Mechanical camera shooting platform with three-degree-of-freedom adjustment

Abstract

The utility model discloses a mechanical camera shooting platform with a three-degree-of-freedom adjustment function. The mechanical camera shooting platform comprises a base frame, a lifting / pitching electric push rod, a multi-connecting-rod mechanism and a worm and gear rotating module. The T-shaped main rod, the L-shaped main rod and the auxiliary rod are installed on the base frame in a supporting mode and form a multi-connecting-rod mechanism together with the bearing table, and lifting in the vertical direction and pitching angle adjustment are achieved. The rotating module is driven by a worm and a worm gear and is combined with a displacement / angle feedback module to realize left-right rotating adjustment. According to the utility model, an electric driving mode is adopted, the device has the characteristics of light weight and easy control, the inertia interference is small, three-degree-of-freedom adjustment can be realized on the premise of not influencing the stability of the whole structure, and technical support is provided for high efficiency and precision of a camera shooting process; therefore, the requirement for cooperative adjustment of height, pitching and horizontal angles in agricultural monitoring and film and television shooting is met, and the problem that a traditional two-degree-of-freedom platform is limited in function is solved.

Description

Technical Field

[0001] This utility model relates to the field of equipment platform technology, specifically to a mechanical camera platform with three degrees of freedom adjustment. Background Technology

[0002] In fields such as agricultural monitoring, film and television shooting and industrial inspection, camera equipment often needs to achieve multi-dimensional precise pose adjustment in complex working environments. Traditional two-degree-of-freedom adjustment platforms mostly adopt a structure scheme of screw lifting combined with a simple gimbal, which has the following technical limitations: (1) Insufficient adjustment dimensions: The conventional combination of lifting, pitch or translation and rotation of two degrees of freedom is difficult to meet the needs of coordinated adjustment of height, pitch and horizontal angle in scenarios such as field crop monitoring; (2) Limited motion accuracy: Hydraulic drive has positioning drift problems caused by pressure fluctuations, and pure mechanical linkage mechanism has low accuracy due to the cumulative error of joint clearance; (3) Poor dynamic stability: Rotation adjustment mostly adopts gear rack or synchronous belt drive, which is prone to vibration under frequent start and stop conditions, resulting in a high image acquisition defocus rate; (4) Weak load adaptability: Existing three-degree-of-freedom platforms mostly adopt a series structure design. When the load exceeds 5kg, the end pose deviation amplification effect is significant, which is difficult to meet the mounting requirements of heavy equipment such as multispectral cameras.

[0003] Therefore, there is an urgent need for a mechanical camera platform that is compact, has high angular positioning accuracy, large load capacity, low vibration amplitude, and is suitable for multi-angle image acquisition, large-area monitoring, and high-precision image acquisition. Utility Model Content

[0004] To meet the requirements of multi-dimensional and precise pose adjustment of camera equipment in complex working environments, this utility model provides a mechanical camera platform with three degrees of freedom adjustment.

[0005] The technical solution adopted by this utility model is as follows: A mechanical camera platform with three degrees of freedom adjustment includes a base frame, a lifting electric push rod, a pitch electric push rod, a multi-link mechanism, and a rotating module; the multi-link mechanism includes a first main rod, a support platform, an auxiliary rod, and a second main rod that are hinged together end to end, the first main rod and the second main rod being respectively hinged to the base frame; the lifting electric push rod is supported between the base frame and the first main rod, and the pitch electric push rod is supported between the first main rod and the second main rod; the rotating module is installed on the support platform and includes a motor, a worm gear, a worm wheel, and a turntable that are connected in sequence, the turntable being used to place the camera equipment.

[0006] Preferably, the base frame includes a vertical mounting base and two sets of parallel front and rear mounting arms, and the first main rod, the auxiliary rod and the second main rod are also correspondingly set as two sets of parallel front and rear arms.

[0007] Preferably, the first main rod is a T-shaped rod, with its middle part hinged to the mounting arm, a first shaft at the first end that is mounted to the lifting electric push rod, a second shaft at the second end that is mounted to the pitch electric push rod, and a third end that is hinged to the support platform.

[0008] Preferably, the second main rod is an L-shaped rod, with its middle part hinged to the mounting arm, its first end having a third shaft that is mounted to the pitch electric push rod, and its second end hinged to the auxiliary rod.

[0009] Preferably, the guide sleeve of the lifting electric push rod is mounted on the mounting base, and the push rod end is mounted in the middle of the first shaft; the guide sleeve and push rod end of the pitch electric push rod are respectively mounted in the middle of the second shaft and the third shaft.

[0010] Preferably, the lifting electric actuator and the pitch electric actuator are equipped with displacement feedback modules, and the turntable is equipped with an angle feedback module.

[0011] This utility model has the following beneficial effects:

[0012] 1. Three-degree-of-freedom coordinated adjustment: The base frame, together with the first main rod, the bearing platform, and the auxiliary rod, form a multi-link mechanism. The vertical displacement is controlled by the lifting electric push rod, the pitch angle is adjusted by the pitch electric push rod, and the rotation module realizes the left and right rotation adjustment. This meets the coordinated adjustment needs of height, pitch and horizontal angle in agricultural monitoring and film and television shooting, and solves the functional limitations of traditional two-degree-of-freedom platforms.

[0013] 2. Strong dynamic stability: The multi-link mechanism is rigidly connected by parallel T-shaped bars and L-shaped bars, and adopts electric drive. It has the characteristics of being lightweight and easy to control, with low inertial interference. It can achieve three-degree-of-freedom adjustment without affecting the overall structural stability, which improves work efficiency and provides technical support for the efficiency and accuracy of the camera process.

[0014] 3. High-precision positioning: The lifting electric push rod and the pitch electric push rod monitor the push rod displacement in real time through the displacement feedback module, and the angle feedback module dynamically corrects the turntable angle, eliminating mechanical backlash errors and ensuring high positioning accuracy. The camera equipment obtains accurate position capture during the imaging process, ensuring the authenticity and information of the captured images. In large-scale monitoring scenarios, it effectively avoids blurring or distortion. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0016] Figure 2 This is a schematic diagram of the multi-link mechanism in an embodiment of this utility model.

[0017] Figure 3This is the first schematic diagram of height adjustment in the embodiments of this utility model.

[0018] Figure 4 This is the second schematic diagram of height adjustment in this embodiment of the present invention.

[0019] Figure 5 This is the first schematic diagram of pitch adjustment in the embodiments of this utility model.

[0020] Figure 6 This is the second schematic diagram of pitch adjustment in this embodiment of the present invention.

[0021] Figure 7 This is a schematic diagram of the left and right rotation adjustment in an embodiment of this utility model.

[0022] Base frame 1, mounting base 1.1, mounting arm 1.2;

[0023] 2. Lifting electric push rod;

[0024] Pitch electric actuator 3;

[0025] First main rod 4;

[0026] Support platform 5;

[0027] Auxiliary rod 6;

[0028] Second main rod 7;

[0029] Motor 8;

[0030] Worm 9;

[0031] Worm gear 10;

[0032] Turntable 11;

[0033] First axis 12;

[0034] Second axis 13;

[0035] Third axis 14;

[0036] 15. Camera equipment. Detailed Implementation

[0037] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0038] In the embodiments, such as Figures 1-7As shown, a mechanical camera platform with three degrees of freedom adjustment is provided, including a base frame 1, a lifting electric push rod 2, a pitch electric push rod 3, a multi-link mechanism, and a rotating module. The multi-link mechanism includes a first main rod 4, a support platform 5, an auxiliary rod 6, and a second main rod 7, which are connected end to end by hinges. The first main rod 4 and the second main rod 7 are respectively hinged to the base frame 1. The lifting electric push rod 2 is supported between the base frame 1 and the first main rod 4, and the pitch electric push rod 3 is supported between the first main rod 4 and the second main rod 7. The rotating module is installed on the support platform 5 and includes a motor 8, a worm gear 9, a worm wheel 10, and a turntable 11, which are connected in sequence by transmission. The turntable 11 is used to place the camera equipment 15.

[0039] In the embodiments, such as Figure 2 As shown, a, b, c, d, e, f, g, h, and i are the rotational hinge points of the multi-link mechanism, and j is a horizontal line at the same height as the support platform 5. The working principle of the multi-link mechanism is as follows: Starting from the leftmost side, points i, h, and a, together with the lifting electric push rod 2, form a Class II linkage similar to a slider. After removing the driving element, the remaining components are equivalent to two components n and three lower kinematic pairs P. L and zero motion high pair P H According to the formula for the degrees of freedom of a planar mechanism, F = 3n - 2P L - P H =0, so the left mechanism has a definite motion trajectory. On the right, ac and db are of equal length, af and ef are of equal length, the distance from f to line j is equal to the distance from g to j plus the length of eg, and the limit distance from point e to line j and the distance from point f to line j are equal, to ensure that during the motion, with the pitch electric actuator 3 determined, the bearing platform 5 can maintain parallel motion with the ground; since the length of segment cd is selected by the pitch electric actuator 3, segment cd can be regarded as a rigid component, thus the positions of a, f, b, and e are confirmed. When calculating the degrees of freedom, it is equivalent to f and e being the frame connection points. At this time, the three points f, g, and e have two components n and three lower kinematic pairs P. L and zero motion high pair P H According to the formula for the degrees of freedom of a planar mechanism, F = 3n - 2P L - P H =0, which also constitutes a mechanism with zero degrees of freedom, so the mechanism on the right can ensure the stable operation of the components.

[0040] In the embodiments, such as Figure 3 , Figure 4As shown, this illustrates the height adjustment principle of the mechanical camera platform. The power source for height adjustment is the electric lifting rod 2 on the left. The guide sleeve of the electric lifting rod 2 is connected to the base frame 1, fixing the vertical and horizontal degrees of freedom while retaining the rotational degree of freedom. The end of the lifting rod 2 is connected to the first main rod 4. The connection between the electric lifting rod 2, the base frame 1, and the first main rod 4, and the connection between the first main rod 4 and the base frame 1, constitute a swing mechanism. When the initial position of the electric lifting rod 2 is as shown... Figure 3 As shown, the support platform 5 is at its lowest position; when the lifting electric push rod 2 extends to the position shown... Figure 4 As shown, the three-bar linkage will cause the lifting electric push rod 2 to rotate counterclockwise and the left side of the first main rod 4 to move downward, while the right side of the first main rod 4 moves upward. Since the mechanism on the right side is a parallel mechanism, the entire support platform 5 will eventually move upward.

[0041] In the embodiments, such as Figure 5 , Figure 6 The diagram illustrates the pitch adjustment principle of the mechanical camera platform. The power source for pitch adjustment is the pitch electric actuator 3. With the lifting electric actuator 2 stationary, the extension and retraction of the pitch electric actuator 3 enables the pitch movement of the upper support platform 5. Considering the pitch electric actuator 3 as the driving element, the main components connected to it, from left to right, are the first main rod 4, the support platform 5, the auxiliary rod 6, and the second main rod 7. In this structure, the first main rod 4 is connected to the base frame 1, fixing the vertical and horizontal degrees of freedom while retaining the rotational degree of freedom. The pitch electric actuator 3 is hinged to both the first main rod 4 and the second main rod 7. When the pitch electric actuator 3 is at its maximum position, the base frame 1, the pitch electric actuator 3, the first main rod 4, and the second main rod 7 form a parallelogram. The initial position of the pitch adjustment movement is shown below. Figure 5 As shown, at this point, the stroke of the pitch electric actuator 3 is close to 0. In the quadrilateral ABCD, segment Cd is shorter, and the distance from ab is greater than the distance from cd, causing point D to shift downwards. Since point B is fixed on the frame, point E is at the lowest point during the movement, and the support platform 5 forms the maximum pitch angle θ. The maximum pitch angle θ can be adjusted by changing the specifications of the pitch electric actuator 3. The longer the initial length of the pitch electric actuator 3, the smaller the pitch angle; the shorter the initial length of the pitch electric actuator 3, the larger the pitch angle. Note that the maximum length of the guide sleeve of the pitch electric actuator 3 must not exceed the length of segment ab, and the minimum length of the guide sleeve must not be less than half the length of segment ab. When the pitch electric actuator 3 extends to... Figure 6 At the extreme position shown, the bearing platform 5 is parallel to the ground, and the angle θ is 0°.

[0042] In the embodiments, such as Figure 7The diagram illustrates the principle of left-right rotation adjustment of the mechanical camera platform. The rotation module aims to achieve the left-right rotation of the camera device 15 and mainly consists of a motor 8, a coupling, a worm gear 9, a worm wheel 10, a turntable 11, and bearings. Power is provided by the motor 8 and transmitted to the worm gear 9 via the coupling. The worm wheel 10, in conjunction with the worm gear 9, changes the rotation direction from vertical to planar. The worm wheel shaft is a multi-segment shaft, mounted on the support platform 5 via bearings, providing support and fixation for the worm wheel 10. The turntable 11, where the camera device 15 is mounted, is also connected to the worm wheel shaft, enabling the worm wheel 10 and the turntable 11 to rotate at the same angular velocity. The multi-segment worm wheel shaft maintains a tight fit between the bearings and the platform, and the multi-segment connecting shafts are fitted with the inner diameter of the bearings to reduce friction and achieve smooth movement.

[0043] In this embodiment, the base frame 1 supports and mounts the first main rod 4, the second main rod 7, and the auxiliary rod 6, forming a multi-link mechanism together with the bearing platform 5. Vertical lifting and tilting angle adjustment are achieved through the lifting electric push rod 2 and the tilt electric push rod 3. The rotating module uses a worm gear transmission structure composed of a motor 8, a worm 9, a worm wheel 10, and a turntable 11 to achieve left and right rotation adjustment. This embodiment uses an electric drive method, which is lightweight and easy to control, with minimal inertial interference. It can achieve three-degree-of-freedom adjustment without affecting the overall structural stability, providing technical support for efficient and precise camera operation. This meets the needs of coordinated adjustment of height, tilt, and horizontal angles in agricultural monitoring and film shooting, solving the functional limitations of traditional two-degree-of-freedom platforms. The multi-link mechanism uses rigid body connections (T-shaped rods and L-shaped rods), combined with electric push rod drive, which can reduce end-positional deviation when carrying equipment weighing over 5kg, solving the problem of poor load adaptability in traditional series structures. In addition, the worm gear transmission structure replaces the traditional gears or timing belts, suppressing vibrations caused by frequent starts and stops, reducing the image acquisition defocus rate, and is suitable for high-precision scenarios such as industrial inspection.

[0044] In the embodiments, such as Figure 1As shown, the base frame 1 includes a vertical mounting base 1.1 and two sets of parallel mounting arms 1.2. The first main rod 4, auxiliary rod 6, and second main rod 7 are also arranged in parallel sets. The first main rod 4 is a T-shaped rod, hinged in the middle to the mounting arm 1.2. Its first end has a first shaft 12 for mounting to the lifting electric push rod 2, its second end has a second shaft 13 for mounting to the pitch electric push rod 3, and its third end is hinged to the support platform 5. The second main rod 7 is an L-shaped rod, hinged in the middle to the mounting arm 1.2. Its first end has a third shaft 14 for mounting to the pitch electric push rod 3, and its second end is hinged to the auxiliary rod 6. The two sets of mounting arms 1.2 and the parallel main rods used in this embodiment form symmetrical support, improving overall torsional resistance and avoiding deformation caused by uneven loads. Furthermore, the redundant design of the parallel linkage assembly reduces the accumulation of joint clearance errors, thereby improving the overall stability of the support platform 5. This design is suitable for the needs of multi-angle, high-precision coordinated adjustment in large-scale monitoring scenarios.

[0045] In the embodiments, such as Figure 1 As shown, the guide sleeve of the lifting electric actuator 2 is mounted on the mounting base 1.1, and the actuator end is mounted in the middle of the first shaft 12; the guide sleeve and actuator end of the pitch electric actuator 3 are respectively mounted in the middle of the second shaft 13 and the third shaft 14. In this embodiment, the lifting electric actuator 2 and the pitch electric actuator 3 are arranged at the center of the two mounting arms 1.2, forming a vertical linear drive, reducing drift caused by hydraulic system pressure fluctuations. At the same time, symmetrical force application achieves a smooth transition of the lifting or pitch angle of the support platform, reducing mechanical impact.

[0046] In this embodiment, the lifting electric actuator 2 and the pitch electric actuator 3 are equipped with displacement feedback modules, and the turntable 11 is equipped with an angle feedback module. The lifting electric actuator 2 and the pitch electric actuator 3 monitor the actuator displacement in real time through the displacement feedback modules, while the angle feedback module dynamically corrects the turntable angle, eliminating mechanical backlash errors and achieving high positioning accuracy. This allows the camera device 15 to obtain accurate position capture during the imaging process, ensuring the authenticity and informational value of the captured images. In large-scale monitoring scenarios, it effectively avoids blurring or distortion. Furthermore, AI algorithms such as large-scale visual models can be combined to dynamically adjust shooting parameters (such as illumination compensation and automatic composition) to adapt to complex industrial environments.

[0047] Obviously, the above embodiments of this utility model are merely examples for illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Other obvious variations or modifications derived from the essential spirit of the present utility model still fall within the protection scope of the present utility model.

Claims

1. A mechanical camera platform with three degrees of freedom adjustment, characterized in that, Base frame (1), lifting electric push rod (2), pitching electric push rod (3), multi-link mechanism and rotating module are included. The multi-link mechanism comprises first main rod (4), bearing table (5), auxiliary rod (6) and second main rod (7) connected in sequence, and the first main rod (4) and the second main rod (7) are respectively hingedly installed on the base frame (1). The lifting electric push rod (2) is supported between the base frame (1) and the first main rod (4), and the pitching electric push rod (3) is supported between the first main rod (4) and the second main rod (7). The rotating module is installed on the bearing table (5) and comprises motor (8), worm (9), worm gear (10) and rotary table (11) connected in sequence, and the rotary table (11) is used for placing camera equipment (15).

2. The mechanical camera platform with three degrees of freedom adjustment according to claim 1, wherein, The base frame (1) comprises vertical mounting seat (1.1) and two parallel front and rear mounting arms (1.2), and the first main rod (4), the auxiliary rod (6) and the second main rod (7) are also provided in two parallel front and rear groups.

3. The mechanical camera platform with three degrees of freedom adjustment according to claim 2, characterized in that, The first main rod (4) is a T-shaped rod, the middle part is hingedly installed on the mounting arm (1.2), the first end is provided with a first shaft (12) installed with the lifting electric push rod (2), the second end is provided with a second shaft (13) installed with the pitching electric push rod (3), and the third end is hingedly installed on the bearing table (5).

4. The mechanical camera platform with three degrees of freedom adjustment according to claim 3, characterized in that, The second main rod (7) is an L-shaped rod, the middle part is hingedly installed on the mounting arm (1.2), the first end is provided with a third shaft (14) installed with the pitching electric push rod (3), and the second end is hingedly installed on the auxiliary rod (6).

5. The mechanical camera platform with three degrees of freedom adjustment according to claim 4, characterized in that, The guide sleeve of the lifting electric push rod (2) is installed on the mounting seat (1.1), and the push rod end is installed in the middle part of the first shaft (12); the guide sleeve and the push rod end of the pitching electric push rod (3) are respectively installed in the middle parts of the second shaft (13) and the third shaft (14).

6. The mechanical camera platform with three degrees of freedom adjustment according to claim 1, wherein, The lifting electric push rod (2) and the pitching electric push rod (3) are provided with displacement feedback modules, and the rotary table (11) is provided with an angle feedback module.

Images