting rods (204) are both rotatably connected to the second connecting rod (202) via a third connecting shaft; The other ends of the two third connecting rods (204) are rotatably connected to the fourth connecting rod (207) via a fourth connecting shaft; The other ends of the two first connecting rods (201) are rotatably connected to the fourth connecting rod (207) via a fifth connecting shaft. The fifth connecting shaft is provided with a connecting seat (205) and a first transmission wire wheel (206). The first connecting rod (201), the connecting seat (205) and the first transmission wire wheel (206) are all fixedly connected. A wire rope (208) is transmission-connected to the first transmission wire wheel (206). The other end of the wire rope (208) is transmission-connected to the second transmission wire wheel (209). The second transmission wire wheel (209) is connected to both ends of the transmission shaft. The transmission shaft bearing is connected between the two fourth connecting rods (207). A small pulley (210) is further connected to the transmission shaft. A synchronous belt (212) is transmission-connected to the small pulley (210). The other end of the synchronous belt (212) is transmission-connected to the large pulley. The large pulley bearing is connected to the large pulley connecting seat (301).

4. A visual remote control lifting device based on a live working robot as claimed in claim 3, characterized in that: The camera assembly (3) comprises a panoramic camera connecting frame (302), a dome camera connecting frame (303), a panoramic camera (304), and a dome camera (305). The large pulley connecting seat (301) is connected to the panoramic camera connecting frame (302), the panoramic camera (304) is connected inside the panoramic camera connecting frame (302), the panoramic camera (304) is connected to the dome camera connecting frame (303), and the dome camera (305) is provided on the dome camera connecting frame (303).

5. The visual remote control lifting device based on a live working robot according to claim 3, characterized in that: The diameter ratio of the small pulley (210) to the large pulley is 1:2.

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