Wheel type camera shooting robot

Abstract

The utility model discloses a wheel type camera shooting robot, which belongs to the technical field of camera shooting robots and comprises a chassis frame, an electric push rod is fixedly connected to the top of the chassis frame, a holder is fixedly connected to a push rod of the electric push rod, and a camera is fixedly connected to the holder; electric driving wheel assemblies are arranged at the four corners of the bottom of the chassis frame correspondingly, and damping assemblies are arranged between the chassis frame and the electric driving wheel assemblies. The damping assembly comprises a plurality of spring dampers, the upper ends and the lower ends of the spring dampers are hinged between the bottom of the chassis frame and the top of the fixing frame, the electric driving wheel assembly is arranged on the fixing frame, a plurality of damping guide columns are fixedly connected to the bottom of the chassis frame, and a plurality of sliding holes are formed in the fixing frame. The ends, away from the chassis frame, of the damping guide columns penetrate through the sliding holes and are in threaded connection with nuts. According to the utility model, stable multi-direction movement can be realized, the height of the camera can be adjusted, the camera is suitable for multi-scene shooting, the structure is simple, and the use is flexible.

Description

Technical Field

[0001] This utility model relates to the field of camera robot technology, and in particular to a wheeled camera robot. Background Technology

[0002] With the development of artificial intelligence, robotics, and educational informatization, educational auxiliary camera robots are gradually becoming important tools for classroom teaching and remote interaction. Most existing educational auxiliary camera robots are designed based on fixed or simple mobile platforms. Simple mobile platforms have low motion stability, while fixed designs have a fixed camera height, requiring manual intervention to adjust the camera position. This results in insufficient flexibility and an inability to adapt to various shooting scenarios such as lecterns and desks of different heights.

[0003] To address this, a wheeled camera robot is proposed. Utility Model Content

[0004] The purpose of this invention is to provide a wheeled camera robot, which aims to solve or improve at least one of the above-mentioned technical problems.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a wheeled camera robot, including a chassis frame, an electric push rod fixedly connected to the top of the chassis frame, a pan-tilt unit fixedly connected to the push rod of the electric push rod, and a camera fixedly connected to the pan-tilt unit;

[0006] Electric drive wheel assemblies are respectively installed at the four corners of the bottom of the chassis frame. A shock absorption assembly is installed between the chassis frame and the electric drive wheel assemblies. The shock absorption assembly includes multiple spring shock absorbers. The upper and lower ends of the spring shock absorbers are respectively hinged between the bottom of the chassis frame and the top of the fixed frame. The electric drive wheel assemblies are installed on the fixed frame. Multiple shock absorption guide posts are fixedly connected to the bottom of the chassis frame. Multiple sliding holes are opened on the fixed frame. The multiple sliding holes are correspondingly arranged with the multiple shock absorption guide posts and are slidably connected. The end of the shock absorption guide post away from the chassis frame passes through the sliding hole and is threaded with a nut.

[0007] Preferably, a connecting rod is rotatably connected to the top of the fixed frame, and a first connecting member and a second connecting member are fixedly connected to the bottom of the chassis frame. Slide grooves are respectively opened on the opposite side walls of the first connecting member and the second connecting member. A rolling element is provided at the end of the connecting rod away from the fixed frame, and the end of the connecting rod away from the fixed frame moves back and forth along the length direction of the slide groove through the rolling element.

[0008] Preferably, the rolling element includes a bearing column, which is rotatably connected to the end of the connecting rod away from the fixed frame. A first ball bearing and a second ball bearing are respectively fixed to both ends of the bearing column. The first ball bearing and the second ball bearing are respectively located in the two sliding grooves and slide in contact with the sliding grooves.

[0009] Preferably, the electric drive wheel assembly includes a motor fixed to the fixed frame, a flange fixed to the output shaft of the motor, and the flange fixed to the Mecanum wheel.

[0010] Preferably, the top of the chassis frame is fixedly connected to a housing, the top of the housing is provided with a clearance hole, the electric push rod is located inside the housing, and the push rod of the electric push rod passes through the clearance hole and is slidably connected to the clearance hole.

[0011] Preferably, a lifting frame is fixedly connected to the top of the chassis frame, the lifting frame is located inside the outer shell, the electric push rod is fixedly connected to the top of the lifting frame, a first push rod fixing member and a second push rod fixing member are fixedly connected to the lifting frame, and the cylinder end of the electric push rod is clamped between the first push rod fixing member and the second push rod fixing member.

[0012] Preferably, the top end of the electric push rod is fixedly connected to a fixing plate, and the fixing plate is fixedly connected to the bottom of the gimbal by multiple bolts.

[0013] This utility model discloses the following technical effects: the device moves by means of an electric drive wheel assembly, and shock absorption is achieved by a spring shock absorber during movement. The movement is limited by a shock-absorbing guide column structure, thereby reducing the vibration and impact on the camera and improving the camera's stability. The camera height is adjusted by an electric push rod. This application can achieve smooth multi-directional movement and adjust the camera height, adapting to shooting in multiple scenarios. It also has a simple structure and is flexible in use. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of the outer shell of this utility model;

[0017] Figure 3 for Figure 2 A magnified view of part A in the image;

[0018] Figure 4This is a schematic diagram of the gimbal and camera in this utility model;

[0019] Figure 5 This is a schematic diagram of the shock absorption component in this utility model;

[0020] Figure 6 This is a schematic diagram of the structure of the rolling element in this utility model.

[0021] In the diagram: 101, Mecanum wheel; 102, first outer shell; 103, second outer shell; 104, third outer shell; 105, head shell; 106, camera; 107, lidar; 108, chassis frame;

[0022] 301. Storage; 302. Controller; 303. Lifting frame; 304. Electric push rod; 305. Battery; 401. Aluminum profile angle bracket; 402. Connecting plate; 403. Electric push rod bracket; 404. First push rod fixing component; 405. Second push rod fixing component; 406. Positioning pin;

[0023] 501. Gimbal mounting plate; 502. First gimbal mounting piece; 503. Second gimbal mounting piece; 504. Gimbal; 505. Camera mounting piece; 601. Motor; 602. Mounting bracket; 603. Connecting rod; 604. First connecting piece; 605. Second connecting piece; 606. First shock-absorbing mounting plate; 607. Second shock-absorbing mounting plate; 608. First shock-absorbing guide post; 609. Second shock-absorbing guide post; 610. First spring shock absorber; 611. Second spring shock absorber; 701. First ball bearing; 702. Bearing column; 703. Second ball bearing. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Reference Figures 1-6 The present invention provides a wheeled camera robot, comprising: a chassis frame 108, an electric push rod 304 fixedly connected to the top of the chassis frame 108, a pan-tilt head 504 fixedly connected to the push rod of the electric push rod 304, and a camera 106 fixedly connected to the pan-tilt head 504.

[0027] Electric drive wheel assemblies are respectively installed at the four corners of the bottom of the chassis frame 108. A shock absorption assembly is installed between the chassis frame 108 and the electric drive wheel assembly. The shock absorption assembly includes multiple spring shock absorbers. The upper and lower ends of the spring shock absorbers are respectively hinged between the bottom of the chassis frame 108 and the top of the fixed frame 602. The electric drive wheel assembly is installed on the fixed frame 602. Multiple shock absorption guide columns are fixedly connected to the bottom of the chassis frame 108. Multiple sliding holes are opened on the fixed frame 602. The multiple sliding holes are correspondingly set and slidably connected to the multiple shock absorption guide columns. The end of the shock absorption guide column away from the chassis frame 108 passes through the sliding hole and is threaded with a nut.

[0028] Specifically, in this embodiment, the shock absorption assembly has two spring shock absorbers, namely a first spring shock absorber 610 and a second spring shock absorber 611 (the shock absorption principle of the spring shock absorber is to absorb the impact energy by utilizing the elastic deformation of the spring, and to dissipate the kinetic energy by converting it into heat energy / friction energy through a damping device, so as to reduce vibration; this is existing technology and will not be described in detail here). There are two shock absorption guide pillars, namely a first shock absorption guide pillar 608 and a second shock absorption guide pillar 609. The camera selected is a HIKVISION U6 series camera, the electric push rod is model FNT-A (travel 500mm), and the gimbal is model PTS-308. The shooting angle of the camera 106 can be adjusted through the gimbal.

[0029] In some alternative embodiments, a connecting rod 603 is rotatably connected to the top of the fixed frame 602, and a first connecting member 604 and a second connecting member 605 are fixedly connected to the bottom of the chassis frame 108. Slide grooves are respectively opened on the opposite side walls of the first connecting member 604 and the second connecting member 605. A rolling element is provided at the end of the connecting rod 603 away from the fixed frame 602, and the end of the connecting rod 603 away from the fixed frame 602 moves back and forth along the length direction of the slide groove through the rolling element.

[0030] In some alternative embodiments, the rolling element includes a bearing post 702, which is rotatably connected to the end of the connecting rod 603 away from the fixed frame 602. A first ball bearing 701 and a second ball bearing 703 are fixedly connected to both ends of the bearing post 702, and the first ball bearing 701 and the second ball bearing 703 are respectively located in two sliding grooves and slide in contact with the sliding grooves.

[0031] Specifically, a first shock-absorbing fixing plate 606 and a second shock-absorbing fixing plate 607 are fixedly connected to the bottom of the chassis frame 108, a first shock-absorbing guide column 608 and a second shock-absorbing guide column 609 are fixedly connected to the second shock-absorbing fixing plate 607, and a first connector 604 and a second connector 605 are fixedly connected to the first shock-absorbing fixing plate 606.

[0032] When vibration occurs, the spring damper absorbs the vibration, the distance between the fixed frame 602 and the chassis frame 108 decreases / increases, the first damping guide post 608 and the second damping guide post 609 slide along the sliding hole, and the nut limits the first damping guide post 608 and the second damping guide post 609 to prevent them from sliding out of the sliding hole; at the same time, the end of the connecting rod 603 rotates on the top of the fixed frame 602, thereby pushing the first ball bearing 701 and the second ball bearing 703 to slide in the sliding groove, and can also roll. By setting the structure of the connecting rod 603, bearing post 702, first ball bearing 701 and second ball bearing 703, the connection stability between the fixed frame 602 and the chassis frame 108 can be improved, and the smoothness of movement can be improved.

[0033] In some alternative embodiments, the electric drive wheel assembly includes a motor 601 fixed to a mounting frame 602, with a flange fixed to the output shaft of the motor 601, and the flange being fixed to a Mecanum wheel 101. Using the Mecanum wheel as a means of movement, the robot can be moved by driving the chassis motor 601.

[0034] In some alternative embodiments, a housing is fixed to the top of the chassis frame 108, and a clearance hole is provided on the top of the housing. An electric push rod 304 is located inside the housing, and the push rod of the electric push rod 304 passes through the clearance hole and is slidably connected to the clearance hole.

[0035] Specifically, the outer shell is composed of a first outer shell 102, a second outer shell 103, a third outer shell 104, and a head outer shell 105. An avoidance hole is provided on the head outer shell 105, and the push rod of the push rod 304 passes through the avoidance hole on the head outer shell 105.

[0036] In some embodiments, a lidar 107 is fixedly attached to the top of the chassis frame 108. A storage 301, a controller 302, and a battery 305 are fixedly attached to the top of the chassis frame 108 and inside the housing. The battery 305 supplies power to the various electrical components. The lidar 107, the motor 601, and the controller 302 are electrically connected. The lidar 107 senses obstacles and transmits the information to the controller 302. The controller 302 controls the motor 601 to control the walking direction and start / stop of the device.

[0037] In some alternative embodiments, a lifting frame 303 is fixedly connected to the top of the chassis frame 108. The lifting frame 303 is located inside the housing. An electric push rod 304 is fixedly connected to the top of the lifting frame 303. A first push rod fixing member 404 and a second push rod fixing member 405 are fixedly connected to the lifting frame 303. The cylinder end of the electric push rod 304 is sandwiched between the first push rod fixing member 404 and the second push rod fixing member 405.

[0038] Specifically, an aluminum profile corner bracket 401 is fixed to the lifting frame 303, a connecting plate 402 is fixed to the aluminum profile corner bracket 401, an electric push rod bracket 403 is fixed to the connecting plate 402, and an electric push rod 304 is fixed to the electric push rod bracket 403. To ensure that the electric push rod 304 can be stably fixed to the lifting frame 303, a first push rod fixing component 404 and a second push rod fixing component 405 are added to both sides of the electric push rod 304, and four positioning pins 406 are fixed between the first push rod fixing component 404 and the second push rod fixing component 405, so that the electric push rod 304 is stably fixed to the lifting frame 303.

[0039] In some alternative embodiments, the top of the push rod of the electric actuator 304 is fixedly connected to a fixing plate, which is fixedly connected to the bottom of the gimbal 504 by a plurality of bolts.

[0040] Specifically, the fixing plates include a first gimbal fixing plate 502 and a second gimbal fixing plate 503. The first gimbal fixing plate 502 and the second gimbal fixing plate 503 are fixed to the top of the push rod of the electric push rod 304 by bolts. The gimbal fixing plate 501 is fixed on the first gimbal fixing plate 502 and the second gimbal fixing plate 503. The gimbal 504 is fixed on the gimbal fixing plate 501. The camera 106 is fixed on the gimbal 504 by the camera fixing plate 505, thereby ensuring the stability of the connection of each part and the convenience of disassembly and assembly.

[0041] In use, this invention utilizes a motor 601 to drive the Mecanum wheel 101, enabling omnidirectional movement of the robot. Obstacle avoidance is achieved via a lidar 107. Vibration damping is provided by a first spring damper 610 and a second spring damper 611, improving the stability of the camera 106's movement and reducing damage from vibrations. The design of the first damping guide post 608, the second damping guide post 609, the connecting rod 603, and the first and second ball bearings 701 and 703 ensures connection stability and smooth movement. The height of the camera 106 is adjusted via an electric push rod 304 to adapt to different shooting scenarios. The stability of the electric push rod 304 is ensured by the outer shell, the first push rod fixing component 404, the second push rod fixing component 405, and the positioning pin 406.

[0042] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0043] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A wheeled camera robot, characterized in that, The chassis frame (108) is provided with an electric push rod (304) at the top, and a holder (504) is fixed to the push rod of the electric push rod (304), and a camera (106) is fixed to the holder (504); The bottom of the chassis frame (108) is provided with an electric drive wheel assembly at each corner, and a damping assembly is arranged between the chassis frame (108) and the electric drive wheel assembly; the damping assembly comprises a plurality of spring dampers, the upper and lower ends of the spring dampers are respectively hinged between the bottom of the chassis frame (108) and the top of a fixed frame (602), the electric drive wheel assembly is arranged on the fixed frame (602), a plurality of damping guide columns are fixed to the bottom of the chassis frame (108), a plurality of slide holes are formed in the fixed frame (602), and the plurality of slide holes and the plurality of damping guide columns are arranged in one-to-one correspondence and are in sliding connection, and the end of the damping guide column away from the chassis frame (108) penetrates the slide hole and is threadedly connected with a nut.

2. The wheeled camera robot of claim 1, wherein: The top of the fixed frame (602) is rotatably connected with a connecting rod (603), the bottom of the chassis frame (108) is fixedly connected with a first connecting piece (604) and a second connecting piece (605) arranged oppositely, slide grooves are formed in the opposite side walls of the first connecting piece (604) and the second connecting piece (605) respectively, and the end of the connecting rod (603) away from the fixed frame (602) is provided with a rolling piece, and the end of the connecting rod (603) away from the fixed frame (602) reciprocally moves along the length direction of the slide groove through the rolling piece.

3. The wheeled camera robot of claim 2, wherein: The rolling piece comprises a bearing column (702), the bearing column (702) is rotatably connected with the end of the connecting rod (603) away from the fixed frame (602), and the two ends of the bearing column (702) are fixedly connected with a first ball bearing (701) and a second ball bearing (703) respectively, and the first ball bearing (701) and the second ball bearing (703) are located in the two slide grooves respectively and are in sliding contact with the slide grooves.

4. The wheeled camera robot of claim 1, wherein: The electric drive wheel assembly comprises an electric motor (601) fixed to the fixed frame (602), a flange plate is fixed to the output shaft of the electric motor (601), and the flange plate is fixed to a Mecanum wheel (101).

5. The wheeled camera robot of claim 1, wherein: The top of the chassis frame (108) is fixedly connected with a shell, an avoiding hole is formed in the top of the shell, the electric push rod (304) is located in the shell, and the push rod of the electric push rod (304) penetrates the avoiding hole and is in sliding connection with the avoiding hole.

6. The wheeled camera robot of claim 5, wherein: The top of the chassis frame (108) is fixedly connected with a lifting frame (303), the lifting frame (303) is located in the shell, the electric push rod (304) is fixed to the top of the lifting frame (303), and the lifting frame (303) is fixedly connected with a first push rod fixing piece (404) and a second push rod fixing piece (405), and the cylinder end of the electric push rod (304) is clamped between the first push rod fixing piece (404) and the second push rod fixing piece (405).

7. The wheeled camera robot of claim 1, wherein: The top end of the push rod of the electric push rod (304) is fixedly connected with a fixing sheet, and the fixing sheet is fixedly connected with the bottom of the holder (504) through a plurality of bolts.

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