Visual cradle head device of balance robot

Abstract

The utility model relates to the technical field of visual holders of balance robots, and discloses a visual holder device of a balance robot, which comprises a seat frame, a swing frame, a linkage structure, a swing assembly and a rotating motor, the swing frame is used for assembling a camera module, the swing frame is movably butted with the seat frame along the vertical direction, and the rotating motor is used for driving the seat frame to rotate circumferentially; the linkage structure comprises a lower swing rod and an upper swing rod, the swing assembly is used for driving the lower swing rod to swing, the lower swing rod is used for driving the upper swing rod to swing, and the upper swing rod is used for driving the swing frame to swing up and down relative to the seat frame. The rotary motor realizes the adjustment of the horizontal view of the camera and enlarges the view range of the camera in the horizontal direction; the swinging assembly is used for adjusting the visual field of the camera in the longitudinal direction and expanding the visual field range of the camera in the longitudinal direction; therefore, no matter in the horizontal direction or the longitudinal direction, the camera has a large visual field range, and the visual field extraction effect of the visual holder device is improved.

Description

TECHNICAL FIELD

[0001] The utility model discloses a balance robot's visual cloud platform's technical field, specifically, balance robot's visual cloud platform device. BACKGROUND

[0002] With the rapid development of robot technology, people's demand for robots that can move flexibly in narrow space increases, and double-wheel robots are widely researched and used because of their small size and stable movement advantages; Robots can replace manual inspection work, improve efficiency and safety, reduce labor costs, and also reduce work risks and improve work quality.

[0003] At present, the visual cloud platform device of the robot includes an adjusting mechanism, which realizes the installation and adjustment of the camera, improves the shooting field of view of the camera, for example, the prior patent with the authorization announcement number CN219190227U discloses a camera adjusting mechanism of a reconnaissance robot, which comprises a bottom plate and an adjusting unit; The bottom plate: the right end of its upper surface is provided with a lower U-shaped seat, a connecting shaft is rotatably connected in the rotating hole of the upper end of the lower U-shaped seat, the front and rear ends of the connecting shaft are fixedly connected with the inner side wall of the upper U-shaped seat, and the upper end of the upper U-shaped seat is rotatably connected with a support shaft through a bearing, and the upper end of the support shaft is provided with a camera fixing plate; The adjusting unit: is arranged at the upper end of the upper U-shaped seat, and the right end of the adjusting unit is fixedly connected with the lower end of the support shaft.

[0004] In the prior art, double motors are used to cooperate with gear sets to realize the angle adjustment of the camera, the double motors are arranged horizontally in a staggered manner, the visual cloud platform device occupies a large space in the horizontal direction, and it is not easy to balance, which affects the driving balance of the robot, and the motor blocks the field of view of the camera, resulting in limited field of view of the visual cloud platform device. INVENTION CONTENTS

[0005] The utility model discloses a balance robot's visual cloud platform device, aims at solving the problem of limited field of view of the visual cloud platform device in the prior art.

[0006] The utility model discloses a balance robot's visual cloud platform device, aims at solving the problem of limited field of view of the visual cloud platform device in the prior art. The utility model discloses a balance robot's visual cloud platform device, aims at solving the problem of limited field of view of the visual cloud platform device in the prior art.

[0007] Further, the linkage structure comprises a lower flange bearing, the lower flange bearing is in assembled arrangement with the upper part of the lower swing rod and the upper part of the upper swing rod respectively, the lower flange bearing is used to provide torque and is used for the rotation of the upper swing rod, the upper part of the lower swing rod has a lower bearing pad, the lower bearing pad is in assembled arrangement with the lower flange bearing.

[0008] Further, the swing frame comprises a main frame and a connecting column, the main frame is used to assemble the camera module, one end of the connecting column is in butt joint with the main frame, the other end of the connecting column extends vertically away from the main frame, and the other end of the connecting column is in butt joint with the upper part of the upper swing rod.

[0009] Further, the linkage structure comprises an upper flange bearing, the upper part of the upper swing rod has an upper bearing pad, the upper flange bearing is embedded in the upper swing rod and is in assembled arrangement with the upper bearing pad, and the upper bearing pad is in butt joint arrangement with the connecting column.

[0010] Further, the swing assembly comprises a swing motor and a swing block, the swing motor is in butt joint with the swing block, and the swing motor is used to drive the swing block to be in rotating arrangement; the swing block comprises a fixed block part and a swing block part, the motor shaft of the swing motor is in fixed arrangement with the fixed block part, the swing block part is in butt joint arrangement with the fixed block part, and the end part of the swing block part is in vertical corresponding arrangement with the fixed block part, the swing block part is in parallel spaced corresponding arrangement with the swing motor, and the lower part of the lower swing rod is in overlapping fixed arrangement with the swing block part.

[0011] Further, the swing motor is in horizontal arrangement, and the swing motor is inside the seat frame, the swing motor is in corresponding arrangement with the rotating motor along the median line.

[0012] Further, the seat frame is in upper and lower butt joint arrangement with the rotating motor, and the rotating motor is in middle part arrangement of the seat frame.

[0013] Further, the rotating motor has a rotating shaft, the rotating shaft extends upwards and is in butt joint with the seat frame, and the rotating shaft is in the middle part of the seat frame; the seat frame is provided with four nut blocks, the four nut blocks are in four-corner corresponding arrangement along the rotating shaft, and the nut blocks are used for the assembly of the seat frame.

[0014] Further, the visual cloud platform device of the balance robot comprises two frame flange bearings, the two frame flange bearings are in two-side corresponding arrangement, the two frame flange bearings are in assembled arrangement with the seat frame and the swing frame respectively, and the frame flange bearings are used for the up and down swing of the swing frame relative to the seat frame.

[0015] Further, the seat frame and the swing frame are respectively arranged in a hollow shape.

[0016] Compared with the prior art, the visual holder device of the balanced robot provided by the utility model, when horizontal adjustment is needed, the rotating motor outputs driving force, drives the seat frame to rotate along the circumference, drives the swing frame to rotate along the circumference, realizes the horizontal field of view adjustment of the camera, and expands the field of view range of the camera in the horizontal direction; when longitudinal adjustment is needed, the swing assembly outputs driving force to drive the lower swing rod to swing, the swing of the lower swing rod drives the upper swing rod to swing, the upper swing rod drives the swing frame to swing up and down relative to the seat frame, realizes the field of view adjustment of the camera in the longitudinal direction, and expands the field of view range of the camera in the longitudinal direction; in this way, the camera has a larger field of view range in the horizontal direction or the longitudinal direction, and the field of view extraction effect of the visual holder device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a three-dimensional schematic view of the visual holder device of the balanced robot provided by the utility model;

[0018] Figure 2 is an exploded schematic view of the linkage structure of the visual holder device of the balanced robot provided by the utility model;

[0019] Figure 3 is a schematic view of the visual holder device of the balanced robot provided by the utility model in a downward adjustment state;

[0020] Figure 4 is a schematic view of the visual holder device of the balanced robot provided by the utility model in an upward adjustment state. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the utility model is further described in detail below by combining with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0022] The implementation of the utility model is described in detail below by combining with specific embodiments.

[0023] The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the utility model, it is understood that if the orientation or position relationship indicated by the terms "upper", "lower", "left", "right" and the like is based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the position relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0024] Referring to Figures 1-4 The preferred embodiment provided by the utility model is shown in the drawings.

[0025] The visual gimbal device of the balanced robot comprises a seat frame 1, a swing frame 2, a linkage structure 3, a swing assembly 4 and a rotary motor 5, the swing frame 2 is used for assembling a camera module, the swing frame 2 and the seat frame 1 are arranged in active butt joint along the up and down, and the rotary motor 5 is used for driving the seat frame 1 to rotate in a circle; the linkage structure 3 comprises a lower swing rod 31 and an upper swing rod 32, the two ends of the lower swing rod 31 are respectively in butt joint with the upper swing rod 32 and the swing assembly 4, the two ends of the upper swing rod 32 are respectively in butt joint with the lower swing rod 31 and the swing frame 2, the swing assembly 4 is used for driving the lower swing rod 31 to swing, the lower swing rod 31 is used for driving the upper swing rod 32 to swing, and the upper swing rod 32 is used for driving the swing frame 2 to swing up and down relative to the seat frame 1.

[0026] When the visual gimbal device of the balanced robot needs to be adjusted horizontally, the rotary motor 5 outputs driving force to drive the seat frame 1 to rotate in a circle, drives the swing frame 2 to rotate in a circle, realizes the horizontal field of view adjustment of the camera, and expands the horizontal field of view range of the camera; when the visual gimbal device of the balanced robot needs to be adjusted vertically, the swing assembly 4 outputs driving force to drive the lower swing rod 31 to swing, the lower swing rod 31 drives the upper swing rod 32 to swing, and the upper swing rod 32 drives the swing frame 2 to swing up and down relative to the seat frame 1, thereby realizing the vertical field of view adjustment of the camera, and expanding the vertical field of view range of the camera; in this way, the camera has a larger field of view range in both the horizontal direction and the vertical direction, and the field of view extraction effect of the visual gimbal device is improved.

[0027] The linkage structure 3 comprises a lower flange bearing 33, the lower flange bearing 33 is respectively in assembly arrangement with the upper part of the lower swing rod 31 and the upper part of the upper swing rod 32, the lower flange bearing 33 is used for providing torque and for the rotation of the upper swing rod 32, and the upper part of the lower swing rod 31 has a lower bearing pad, which is in assembly arrangement with the lower flange bearing 33.

[0028] When the longitudinal field of view is adjusted, the lower swing rod 31 swings out swing force to the lower flange bearing 33, under the action of the lower flange bearing 33, the upper swing rod 32 is rotated relative to the lower flange bearing 33, the upper swing rod 32 is swung relative to the lower swing rod 31, thereby adjusting the inclination angle of the swing frame 2, and further adjusting the inclination angle of the camera.

[0029] Specifically, when it needs to be adjusted upward, the swing motor 41 drives the lower swing rod 31 to swing downward, the lower swing rod 31 drives the upper swing rod 32 to swing downward, the upper part of the upper swing rod 32 drives the swing frame 2 to swing upward, the inclination angle is changed, and the field of view of the camera is adjusted upward.

[0030] Specifically, when it needs to be adjusted downward, the swing motor 41 drives the lower swing rod 31 to swing upward, the lower swing rod 31 drives the upper swing rod 32 to swing upward, the upper part of the upper swing rod 32 drives the swing frame 2 to swing downward, the inclination angle is changed, and the field of view of the camera is adjusted downward.

[0031] The swing frame 2 comprises a main frame 21 and a connecting column 22, the main frame 21 is used for assembling the camera module, one end of the connecting column 22 is fixedly connected with the main frame 21, the other end of the connecting column 22 extends perpendicularly away from the main frame 21, and the other end of the connecting column 22 is connected with the upper part of the upper swing rod 32.

[0032] In this way, under the action of the connecting column 22, the upper swing rod 32 is arranged, and the upper swing rod 32 and the swing frame 2 are arranged in parallel and spaced apart, so that the swing and control of the upper swing rod 32 are facilitated.

[0033] The linkage structure 3 comprises an upper flange bearing 34, the upper part of the upper swing rod 32 has an upper bearing pad, the upper flange bearing 34 is embedded in the upper swing rod 32 and arranged in assembly with the upper bearing pad, and the upper bearing pad is connected with the connecting column 22; under the action of the upper flange bearing 34, the rotation of the upper swing rod 32 is facilitated.

[0034] The swing assembly 4 comprises a swing motor 41 and a swing block 42, the swing motor 41 is connected with the swing block 42, and the swing motor 41 is used for driving the swing block 42 to rotate; the swing block 42 comprises a fixed block part and a swing block part, the motor shaft of the swing motor 41 is fixedly connected with the fixed block part, the swing block part is connected with the fixed block part, the end of the swing block part is perpendicularly connected with the fixed block part, the swing block part is arranged in parallel and spaced apart with the swing motor 41, and the lower part of the lower swing rod 31 is fixedly connected with the swing block part.

[0035] In this way, the contact area of the swing block 42 and the lower swing rod 31 is increased, and the stability of the control of the lower swing rod 31 is improved.

[0036] The swing motor 41 is arranged horizontally and inside the seat frame 1, and the swing motor 41 is arranged correspondingly along the median line with the rotating motor 5.

[0037] In this way, the center of gravity of the overall visual holder device tends to the middle and lower part, is more stable, guarantees the shooting effect of the camera, and guarantees the setting stability of the camera.

[0038] The seat frame 1 is arranged in an upper and lower butt joint with the rotating motor 5, and the rotating motor 5 is arranged in the middle of the seat frame 1; the driving stability of the rotating motor 5 to the seat frame 1 is improved.

[0039] The rotating motor 5 has a rotating shaft, the rotating shaft extends upwards and is in butt joint with the seat frame 1, and the rotating shaft is in the middle of the seat frame 1; the driving stability of the rotating motor 5 to the seat frame 1 is improved.

[0040] The seat frame 1 is provided with four nut blocks, the four nut blocks are arranged in a four-corner corresponding manner along the rotating shaft, and the nut blocks are used for assembling the seat frame; under the cooperation of the four nut blocks, the assembling of the seat frame 1 is facilitated, and the assembling stability of the seat frame 1 is improved.

[0041] The nut block can be a six-surface nut.

[0042] The visual holder device of the balance robot comprises two frame flange bearings 6, the two frame flange bearings 6 are arranged in a two-side corresponding manner, the two frame flange bearings 6 are arranged in an assembled manner with the seat frame 1 and the swing frame 2 respectively, the frame flange bearing 6 is used for the up and down swing of the swing frame 2 relative to the seat frame 1; under the cooperation of the two frame flange bearings 6, the relative swing between the swing frame 2 and the seat frame 1 is facilitated.

[0043] The seat frame 1 and the swing frame 2 are arranged in a hollow manner respectively, in this way, the effect of reducing the dead weight is achieved, and the driving of the rotating motor 5 and the swing motor 41 to the seat frame 1 and the swing frame 2 is facilitated, and more labor-saving.

[0044] The above only describes the preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vision gimbal apparatus for balancing a robot, characterized by, The application relates to a balance robot visual holder device, which comprises a seat frame, a swing frame, a linkage structure, a swing assembly and a rotary motor, the swing frame is used for assembling a camera module, the swing frame and the seat frame are arranged in active butt joint along the up and down directions, and the rotary motor is used for driving the seat frame to rotate in a circle; the linkage structure comprises a lower swing rod and an upper swing rod, two ends of the lower swing rod are respectively in butt joint with the upper swing rod and the swing assembly, two ends of the upper swing rod are respectively in butt joint with the lower swing rod and the swing frame, the swing assembly is used for driving the lower swing rod to swing, the lower swing rod is used for driving the upper swing rod to swing, and the upper swing rod is used for driving the swing frame to swing up and down relative to the seat frame.

2. The vision gimbal apparatus of the balancing robot according to claim 1, wherein, The linkage structure comprises a lower flange bearing, the lower flange bearing is respectively in assembly arrangement with the upper part of the lower swing rod and the upper part of the upper swing rod, the lower flange bearing is used for providing torque and is used for the rotation of the upper swing rod, the upper part of the lower swing rod is provided with a lower bearing pad, and the lower bearing pad is in assembly arrangement with the lower flange bearing.

3. The vision gimbal apparatus of a balancing robot as claimed in claim 2, wherein, The swing frame comprises a main frame and a connecting column, the main frame is used for assembling a camera module, one end of the connecting column is in butt joint with the main frame, the other end of the connecting column extends vertically in a direction away from the main frame, and the other end of the connecting column is in butt joint with the upper part of the upper swing rod.

4. The vision gimbal apparatus of a balancing robot as claimed in claim 3, wherein, The linkage structure comprises an upper flange bearing, the upper part of the upper swing rod is provided with an upper bearing pad, the upper flange bearing is embedded in the upper swing rod and is in assembly arrangement with the upper bearing pad, and the upper bearing pad is in butt joint with the connecting column.

5. The vision gimbal apparatus of the balancing robot according to any one of claims 1-4, wherein, The swing assembly comprises a swing motor and a swing block, the swing motor is in butt joint with the swing block, and the swing motor is used for driving the swing block to rotate; the swing block comprises a fixed block part and a swing block part, a motor shaft of the swing motor is in fixed arrangement with the fixed block part, the swing block part is in butt joint arrangement with the fixed block part, an end part of the swing block part is in vertical corresponding arrangement with the fixed block part, the swing block part is in parallel spaced corresponding arrangement with the swing motor, and a lower part of the lower swing rod is in superimposed fixed arrangement with the swing block part.

6. The vision gimbal apparatus of the balancing robot according to claim 5, wherein, The swing motor is arranged horizontally, and the swing motor is located in the interior of the seat frame; the swing motor is in corresponding arrangement with the rotary motor along a vertical line.

7. The vision gimbal apparatus of a balancing robot according to any one of claims 1-4, wherein, The seat frame is in up and down butt joint arrangement with the rotary motor, and the rotary motor is located in the middle part of the seat frame.

8. The vision gimbal apparatus of the balancing robot according to claim 7, wherein, The rotary motor is provided with a rotary shaft, the rotary shaft extends upwards and is in butt joint with the seat frame, and the rotary shaft is located in the middle part of the seat frame; the seat frame is provided with four nut blocks, the four nut blocks are in four-corner corresponding arrangement along the rotary shaft, and the nut blocks are used for assembling the seat frame.

9. The vision gimbal apparatus of the balancing robot according to any one of claims 1-4, wherein, The balance robot visual holder device comprises two frame flange bearings, the two frame flange bearings are in two-side corresponding arrangement, the two frame flange bearings are respectively in assembly arrangement with the seat frame and the swing frame, and the frame flange bearings are used for the swing frame to swing up and down relative to the seat frame.

10. The vision gimbal apparatus of a balancing robot according to any one of claims 1-4, wherein, The seat frame and the swing frame are respectively arranged in a hollow shape.

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