Holder device and robot

Abstract

The utility model provides a holder device and a robot. The holder device is used for supporting a target device, a lifting mechanism is installed on a base plate, a rotating mechanism is installed on the lifting mechanism, a swinging mechanism is installed on the rotating mechanism, and the target device is installed on the swinging mechanism. The lifting mechanism, the rotating mechanism and the swinging mechanism are matched to adjust the posture of the target device. According to the utility model, the swinging mechanism can drive the target device to swing in the direction perpendicular to the height direction of the base plate, the rotating mechanism can drive the swinging mechanism and the target device to rotate in the height direction of the base plate, and the lifting mechanism can drive the rotating mechanism, the swinging mechanism and the target device to lift in the height direction of the base plate; according to the cradle head device, the target device can be adjusted from multiple angles and multiple directions, the target device can be located at a proper observation position, detailed target information can be observed, the motion forms of the cradle head device are increased, and the multi-angle and multi-direction adjustment requirements are met.

Description

Technical Field

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

[0002] A gimbal is a device used to adjust the posture of a target device (such as a mobile phone, camera, or camcorder). Based on their rotation characteristics, gimbals can be divided into horizontal gimbals that can only rotate left and right, and omnidirectional gimbals that can rotate both left and right and up and down. To meet user needs, gimbals require multi-angle and multi-directional adjustments to achieve the desired posture of the target device. However, existing gimbal devices have limited motion options and cannot meet the requirements for multi-angle and multi-directional adjustments. Summary of the Invention

[0003] This utility model provides a gimbal device to solve the problem that existing gimbal devices have limited movement modes and cannot meet the adjustment needs of multiple angles and directions.

[0004] A gimbal device for supporting a target device includes a base plate, a lifting mechanism, a rotating mechanism, and a swinging mechanism.

[0005] The lifting mechanism is mounted on the base plate, the rotating mechanism is mounted on the lifting mechanism, the swinging mechanism is mounted on the rotating mechanism, and the target device is mounted on the swinging mechanism;

[0006] The lifting mechanism, the rotating mechanism, and the swinging mechanism work together to adjust the posture of the target device.

[0007] Preferably, the lifting mechanism includes a base frame, an X-shaped linkage assembly, and a first drive assembly;

[0008] The base frame and the substrate are spaced apart along the vertical direction of the substrate, and the X-shaped connecting rod assembly is disposed between the base frame and the substrate;

[0009] The first driving component is disposed on the substrate and connected to the X-shaped linkage assembly, and is used to drive the X-shaped linkage assembly to move up and down.

[0010] Preferably, the X-shaped linkage assembly includes a first link, a second link, a fixed support, and a movable support;

[0011] The first link and the second link are connected crosswise via a connecting shaft;

[0012] The first end of the first connecting rod is mounted on the base plate via a fixed support, and the second end of the first connecting rod is mounted on the base frame via a movable support that moves along the horizontal direction of the base plate.

[0013] The first end of the second connecting rod is mounted on the substrate in the horizontal direction of the substrate via a movable support, and the second end of the second connecting rod is mounted on the base frame via a fixed support.

[0014] The first drive assembly is connected to a movable support for rotating the first link and the second link in opposite directions or in the opposite direction.

[0015] Preferably, the first drive assembly includes a drive motor, a lead screw holder, a lead screw, and a drive block;

[0016] The drive motor and the lead screw seat are spaced apart along the horizontal direction of the base plate. The first end of the lead screw is connected to the output end of the drive motor, and the second end of the lead screw passes through the lead screw seat.

[0017] The drive block is movably mounted on the lead screw and connected to the X-shaped connecting rod assembly.

[0018] Preferably, the lifting mechanism further includes a guide assembly; the guide assembly includes a guide rail and a guide block;

[0019] One of the guide rail and the guide block is disposed on the base plate, and the other is disposed on the X-shaped linkage assembly. The guide block is movably mounted on the guide rail.

[0020] Preferably, the rotating mechanism includes a first support shell, a rotating shaft seat, a rotating shaft, and a second drive assembly;

[0021] The first support shell is mounted on the lifting mechanism, the rotating shaft seat is disposed on the first support shell, the first end of the rotating shaft is rotatably mounted in the rotating shaft seat, and the second end of the rotating shaft is connected to the swing mechanism;

[0022] The second drive component is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

[0023] Preferably, the second drive assembly includes a rotary motor, a first drive wheel, a first driven wheel, and a first conveyor belt;

[0024] The rotary motor and the rotary shaft seat are spaced apart along the horizontal direction of the base plate. The first driving wheel is mounted on the output shaft of the rotary motor, the first driven wheel is mounted on the rotary shaft, and the first conveyor belt is fitted onto the first driving wheel and the first driven wheel.

[0025] Preferably, the rocking mechanism includes a second support shell, a rocking support, a rotating shaft, a rocking bracket, and a third drive assembly;

[0026] The second support shell is mounted on the rotating mechanism, the rocker support is mounted on the second support shell, one end of the rotating shaft is rotatably mounted on the rocker support, and one end of the rocker bracket is mounted on the rotating shaft;

[0027] The third drive component is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

[0028] Preferably, the third drive assembly includes a rocking motor, a second driving wheel, a second driven wheel, and a second conveyor belt;

[0029] The rocking motor and the rocking support are spaced apart along the horizontal direction of the base plate. The second driving wheel is mounted on the output shaft of the rocking motor, the second driven wheel is mounted on the rotating shaft, and the second conveyor belt is fitted onto the second driving wheel and the second driven wheel.

[0030] A robot includes a target device and a gimbal device; the target device is mounted on the gimbal device.

[0031] The gimbal device provided in this embodiment of the invention mounts the target device on a swing mechanism. The swing mechanism can drive the target device to swing around a direction perpendicular to the height of the substrate. The rotation mechanism can drive the swing mechanism and the target device to rotate around the height of the substrate. The lifting mechanism can drive the rotation mechanism, the swing mechanism, and the target device to rise and fall along the height of the substrate. By coordinating the lifting mechanism, the rotation mechanism, and the swing mechanism, the target device can be adjusted from multiple angles and directions, enabling the target device to be positioned in a suitable observation position and to observe detailed target information. This increases the movement modes of the gimbal device and meets the adjustment needs of multiple angles and directions. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is an axonometric view of the gimbal device in one embodiment of the present invention;

[0034] Figure 2 This is a cross-sectional view of the gimbal device in one embodiment of the present invention;

[0035] Figure 3 This is a perspective view of the gimbal device in one embodiment of the present invention;

[0036] Figure 4 This is an axonometric view of the rotating mechanism and the rocking mechanism in one embodiment of the present invention;

[0037] Figure 5 This is an isometric view of the swing mechanism in one embodiment of the present invention;

[0038] Figure 6 This is an axonometric view of the robot in one embodiment of the present invention.

[0039] Among them, 10, clamping device; 20, hopper device; 30, gimbal device; 31, base plate; 32, lifting mechanism; 321, base frame; 322, X-shaped linkage assembly; 3221, first linkage; 3222, second linkage; 3223, fixed support; 3224, movable support; 323, first drive assembly; 3231, drive motor; 3232, lead screw seat; 3233, lead screw; 3234, drive block; 324, first trigger switch; 325, first sensor; 326, guide assembly; 3261, guide slide rail; 3262, guide block; 33, rotating mechanism; 331, first support shell; 332, rotating shaft seat; 333, rotating shaft; 334, the... Second drive assembly; 3341, rotary motor; 3342, first driving wheel; 3343, first driven wheel; 3344, first conveyor belt; 335, second trigger switch; 336, second sensor; 34, swing mechanism; 341, second support shell; 342, swing support; 343, rotating shaft; 344, swing bracket; 345, third drive assembly; 3451, swing motor; 3452, second driving wheel; 3453, second driven wheel; 3454, second conveyor belt; 346, third trigger switch; 347, third sensor; 348, limit plate; 349, movable slot; 40, target device; 50, robotic arm; 60, middle cabinet; 70, quick-change device. Detailed Implementation

[0040] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, 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, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] The clamping device 10 in this application can be, but is not limited to, applied to robots, see reference. Figure 6 The robot includes a gripping device 10, a storage bin 20, a gimbal 30, a target device 40 (e.g., a 3D camera), a robotic arm 50, a middle cabinet 60, and a quick-change device 70. During installation, the storage bin 20, the gimbal 30, and the robotic arm 50 are all mounted on the middle cabinet 60. The storage bin 20 is used to place items. The gripping device 10 is mounted on the robotic arm 50 via the quick-change device 70 and is used to grip items. The target device 40 is mounted on the gimbal 30. The gimbal 30 can adjust the posture of the target device 40, enabling the target device 40 to collect sensor data and send the sensor data to the control module inside the middle cabinet 60. Based on the sensor data, the control module can control the robotic arm 50 to manipulate the gripping device 10 to move items into the storage bin 20 or to remove items from the storage bin 20. In this system, taking the robot as the reference point, the robot's length direction is the first direction, the robot's height direction is the second direction, and the robot's width direction is the third direction. In the three-dimensional coordinate system, the first direction is the X-axis, the second direction is the Z-axis, and the third direction is the Y-axis.

[0044] This utility model embodiment provides a gimbal device 30, see reference. Figure 1The gimbal device 30 is used to support the target device 40. The gimbal device 30 includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33, and a swinging mechanism 34. The lifting mechanism 32 is mounted on the base plate 31, the rotating mechanism 33 is mounted on the lifting mechanism 32, the swinging mechanism 34 is mounted on the rotating mechanism 33, and the target device 40 is mounted on the swinging mechanism 34. The lifting mechanism 32, the rotating mechanism 33, and the swinging mechanism 34 cooperate to adjust the posture of the target device 40.

[0045] As an example, the gimbal device 30 is used to support the target device 40, such as a 3D camera. The gimbal device 30 adjusts the attitude of the 3D camera to position it in a suitable observation location, allowing for the observation of detailed target information, providing RGB and point cloud information for the large model, and enabling continuous perception of external conditions. The gimbal device 30 specifically includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33, and a swing mechanism 34. During installation, the base plate 31 serves as the mounting reference, providing support for other components of the gimbal device 30. The base plate 31 can be installed on industrial robots or automated equipment using screw connections, snap-fit ​​connections, or welding methods, enabling the gimbal device 30 to be mounted on industrial robots or automated equipment. The lifting mechanism 32 is mounted on the substrate 31, and the lifting mechanism 32 can lift and lower along the height direction of the substrate 31 (i.e., the height direction of the robot, which is the second direction); the rotating mechanism 33 is mounted on the lifting mechanism 32, and the rotating mechanism 33 can rotate around the height direction of the substrate 31 (i.e., the height direction of the robot); the swinging mechanism 34 is mounted on the rotating mechanism 33, and the swinging mechanism 34 can swing around the direction perpendicular to the height direction of the substrate 31 (i.e., the length or width direction of the substrate 31, or the length or width direction of the robot, which is the first direction or the third direction).

[0046] In this example, the target device 40 is mounted on the swing mechanism 34. The swing mechanism 34 can drive the target device 40 to swing around a direction perpendicular to the height of the substrate 31. The rotation mechanism 33 can drive the swing mechanism 34 and the target device 40 to rotate around the height of the substrate 31. The lifting mechanism 32 can drive the rotation mechanism 33, the swing mechanism 34, and the target device 40 to rise and fall along the height of the substrate 31. By coordinating the lifting mechanism 32, the rotation mechanism 33, and the swing mechanism 34, the target device 40 can be adjusted from multiple angles and directions, allowing the target device 40 to be positioned in a suitable observation location to observe detailed target information. This increases the movement options of the gimbal device 30 and meets the adjustment requirements of multiple angles and directions. For example, the gimbal device 30 is used in large models such as robots. When the target device 40 is a 3D camera, the gimbal device 30 can flexibly adjust the visual angle of the 3D camera to adapt to the actual application scenario and provide a suitable perspective for the large model.

[0047] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The lifting mechanism 32 includes a base frame 321, an X-shaped linkage assembly 322, and a first drive assembly 323. The base frame 321 and the base plate 31 are spaced apart along the vertical direction of the base plate 31, and the X-shaped linkage assembly 322 is disposed between the base frame 321 and the base plate 31. The first drive assembly 323 is disposed on the base plate 31 and connected to the X-shaped linkage assembly 322, and is used to drive the X-shaped linkage assembly 322 to lift.

[0048] As an example, the lifting mechanism 32 includes a base frame 321, an X-shaped linkage assembly 322, and a first drive assembly 323. During installation, the base frame 321 and the base plate 31 are spaced apart along the vertical direction of the base plate 31. The base frame 321 is used to install the rotating mechanism 33 and other structures. The X-shaped linkage assembly 322 is disposed between the base frame 321 and the base plate 31. The first drive assembly 323 is disposed on the base plate 31 and connected to the X-shaped linkage assembly 322. With this configuration, the shape of the X-shaped linkage assembly 322 can be changed by the first drive assembly 323 to adjust the support height of the X-shaped linkage assembly 322, thereby enabling the base frame 321 and the rotating mechanism 33 and other structures mounted on the base frame 321 to be lifted and lowered along the height direction of the base plate 31, which facilitates adjusting the target device 40 to a suitable observation height. Among them, there are two X-shaped linkage assemblies 322. The two X-shaped linkage assemblies 322 are symmetrically arranged with the first drive assembly 323 as the axis of symmetry and are connected by a connecting rod, so that the two X-shaped linkage assemblies 322 change synchronously, which can improve the stability of the lifting mechanism 32 and provide a safety guarantee for adjusting the height of the target device 40.

[0049] In one embodiment, reference is made to Figure 1 and Figure 2 The X-shaped linkage assembly 322 includes a first link 3221, a second link 3222, a fixed support 3223, and a movable support 3224. The first link 3221 and the second link 3222 are connected by a connecting shaft. The first end of the first link 3221 is mounted on the base plate 31 via a fixed support 3223, and the second end of the first link 3221 is mounted on the base frame 321 via a movable support 3224 along the horizontal direction of the base plate 31. The first end of the second link 3222 is mounted on the base plate 31 via a movable support 3224 along the horizontal direction of the base plate 31, and the second end of the second link 3222 is mounted on the base frame 321 via a fixed support 3223. The first drive assembly 323 is connected to the movable support 3224 and is used to rotate the first link 3221 and the second link 3222 in opposite directions.

[0050] As an example, the X-shaped linkage assembly 322 includes a first link 3221, a second link 3222, a fixed support 3223, and a movable support 3224. During installation, the first link 3221 and the second link 3222 are connected crosswise by a connecting shaft. Specifically, a first through hole is provided in the middle part of the first link 3221, and a second through hole is provided in the middle part of the second link 3222. The connecting shaft passes through the first through hole and the second through hole. The first link 3221 and the second link 3222 rotate around the connecting shaft in opposite directions to adjust the support height of the X-shaped linkage assembly 322. The first end of the first connecting rod 3221 is mounted on the substrate 31 via a fixed support 3223, and the second end of the first connecting rod 3221 is mounted on the base frame 321 via a movable support 3224 along the horizontal direction of the substrate 31. Specifically, the base frame 321 is provided with a movable groove along the horizontal direction of the substrate 31, and the movable support 3224 is movably mounted in the movable groove. The first end of the second connecting rod 3222 is mounted on the substrate 31 via a movable support 3224 along the horizontal direction of the substrate 31, and the second end of the second connecting rod 3222 is mounted on the base frame 321 via a fixed support 3223. Specifically, the substrate 31 is provided with a movable groove along the horizontal direction of the substrate 31. A horizontally oriented movable slot is provided, and a movable support 3224 is movably installed within the movable slot. A first drive assembly 323 is connected to a movable support 3224. By driving the movable support 3224 through the first drive assembly 323, the first connecting rod 3221 and the second connecting rod 3222 can rotate in opposite directions to adjust the support height of the X-shaped connecting rod assembly 322. This allows the base frame 321 and the rotating mechanism 33, the swing mechanism 34, and the target device 40 mounted on the base frame 321 to rise and fall along the height direction of the base plate 31, i.e., the height direction of the robot, facilitating the adjustment of the target device 40 to a suitable observation height. Each connecting rod has its two ends rotatably connected to a fixed support 3223 and a movable support 3224, respectively. The structures of the fixed support 3223 and the movable support 3224 can be the same or different. The support can be designed as a connecting shaft that movably passes through the end of the connecting rod; or it can be designed as a hinged seat, with the end of the connecting rod rotatably connected to the hinged seat.

[0051] In one embodiment, reference is made to Figure 3 The lifting mechanism 32 also includes two first trigger switches 324 and a first sensor 325; the two first trigger switches 324 are spaced apart along the horizontal direction of the substrate 31 on the substrate 31 or the base frame 321, and are both connected to the first drive assembly 323; the first sensor 325 is disposed on a movable support 3224 and is used to sense or contact any of the first trigger switches 324.

[0052] As an example, the lifting mechanism 32 also includes two first trigger switches 324 and a first sensor 325. During installation, the two first trigger switches 324 are spaced apart along the horizontal direction of the substrate 31 on the substrate 31 or the base frame 321, and are both connected to the first drive assembly 323. One first trigger switch 324 serves as a start switch, and the other first trigger switch 324 serves as a stop switch. The first sensor 325 is disposed on a movable support 3224. The first drive assembly 323 drives the movable support 3224 to move, so that the first sensor 325 sequentially senses or contacts the two first trigger switches 324 and can output a sensing signal to determine its position. This limits the working stroke of the movable support 3224, thereby limiting the working time of the first drive assembly 323 and thus limiting the lifting stroke of the lifting mechanism 32.

[0053] In one embodiment, reference is made to Figure 2 The first drive assembly 323 includes a drive motor 3231, a lead screw holder 3232, a lead screw 3233, and a drive block 3234. The drive motor 3231 and the lead screw holder 3232 are spaced apart along the horizontal direction of the substrate 31. The first end of the lead screw 3233 is connected to the output end of the drive motor 3231, and the second end of the lead screw 3233 passes through the lead screw holder 3232. The drive block 3234 is movably mounted on the lead screw 3233 and is connected to the X-shaped connecting rod assembly 322.

[0054] As an example, the first drive assembly 323 includes a drive motor 3231, a lead screw holder 3232, a lead screw 3233, and a drive block 3234. During installation, the drive motor 3231 and the lead screw holder 3232 are spaced apart along the horizontal direction of the base plate 31. The first end of the lead screw 3233 is connected to the output end of the drive motor 3231, and the second end of the lead screw 3233 passes through the lead screw holder 3232. The drive block 3234 is movably mounted on the lead screw 3233 and is connected to a movable support 3224 of the X-shaped connecting rod assembly 322 via a connector. With this configuration, the drive motor 3231 rotates forward... Alternatively, the screw 3233 can be rotated forward or backward, causing the drive block 3234 to move on the screw 3233, thereby driving the movable support 3224 to move along the horizontal direction of the base plate 31. This causes the first link 3221 and the second link 3222 to rotate in opposite directions, thereby adjusting the support height of the X-shaped link assembly 322. This allows the base frame 321 and the rotating mechanism 33, the swing mechanism 34, and the target device 40 mounted on the base frame 321 to rise and fall along the height direction of the base plate 31, i.e., the height direction of the robot, making it easier to adjust the target device 40 to a suitable observation height.

[0055] In one embodiment, reference is made to Figure 3The lifting mechanism 32 also includes a guide assembly 326; the guide assembly 326 includes a guide rail 3261 and a guide block 3262; one of the guide rail 3261 and the guide block 3262 is disposed on the base plate 31, and the other is disposed on the X-shaped linkage assembly 322, and the guide block 3262 is movably mounted on the guide rail 3261.

[0056] As an example, the lifting mechanism 32 also includes a guide assembly 326; the guide assembly 326 includes a guide rail 3261 and a guide block 3262; during installation, one of the guide rail 3261 and the guide block 3262 is mounted on the base plate 31, and the other is mounted on the X-shaped linkage assembly 322, and the guide block 3262 is movably mounted on the guide rail 3261; with this configuration, when the support height of the X-shaped linkage assembly 322 is adjusted, and the first drive assembly 323 drives the movable support 3224 to move, the guide block 3262, which is movably mounted on the guide rail 3261, can provide guidance and limit for the movement of the movable support 3224, preventing misalignment or displacement of the movable support 3224 during movement, thereby enabling smoother adjustment of the support height of the X-shaped linkage assembly 322 and ensuring the stability of the lifting mechanism 32. There are two guide components 326, each corresponding to an X-shaped linkage assembly 322. The two guide components 326 provide guidance and limit for the two X-shaped linkage assemblies 322, further improving the stability of the lifting mechanism 32 and providing a safety guarantee for adjusting the height of the target device 40.

[0057] In one embodiment, reference is made to Figure 2 , Figure 3 and Figure 4 The rotating mechanism 33 includes a first support shell 331, a rotating shaft seat 332, a rotating shaft 333, and a second drive assembly 334. The first support shell 331 is mounted on the lifting mechanism 32, the rotating shaft seat 332 is disposed on the first support shell 331, the first end of the rotating shaft 333 is rotatably mounted in the rotating shaft seat 332, and the second end of the rotating shaft 333 is connected to the rocking mechanism 34. The second drive assembly 334 is connected to the rotating shaft 333 and is used to drive the rotating shaft 333 to rotate.

[0058] As an example, the rotating mechanism 33 includes a first support shell 331, a rotating shaft seat 332, a rotating shaft 333, and a second drive assembly 334. During installation, the first support shell 331 is installed on the base frame 321 of the lifting mechanism 32 by screwing, snapping, or welding. The rotating shaft seat 332 is disposed on the first support shell 331. The first end of the rotating shaft 333 is rotatably installed in the rotating shaft seat 332, and the second end of the rotating shaft 333 is connected to the swing mechanism 34. The second drive assembly 334 is connected to the rotating shaft 333. With this configuration, the second drive assembly 334 can drive the rotating shaft 333 to rotate, thereby driving the swing mechanism 34 and the target device 40 to rotate around the axis of the rotating shaft 333 (i.e., the height direction of the base plate 31), so as to make the target device 40 face the appropriate observation position and observe detailed target information. The first support shell 331 includes a first shell plate and a first shell cover. The first shell plate is mounted on the base frame 321 and is used to install other parts supporting the rotating mechanism 33. The first shell cover is mounted on the first shell plate and surrounds the other parts of the rotating mechanism 33 to protect the main parts of the rotating mechanism 33 and improve the service life of the rotating mechanism 33.

[0059] In one embodiment, reference is made to Figure 2 , Figure 3 and Figure 4 The second drive assembly 334 includes a rotary motor 3341, a first drive wheel 3342, a first driven wheel 3343, and a first conveyor belt 3344. The rotary motor 3341 and the rotary shaft seat 332 are spaced apart along the horizontal direction of the base plate 31. The first drive wheel 3342 is mounted on the output shaft of the rotary motor 3341, the first driven wheel 3343 is mounted on the rotary shaft 333, and the first conveyor belt 3344 is fitted onto the first drive wheel 3342 and the first driven wheel 3343.

[0060] As an example, the second drive assembly 334 includes a rotary motor 3341, a first drive wheel 3342, a first driven wheel 3343, and a first conveyor belt 3344. During installation, the rotary motor 3341 and the rotary shaft seat 332 are spaced apart along the horizontal direction of the substrate 31. The first drive wheel 3342 is mounted on the output shaft of the rotary motor 3341, the first driven wheel 3343 is mounted on the rotary shaft 333, and the first conveyor belt 3344 is fitted onto the first drive wheel 3342 and the first driven wheel 3343. With this configuration, the rotary motor 3341 rotates clockwise or counterclockwise, driving the first drive wheel 3342 to rotate clockwise or counterclockwise. The first conveyor belt 3344 can drive the first driven wheel 3343 to rotate clockwise or counterclockwise, thereby driving the rotary shaft 333 to rotate clockwise or counterclockwise. This enables the swing mechanism 34 and the target device 40 to rotate around the axis of the rotary shaft 333 (i.e., the height direction of the substrate 31), so that the target device 40 is oriented towards a suitable observation position to observe detailed target information.

[0061] In one embodiment, reference is made to Figure 3 and Figure 4 The rotating mechanism 33 also includes a second trigger switch 335 and a second sensor 336; the second trigger switch 335 is disposed on the first support shell 331 and connected to the rotating motor 3341, and the second sensor 336 is disposed on the swing mechanism 34 for sensing or contacting the second trigger switch 335.

[0062] As an example, the rotating mechanism 33 also includes a second trigger switch 335 and a second sensor 336. During installation, the second trigger switch 335 is mounted on the first support housing 331 and connected to the rotary motor 3341, and the second sensor 336 is mounted on the rocking mechanism 34. With this configuration, when the second drive assembly 334 drives the rotating shaft 333 to rotate clockwise or counterclockwise, it can drive the rocking mechanism 34 and the target device 40 to rotate around the axis of the rotating shaft 333, so as to drive the second sensor 336 to sense or contact the second trigger switch 335, and output a sensing signal to determine its position, thereby controlling the rotation stroke of the rotating mechanism 33.

[0063] In one embodiment, reference is made to Figure 2 , Figure 3 , Figure 4 and Figure 5 The rocking mechanism 34 includes a second support shell 341, a rocking support 342, a rotating shaft 343, a rocking bracket 344, and a third drive assembly 345. The second support shell 341 is mounted on the rotating mechanism 33, the rocking support 342 is mounted on the second support shell 341, one end of the rotating shaft 343 is rotatably mounted on the rocking support 342, and one end of the rocking bracket 344 is mounted on the rotating shaft 343. The third drive assembly 345 is connected to the rotating shaft 343 and is used to drive the rotating shaft 343 to rotate.

[0064] As an example, the swing mechanism 34 includes a second support shell 341, a swing support 342, a rotating shaft 343, a swing bracket 344, and a third drive assembly 345. During installation, the second support shell 341 is installed on the rotating shaft 333 of the rotating mechanism 33 by screwing, snapping, or welding. The swing support 342 is installed on the second support shell 341. One end of the rotating shaft 343 is rotatably installed on the swing support 342. One end of the swing bracket 344 is installed on the rotating shaft 343. The third drive assembly 345 is connected to the rotating shaft 343. With this configuration, the third drive assembly 345 can drive the rotating shaft 343 to rotate, thereby causing the target device 40 to swing around the axis of the rotating shaft 343 (i.e., the height direction perpendicular to the base plate 31), so as to adjust the pitch angle of the target device 40, so that the target device 40 is oriented towards a suitable observation position and can observe detailed target information. The rocker support 342 and rocker bracket 344 are both two in number. Both rocker supports 342 and rocker brackets 344 are symmetrical about the axis of symmetry of the third drive assembly 345, which improves the stability of the rocker mechanism 34 and allows for smoother adjustment of the pitch angle of the target device 40. The second support shell 341 includes a second shell plate and a second shell cover. The second shell plate is mounted on the rotation shaft 333 and is used to mount other parts of the rocker mechanism 34. The second shell cover is mounted on the second shell plate and surrounds the other parts of the rocker mechanism 34 to protect the main components of the rocker mechanism 34 and improve its service life.

[0065] In one embodiment, reference is made to Figure 2 The third drive assembly 345 includes a rocking motor 3451, a second driving wheel 3452, a second driven wheel 3453, and a second conveyor belt 3454. The rocking motor 3451 and the rocking support 342 are spaced apart along the horizontal direction of the base plate 31. The second driving wheel 3452 is mounted on the output shaft of the rocking motor 3451, the second driven wheel 3453 is mounted on the rotating shaft 343, and the second conveyor belt 3454 is fitted onto the second driving wheel 3452 and the second driven wheel 3453.

[0066] As an example, the third drive assembly 345 includes a rocking motor 3451, a second driving wheel 3452, a second driven wheel 3453, and a second conveyor belt 3454. During installation, the rocking motor 3451 and the rocking support 342 are spaced apart along the horizontal direction of the base plate 31. The second driving wheel 3452 is mounted on the output shaft of the rocking motor 3451, the second driven wheel 3453 is mounted on the rotating shaft 343, and the second conveyor belt 3454 is fitted onto the second driving wheel 3452 and the second driven wheel 3453. The swing motor 3451 rotates clockwise or counterclockwise, driving the second drive wheel 3452 to rotate clockwise or counterclockwise. The second conveyor belt 3454 drives the second driven wheel 3453 to rotate clockwise or counterclockwise, thereby driving the rotating shaft 343 to rotate clockwise or counterclockwise. This causes the target device 40 to swing around the axis of the rotating shaft 343 (i.e., the direction perpendicular to the height of the base plate 31), thereby adjusting the pitch angle of the target device 40 so that the target device 40 is oriented towards a suitable observation position to observe detailed target information.

[0067] In one example, refer to Figure 4 and Figure 5 The swing mechanism 34 also includes a third trigger switch 346 and a third sensor 347. During installation, the third trigger switch 346 is mounted on the swing support 342 and connected to the swing motor 3451, and the third sensor 347 is mounted on the swing bracket 344. With this configuration, when the third drive assembly 345 drives the rotating shaft 343 to rotate clockwise or counterclockwise, it can drive the swing bracket 344 and the target device 40 to swing around the axis of the rotating shaft 343, so as to drive the third sensor 347 to sense or contact the third trigger switch 346, and output a sensing signal to determine its position, thereby controlling the swing stroke of the swing mechanism 34.

[0068] In one embodiment, reference is made to Figure 4 and Figure 5 The swing mechanism 34 also includes a limiting plate 348, which is mounted on the second support shell 341. The limiting plate 348 is provided with a movable groove 349 arranged in the horizontal direction along the base plate 31, and the swing bracket 344 is located in the movable groove 349.

[0069] As an example, the swing mechanism 34 also includes a limiting plate 348. During installation, the limiting plate 348 is mounted on the second support shell 341. The limiting plate 348 is provided with a movable groove 349 arranged in the horizontal direction of the base plate 31. The swing bracket 344 is located in the movable groove 349. With this arrangement, when the third drive assembly 345 drives the rotating shaft 343 to rotate clockwise or counterclockwise, it can drive the swing bracket 344 to swing in the movable groove 349. The movable groove 349 provides guidance and limitation for the swing bracket 344, preventing the swing bracket 344 from being misaligned or offset.

[0070] This utility model provides a robot, including a target device 40 and a gimbal device 30; the target device 40 is mounted on the gimbal device 30.

[0071] As an example, the robot includes a target device 40 and a gimbal device 30. During installation, the target device 40 is mounted on the gimbal device 30. The gimbal device 30 specifically includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33, and a swinging mechanism 34. During installation, the base plate 31 serves as the mounting reference and can provide support for other parts of the gimbal device 30. The base plate 31 can be mounted on industrial robots or automated equipment using screw connections, snap-fit ​​connections, or welding methods to enable the gimbal device 30 to be mounted on industrial robots or automated equipment. The lifting mechanism 32 is mounted on the base plate 31, and the lifting mechanism 32 can lift and lower along the height direction of the base plate 31 (i.e., the height direction of the robot, which is the second direction). The rotating mechanism 33 is mounted on the lifting mechanism 32, and the rotating mechanism 33 can rotate around the height direction of the base plate 31 (i.e., the height direction of the robot). The swinging mechanism 34 is mounted on the rotating mechanism 33, and the swinging mechanism 34 can swing around a direction perpendicular to the height direction of the base plate 31 (i.e., the length or width direction of the base plate 31, or the length or width direction of the robot, which is the first or third direction).

[0072] In this example, the target device 40 is mounted on the swing mechanism 34. The swing mechanism 34 can drive the target device 40 to swing around a direction perpendicular to the height of the substrate 31. The rotation mechanism 33 can drive the swing mechanism 34 and the target device 40 to rotate around the height of the substrate 31. The lifting mechanism 32 can drive the rotation mechanism 33, the swing mechanism 34, and the target device 40 to rise and fall along the height of the substrate 31. By coordinating the lifting mechanism 32, the rotation mechanism 33, and the swing mechanism 34, the target device 40 can be adjusted from multiple angles and directions, allowing the target device 40 to be positioned in a suitable observation location to observe detailed target information. This increases the movement options of the gimbal device 30 and meets the adjustment requirements of multiple angles and directions. For example, the gimbal device 30 is used in large models such as robots. When the target device 40 is a 3D camera, the gimbal device 30 can flexibly adjust the visual angle of the 3D camera to adapt to the actual application scenario and provide a suitable perspective for the large model.

[0073] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A gimbal device, comprising: A device for supporting a target device, comprising a base plate, a lifting mechanism, a rotating mechanism and a swinging mechanism; The lifting mechanism is mounted on the base plate, the rotating mechanism is mounted on the lifting mechanism, the swinging mechanism is mounted on the rotating mechanism, and the target device is mounted on the swinging mechanism; The lifting mechanism, the rotating mechanism and the swinging mechanism cooperate to adjust the posture of the target device.

2. The gimbal device of claim 1, wherein, The lifting mechanism comprises a base frame, an X-shaped linkage assembly and a first driving assembly; The base frame is spaced apart from the base plate along the vertical direction of the base plate, and the X-shaped linkage assembly is arranged between the base frame and the base plate; The first driving assembly is arranged on the base plate and connected to the X-shaped linkage assembly to drive the X-shaped linkage assembly to lift.

3. The head device according to claim 2, wherein The X-shaped linkage assembly comprises a first linkage, a second linkage, a fixed support and a movable support; The first linkage and the second linkage are connected by a connecting shaft; The first end of the first linkage is mounted on the base plate through a fixed support, and the second end of the first linkage is movably mounted on the base frame along the horizontal direction of the base plate through a movable support; The first end of the second linkage is movably mounted on the base plate along the horizontal direction of the base plate through a movable support, and the second end of the second linkage is mounted on the base frame through a fixed support; The first driving assembly is connected to the movable support to drive the first linkage and the second linkage to rotate in the same direction or in opposite directions.

4. The head assembly of claim 2, wherein, The first driving assembly comprises a driving motor, a screw rod seat, a screw rod and a driving block; The driving motor and the screw rod seat are spaced apart along the horizontal direction of the base plate, the first end of the screw rod is connected to the output end of the driving motor, and the second end of the screw rod penetrates the screw rod seat; The driving block is movably mounted on the screw rod and connected to the X-shaped linkage assembly.

5. The head according to claim 2, wherein The lifting mechanism further comprises a guide assembly, and the guide assembly comprises a guide rail and a guide block; One of the guide rail and the guide block is arranged on the base plate, and the other is arranged on the X-shaped linkage assembly, and the guide block is movably mounted on the guide rail.

6. The gimbal device of claim 1, wherein, The rotating mechanism comprises a first support shell, a rotating shaft seat, a rotating shaft and a second driving assembly; The first support shell is mounted on the lifting mechanism, the rotating shaft seat is arranged on the first support shell, the first end of the rotating shaft is rotatably mounted in the rotating shaft seat, and the second end of the rotating shaft is connected to the swinging mechanism; The second driving assembly is connected to the rotating shaft to drive the rotating shaft to rotate.

7. The head device according to claim 6, wherein The second driving assembly comprises a rotating motor, a first driving wheel, a first driven wheel and a first transmission belt; The rotating motor and the rotating shaft seat are spaced apart along the horizontal direction of the base plate, the first driving wheel is mounted on the output shaft of the rotating motor, the first driven wheel is mounted on the rotating shaft, and the first transmission belt is sleeved on the first driving wheel and the first driven wheel.

8. The gimbal device of claim 1, wherein, The swinging mechanism comprises a second support shell, a swinging support, a rotating shaft, a swinging support and a third driving assembly; The second support shell is mounted on the rotating mechanism, the swing support is mounted on the second support shell, and one end of the rotating shaft is rotatably mounted on the swing support; The third driving assembly is connected with the rotating shaft and used for driving the rotating shaft to rotate.

9. The head assembly of claim 8, wherein, The third driving assembly comprises a swing motor, a second driving wheel, a second driven wheel and a second transmission belt. The swing motor is arranged along a horizontal direction of the base plate and spaced from the swing support, the second driving wheel is mounted on an output shaft of the swing motor, the second driven wheel is mounted on the rotating shaft, and the second transmission belt is sleeved on the second driving wheel and the second driven wheel.

10. A robot, characterized in that The gimbal device comprises a target device and the gimbal device according to any one of claims 1-9, and the target device is mounted on the gimbal device.

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