Robot pan-tilt camera lifting structure

Abstract

The utility model discloses a robot pan-tilt camera lifting structure which comprises a lifting outer rod, a lifting inner rod, a driving device, a plurality of first sliding parts and a plurality of second sliding parts, the lifting inner rod is arranged in the lifting outer rod, and the driving device is arranged in the lifting inner rod and used for driving the lifting inner rod to move relative to the lifting outer rod. The first sliding components are arranged on the outer side of the bottom of the lifting inner rod, the second sliding components are arranged on the inner side of the top of the lifting outer rod, first elastic gaskets are arranged between the first sliding components and the outer wall of the lifting inner rod, and second elastic gaskets are arranged between the second sliding components and the inner wall of the lifting outer rod. According to the lifting structure, stable movement between the lifting inner rod and the lifting outer rod is achieved through combination of the sliding parts and the rubber gaskets, meanwhile, the multiple sets of evenly-distributed sliding parts form a stable multi-point limiting supporting system, and the problems that a traditional lifting structure is prone to frictional abrasion and horizontal rotation are effectively solved; and the operation stability and the service life of the lifting mechanism are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot pan-tilt camera lifting structure. Background Art

[0002] This patent application is a further improvement of Chinese utility model CN219510522U.

[0003] Chinese utility model CN219510522U discloses a robot pan-tilt lifting mechanism, specifically comprising: an outer rod, the lower end of which is connected to the robot's body; an inner rod, disposed within the outer rod, the upper end of the inner rod connected to the pan-tilt via the pan-tilt base, and the lower end of the inner rod slidingly connected to the outer rod via a universal ball joint; and an electric push rod, disposed within the inner rod, the upper end of the electric push rod connected to the pan-tilt base and the lower end connected to the robot's body, for driving the pan-tilt and inner rod to rise and fall. This utility model can prevent damage to the electric push rod; on the other hand, a universal ball joint is provided between the inner and outer rods, which can limit and slide the inner and outer rods when they move relative to each other. This not only reduces the friction coefficient, allows for flexible sliding, is durable, and reduces the difficulty of the installation process. By coordinating the lifting stroke of the lifting rod, the robot can achieve image and video monitoring in all directions without blind spots, and generally low green plants, shrubs, fences, etc. will not block the monitoring field of view.

[0004] However, this utility model still has some shortcomings. The inner rod of the lifting rod cannot be effectively limited, and will produce horizontal rotation, which may affect the stability and monitoring accuracy of the pan-tilt head. Or the existing structure may have friction and wear problems between the inner and outer rods during long-term use, or the inner and outer rods may have irregular shapes and cause shaking during operation, affecting the service life and reliability of the lifting mechanism.

[0005] Therefore, there is an urgent need for a robot pan-tilt camera lifting mechanism with a simpler structure, more convenient processing technology, more effective internal rod limiting, and the ability to reduce friction and wear between the internal and external rods, so as to further improve the performance and practicality of the product. Utility Model Content

[0006] The technical problem to be solved by the present invention is: to solve the above-mentioned technical problems and provide a robot pan-tilt camera lifting structure that can effectively reduce the friction and wear between the inner and outer rods and prevent the inner rod from rotating horizontally during the lifting process.

[0007] The technical solution adopted by the utility model to solve its technical problems is:

[0008] A robot pan-tilt camera lifting structure includes a lifting outer rod, a lifting inner rod, a driving device and multiple first sliding components and second sliding components. The lifting inner rod is arranged inside the lifting outer rod, and the driving device is arranged inside the lifting inner rod, which is used to drive the lifting inner rod to move relative to the lifting outer rod. The multiple first sliding components are arranged on the outside of the bottom of the lifting inner rod, and the multiple second sliding components are arranged on the inside of the top of the lifting outer rod. A first elastic gasket is provided between the first sliding component and the outer wall of the lifting inner rod, and a second elastic gasket is provided between the second sliding component and the inner wall of the lifting outer rod.

[0009] Preferably, eight groups of first sliding components are provided, which are evenly arranged on the four surfaces of the outer wall of the bottom of the lifting inner rod.

[0010] Preferably, eight groups of second sliding components are provided, which are evenly arranged on the four surfaces of the inner wall at the top of the lifting outer rod.

[0011] Preferably, the total thickness of the first sliding component and the first elastic gasket is not less than the distance between the outer wall of the lifting inner rod and the inner wall of the lifting outer rod.

[0012] Preferably, the total thickness of the second sliding component and the second elastic gasket is not less than the distance between the outer wall of the lifting inner rod and the inner wall of the lifting outer rod.

[0013] Preferably, the first sliding component and the second sliding component are both sliders, and the sliding contact surfaces of the sliders are arc surfaces.

[0014] Preferably, the bottom of the lifting outer rod is connected to the lifting base, the top of the lifting inner rod is connected to the pan head base, and the lifting outer rod and the lifting inner rod are both hollow rod bodies with square cross-sections.

[0015] Preferably, the driving device includes a driving motor and an electric lifting rod connected to the driving motor, the driving motor is installed on the top surface of the lifting base, and the electric lifting rod is connected to the bottom surface of the pan / tilt head base.

[0016] Preferably, the lifting outer rod is fixedly connected to the lifting base through a lifting rod fixing piece, and is installed on the robot body through the lifting base.

[0017] Preferably, the lifting inner rod is fixedly connected to the pan head base through a lifting rod fixing piece, and the pan head is installed on the pan head base.

[0018] The beneficial effects that can be achieved by the utility model are:

[0019] 1. By arranging rubber gaskets between the first sliding component and the outer wall of the lifting inner rod and between the second sliding component and the inner wall of the lifting outer rod, a sliding support structure with buffering and friction reduction functions is formed, which realizes smooth movement between the lifting inner rod and the lifting outer rod, effectively solves the problem of easy friction and wear between the lifting inner rod and the lifting outer rod, and significantly extends the service life of the lifting mechanism.

[0020] 2. Eight evenly spaced sliding components are installed on the outside of the bottom of the inner lift rod and the inside of the top of the outer lift rod. Combined with the elastic support of rubber gaskets, a multi-point limit support system is formed. This ensures stable guidance of the inner lift rod during the lifting process, effectively solving the problem of the inner lift rod easily rotating in the horizontal direction and ensuring the stability of the gimbal camera during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the robot pan-tilt camera lifting structure in Example 1;

[0022] Figure 2 This is a perspective structural diagram of the robot pan-tilt camera lifting structure in Example 1;

[0023] Figure 3 for Figure 2 Schematic diagram of the medium AA perspective structure;

[0024] Figure 4 for Figure 2 Schematic diagram of the structure from the perspective of the middle BB;

[0025] Figure 5 This is a disassembled structural diagram of the robot pan-tilt camera lifting structure in Example 1;

[0026] Figure 6 for Figure 5 The enlarged view of point a in the middle;

[0027] Figure 7 for Figure 5 Enlarged view of point b in the middle.

[0028] The above figure markings are: 1. lifting outer rod; 2. lifting inner rod; 3. lifting base; 4. pan / tilt base; 5. electric lifting rod; 6. driving motor; 7. first sliding component; 8. second sliding component; 9. first rubber gasket; 10. second rubber gasket; 11. lifting rod fixing part; 12. pan / tilt camera. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and examples, but these specific implementation schemes do not limit the protection scope of the present invention in any way. Example 1

[0030] like Figure 1-7Figure 1 shows a robotic PTZ camera lifting structure, comprising an outer lifting rod 1, an inner lifting rod 2, a lifting base 3, a PTZ base 4, an electric lifting rod 5, a drive motor 6, a first sliding member 7, a second sliding member 8, a first rubber gasket 9, and a second rubber gasket 10. This lifting structure is primarily used to control the lifting of a robotic PTZ camera 12, enabling stable lifting of the camera and ensuring full coverage of the monitoring field of view.

[0031] The lifting inner rod 2 is a hollow rod body with a square cross-section, which is arranged inside the lifting outer rod 1. Eight groups of first sliding components 7 are installed on the outer periphery of the bottom of the lifting inner rod 2. First rubber gaskets 9 are arranged between the first sliding components 7. The first rubber gaskets 9 are located between the first sliding components 7 and the outer wall of the inner rod to ensure the stability of the inner rod lifting process.

[0032] The lifting outer rod 1 is also a hollow rod body with a square cross-section. Eight groups of second sliding components 8 are installed around the inner cavity of the top of the lifting outer rod 1. Second rubber gaskets 10 are arranged between the second sliding components 8. The second rubber gaskets 10 are located between the second sliding components 8 and the inner wall of the outer rod to absorb the dimensional deviation between the inner and outer rods.

[0033] The first sliding component 7, first rubber gasket 9, and bottom outer wall of the lifting inner rod 2 are assembled in the following order: from the inside out, the bottom outer wall of the lifting inner rod 2, first rubber gasket 9, and first sliding component 7 are arranged in this order. Similarly, the second sliding component 8, second rubber gasket 10 and top inner wall of the lifting outer rod 1 are assembled in the following order: from the outside in, the top inner wall of the lifting outer rod 1, second rubber gasket 10, and second sliding component 8 are arranged in this order. This special assembly structure design has an adaptive compensation function: when the radial spacing between the lifting inner rod 2 and the lifting outer rod 1 shrinks due to processing errors or use, the first rubber gasket 9 and the second rubber gasket 10 will produce corresponding compression deformation, so that the first sliding component 7 and the second sliding component 8 can always maintain effective contact with the lifting inner rod 2 and the lifting outer rod 1, ensuring the sliding guiding function; when the radial spacing expands, the first rubber gasket 9 and the second rubber gasket 10 will produce rebound deformation, which also ensures the effective contact between the first sliding component 7 and the second sliding component 8 and the lifting inner rod 2 and the lifting outer rod 1, maintaining a stable sliding guiding effect. This adaptive compensation mechanism significantly improves the adaptability and reliability of the lifting structure.

[0034] Both the first sliding component 7 and the second sliding component 8 are constructed from low-friction, wear-resistant materials. The slider's sliding contact surface is designed as a curved surface, which not only serves as a guide during installation but also effectively reduces the contact area. A boss is provided on one side of the slider's fixed surface. This boss is secured to the outer rod or inner rod by an interference fit with the hole in the inner rod's outer wall. A flat rubber gasket is sandwiched between the slider's fixed surface and the inner rod's outer wall or inner rod's inner wall.

[0035] In actual designs, the slider is 1.5mm thick and the rubber gasket is 0.5mm thick. This theoretically makes the combined thickness of the slider and rubber gasket (2mm) exactly equal to the distance between the inner wall of the outer rod and the outer wall of the inner tube. However, due to manufacturing errors, the actual dimensions after manufacturing often result in the sum of the slider thickness and the rubber gasket thickness being slightly larger than the distance between the inner wall of the outer rod and the outer wall of the inner tube. In this case, the compression deformation characteristics of the rubber gasket become particularly important: it can absorb these manufacturing errors through its own compression deformation, ensuring that the inner and outer rods can be smoothly inserted and installed, while also preventing any shaking between them, thereby achieving stable and reliable lifting motion.

[0036] The lifting base 3 is installed at the bottom of the lifting outer rod 1 and is fixedly connected to the lifting outer rod 1 through the lifting rod fixing member 11, so as to fix the entire lifting structure on the robot body.

[0037] The pan-tilt base 4 is installed on the top of the lifting inner rod 2 and is also fixedly connected to the lifting inner rod 2 through the lifting rod fixing piece 11. The pan-tilt camera 12 is installed on the pan-tilt base 4.

[0038] The drive device includes a drive motor 6 and an electric lift rod 5. The drive motor 6 is fixedly mounted on the top surface of the lift base 3. The electric lift rod 5 is connected to the output shaft of the drive motor 6. The top of the electric lift rod 5 is fixedly connected to the bottom surface of the pan / tilt head base 4 via bolts. The drive motor 6 can precisely control the lifting speed and position.

[0039] The working principle and method of the above-mentioned robot pan-tilt camera lifting structure are:

[0040] The first step is to insert the inner lift rod 2 assembly into the outer lift rod 1 assembly. During installation, the curved surface design of the first sliding component 7 and the second sliding component 8 serves as a guide, facilitating installation. Because the combined thickness of the slider and rubber gasket is slightly greater than the gap between the inner and outer rods, the rubber gasket will undergo moderate compression deformation during installation, ensuring a stable preload between the inner and outer rods. At this point, the first sliding component 7 on the outside of the bottom of the inner lift rod 2 and the second sliding component 8 on the inside of the top of the outer lift rod 1 work together to form an effective limit structure between the inner and outer rods, preventing the inner lift rod 2 from rotating horizontally during movement.

[0041] Next, the control system activates the drive motor 6, which drives the electric lift rod 5. The extension and retraction of the electric lift rod 5 drives the pan / tilt base 4 up and down, thereby achieving the lifting and lowering motion of the inner lift rod 2 within the outer lift rod 1. During this process, the first and second rubber washers 9, 10, through their compression and deformation properties, continuously absorb dimensional deviations between the inner and outer rod cavities. The curved design of the slider reduces contact area, lowering friction and ensuring a stable and smooth lifting process.

[0042] In the third step, when the lifting inner rod 2 arrives at the predetermined position, the control system stops the operation of the drive motor 6. At this time, the pan / tilt head can perform actions such as rotation and pitch at the new height position to achieve a full range of monitoring functions.

[0043] Throughout the lifting process, the first and second sliding members 7 and 8, through their unique curved surface structure and boss fixing method, work in conjunction with the corresponding rubber gaskets to not only ensure smooth lifting action but also effectively prevent the shaking and rotation of the lifting inner rod 2, thereby improving the stability and reliability of the entire lifting mechanism. Furthermore, the use of sliding component materials with a low friction coefficient and the reduced contact area through the curved surface design significantly reduce frictional resistance during the lifting process, extending the service life of the equipment.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. Any innovative improvement or replacement based on the present invention shall fall within the scope of the claims of the present invention. At the same time, the various parameters, materials, and processes mentioned in the above embodiments are not exclusive. Without departing from the technical essence of the present invention, ordinary technicians in this field can make various alternatives, and these alternatives should also be considered to fall within the scope of protection of the present invention.

Claims

1. A robotic pan-tilt camera lifting structure, comprising an outer lifting rod, an inner lifting rod, a drive device, and a plurality of first and second sliding members. The inner lifting rod is disposed within the outer lifting rod. The drive device is disposed within the inner lifting rod and is configured to drive the inner lifting rod to move relative to the outer lifting rod. The plurality of first sliding members are disposed outside the bottom of the inner lifting rod, and the plurality of second sliding members are disposed inside the top of the outer lifting rod. The structure is characterized in that: A first elastic gasket is provided between the first sliding component and the outer wall of the lifting inner rod, and a second elastic gasket is provided between the second sliding component and the inner wall of the lifting outer rod.

2. The robot pan-tilt camera lifting structure according to claim 1, characterized in that: The first sliding components are provided in eight groups and are evenly arranged on the four surfaces of the outer wall of the bottom of the lifting inner rod.

3. The robot pan-tilt camera lifting structure according to claim 1, characterized in that: The second sliding components are provided in eight groups and are evenly arranged on the four surfaces of the inner wall of the top of the lifting outer rod.

4. The robot pan-tilt camera lifting structure according to claim 1, characterized in that: The total thickness of the first sliding component and the first elastic gasket is not less than the distance between the outer wall of the lifting inner rod and the inner wall of the lifting outer rod.

5. The robot pan-tilt camera lifting structure according to claim 1, characterized in that: The total thickness of the second sliding component and the second elastic gasket is not less than the distance between the outer wall of the lifting inner rod and the inner wall of the lifting outer rod.

6. The robot pan-tilt camera lifting structure according to claim 1, characterized in that: The first sliding component and the second sliding component are both sliders, and the sliding contact surfaces of the sliders are arc surfaces.

7. The robot pan-tilt camera lifting structure according to claim 1, characterized in that: The bottom of the lifting outer rod is connected to a lifting base, and the top of the lifting inner rod is connected to a pan head base. Both the lifting outer rod and the lifting inner rod are hollow rod bodies with square cross-sections.

8. The robot pan-tilt camera lifting structure according to claim 7, characterized in that: The driving device includes a driving motor and an electric lifting rod connected to the driving motor. The driving motor is installed on the top surface of the lifting base, and the electric lifting rod is connected to the bottom surface of the pan / tilt head base.

9. The robot pan-tilt camera lifting structure according to claim 7, characterized in that: The lifting outer rod is fixedly connected to the lifting base through a lifting rod fixing piece, and is installed on the robot body through the lifting base.

10. The robot pan-tilt camera lifting structure according to claim 7, characterized in that: The lifting inner rod is fixedly connected to the platform base through a lifting rod fixing piece, and the platform is installed on the platform base.

Images