Snakelike robot camera monitoring structure
By incorporating components such as side frames, rotating shafts, rollers, counterweights, and locking blocks into the snake robot's camera monitoring structure, the problem of image jitter during snake robot movement was solved, ensuring image clarity and providing illumination in dark environments, thus achieving stable image acquisition.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING POLYTECHNIC
- Filing Date
- 2025-01-08
- Publication Date
- 2026-04-28
AI Technical Summary
In existing snake-like robot camera monitoring structures, the camera components are prone to image jitter when the robot walks or traverses obstacles, affecting image clarity.
By setting a first side frame and a second side frame at the front end of the base, and using the rotating shafts, rollers, counterweights and traction ropes on both sides of the camera assembly, it is ensured that the camera assembly is always parallel to the ground when the snake robot moves; at the same time, the position of the camera assembly can be adjusted to be fixed or rotated by using the locking block structure of the telescopic disc and the auxiliary positioning axis.
The camera components were kept in a parallel position throughout the movement of the snake robot to ensure the clarity of the image acquisition, and the image acquisition effect was improved in dark environments by using supplementary lighting.
Smart Images
Figure CN224169860U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot monitoring equipment technology, specifically a snake-shaped robot camera monitoring structure. Background Technology
[0002] The camera monitoring system is an important component of the snake robot, used to transmit images of the front of the robot in real time. Typically, the head of the snake robot is the control center, equipped with a video monitor that can transmit the image in front to the computer at the back in real time.
[0003] Most existing snake robot camera monitoring structures change the camera position as the robot's head moves up and down. This cannot guarantee that the camera components will always capture images of the front when the snake robot is walking or climbing over obstacles, which can easily lead to image jitter and affect image clarity. Utility Model Content
[0004] The purpose of this invention is to provide a snake-shaped robot camera monitoring structure to solve the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a snake-shaped robot camera monitoring structure, including a base, the front end of which is an arc-shaped surface, and an arc-shaped groove is provided at the front end of the base. A first side frame is provided at one edge of the front end of the base, and a second side frame is provided at the other edge of the front end of the base. The front opposite ends of the first and second side frames are each mounted with a rotating shaft via bearings. The opposite ends of the two rotating shafts are connected to a camera assembly. A recess is provided at the bottom of the camera assembly, and a counterweight is provided inside the arc-shaped groove below the recess. Rollers are installed at the top center of the counterweight and at both ends of the recess. A traction rope is connected to the outer surfaces of the three rollers. An auxiliary positioning shaft is provided on one side of the camera assembly near the first side frame. One side of the auxiliary positioning shaft extends out of the first side frame, and a locking block is provided at the extended end of the auxiliary positioning shaft. A telescopic disc is provided on one side of the first side frame near the locking block.
[0006] Preferably, a limiting track matching the auxiliary positioning axis is provided on one side of the first side frame. The limiting track is arc-shaped. When the camera assembly rotates around the center of the rotating shaft, the auxiliary positioning axis moves inside the limiting track to provide auxiliary support.
[0007] Preferably, the camera assembly has a camera at its front end, and a fill light is provided at the front end of the camera assembly on one side of the camera. The camera assembly contains a battery and a signal transceiver component. The camera is powered by the battery and is used to acquire image information. In dark environments, the fill light can provide illumination and improve the clarity of image acquisition.
[0008] Preferably, the rear end of the camera component is provided with a movable wheel, the rear end of the movable wheel extends into the arc-shaped groove, and the roller connects the rear end of the camera component to the front end of the base, so that the camera component can rotate with the middle position of the pivot as the origin.
[0009] Preferably, two mounting brackets are provided on both sides of the rear end of the base, and the base can be installed on the head end of the snake robot through the mounting brackets.
[0010] Preferably, a miniature electric push rod is connected to the interior of the first side frame and the middle position of the telescopic disc. The miniature electric push rod can drive the telescopic disc to perform linear movement. When the telescopic disc is pushed by the miniature electric push rod to move the telescopic disc towards the locking block until it contacts the locking block, the locking block is locked by friction, preventing the camera component from rotating. When the telescopic disc is moved away from the locking block by the miniature electric push rod, the auxiliary positioning shaft can move inside the limit track, allowing the camera component to rotate.
[0011] Compared with the prior art, the beneficial effects of this utility model are:
[0012] 1. This snake-like robot camera monitoring structure uses a first and second side frame at the front of the base to cooperate with two rotating shafts on both sides of the camera assembly, allowing the camera assembly to rotate. Two rollers are mounted on the bottom of the camera assembly via a recess, and a roller is mounted on the top of the counterweight. A traction rope is connected to the outer surface of all three rollers. The traction rope and the counterweight work together to pull the camera assembly. When the snake robot's head moves up and down, the base moves up and down with the snake robot, but the camera assembly, due to the traction force of the counterweight, does not rotate with the base. This ensures that the camera assembly remains parallel to the ground, and the front of the camera assembly continuously captures images of the snake robot's front, guaranteeing image clarity.
[0013] 2. The camera monitoring structure of this snake robot uses a telescopic disc on one side of the second side frame and a locking block on the extension end of the auxiliary positioning shaft. When the telescopic disc moves and contacts the locking block, the locking block is locked by friction. The camera component is positioned by the auxiliary positioning shaft, so that the camera component can move up and down with the base to adjust the image acquisition position of the front end of the camera component and ensure the image acquisition range. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0015] Figure 2 This is a schematic diagram of the camera component structure of this utility model;
[0016] Figure 3 For the present utility model Figure 2 Enlarged schematic diagram of the structure at point A in the middle;
[0017] Figure 4 This is a cross-sectional schematic diagram of the first side frame structure of this utility model.
[0018] In the diagram: 1. Base; 2. Mounting bracket; 3. Arc-shaped groove; 4. Camera assembly; 5. First side frame; 6. Counterweight; 7. Second side frame; 8. Fill light; 9. Camera; 10. Rotary shaft; 11. Auxiliary positioning shaft; 12. Locking block; 13. Telescopic disc; 14. Playing wheel; 15. Roller; 16. Sinking trough; 17. Traction rope; 18. Miniature electric push rod; 19. Limiting rail. Detailed Implementation
[0019] 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.
[0020] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0021] like Figures 1 to 4As shown, this embodiment of a snake-like robot camera monitoring structure includes a base 1. The front end of the base 1 is arc-shaped, and an arc-shaped groove 3 is formed at the front end of the base 1. A first side frame 5 is provided at one edge of the front end of the base 1, and a second side frame 7 is provided at the other edge of the front end of the base 1. The front opposite ends of the first side frame 5 and the second side frame 7 are both mounted with rotating shafts 10 via bearings. The opposite ends of the two rotating shafts 10 are connected to a camera assembly 4. The camera assembly 4 is mounted at the front end of the base 1 via the first side frame 5 and the second side frame 7, allowing the camera assembly 4 to rotate. A recess 16 is formed at the bottom of the camera assembly 4. A counterweight 6 is provided inside the arc-shaped groove 3 below the recess 16. Rollers 15 are installed at the top center of the counterweight 6 and at both ends of the recess 16. The outer surfaces of the three rollers 15 are connected to a traction rope 17. The two rollers 15 located inside the recess 16 are connected to the rotating shaft 17 via the rotating shaft 16. The two rollers 15 inside the sink 16 and the roller 15 on top of the counterweight 6 are symmetrically arranged at the center of the circle, so that the traction rope 17 is in a triangular shape. The counterweight 6 achieves a traction effect through gravity. The traction rope 17 pulls the camera component 4, ensuring that the camera component 4 can always be parallel to the ground. An auxiliary positioning shaft 11 is set on one side of the camera component 4 near the first side frame 5. One side of the auxiliary positioning shaft 11 extends out of the first side frame 5. A locking block 12 is set at the extended end of the auxiliary positioning shaft 11. A telescopic disc 13 is set on one side of the first side frame 5 near the locking block 12. The telescopic disc 13 can move linearly inside the first side frame 5. When the telescopic disc 13 moves towards the locking block 12 and contacts the locking block 12, it will lock the locking block 12 through friction. The auxiliary positioning shaft 11 locks the camera component 4, so that the camera component 4 will not rotate.
[0022] Specifically, a limiting track 19 matching the auxiliary positioning shaft 11 is provided on one side of the first side frame 5. The limiting track 19 is arc-shaped. When the camera assembly 4 rotates with the center of the rotating shaft 10 as the origin, the auxiliary positioning shaft 11 moves inside the limiting track 19 to provide auxiliary support.
[0023] Furthermore, a camera 9 is provided at the front end of the camera assembly 4, and a fill light 8 is provided at the front end of the camera assembly 4 on one side of the camera 9. The camera assembly 4 contains a battery and a signal transceiver component. The camera 9 is powered by the battery and is used to collect image information. In dark environments, the fill light 8 can provide illumination and improve the clarity of image acquisition.
[0024] Furthermore, a movable wheel 14 is provided at the rear end of the camera component 4. The rear end of the movable wheel 14 extends into the arc-shaped groove 3. The roller 15 connects the rear end of the camera component 4 to the front end of the base 1, so that the camera component 4 can rotate with the middle position of the pivot 10 as the origin.
[0025] Furthermore, two mounting brackets 2 are provided on both sides of the rear end of the base 1, and the base 1 can be installed on the head end of the snake robot through the mounting brackets 2.
[0026] Furthermore, a miniature electric push rod 18 is connected to the interior of the first side frame 5 and the middle position of the telescopic disc 13. The miniature electric push rod 18 can drive the telescopic disc 13 to perform linear movement. When the telescopic disc 13 is pushed by the miniature electric push rod 18 to move towards the locking block 12 until it contacts the locking block, the locking block 12 is locked by friction, preventing the camera component 4 from rotating. When the telescopic disc 13 is moved away from the locking block 12 by the miniature electric push rod 18, the auxiliary positioning shaft 11 can move inside the limit track 19, allowing the camera component 4 to rotate.
[0027] The usage method of this embodiment is as follows: The base 1 of the camera monitoring structure is installed at the head of the snake robot through the mounting bracket 2. When the head of the snake robot needs to be raised or lowered during the movement of the snake robot, the base 1 will move up and down linearly in sync with the head of the snake robot. The counterweight 6 has a traction effect due to gravity. The camera component 4 is pulled by the traction rope 17. When the base 1 moves up and down linearly, the camera component 4 is used in conjunction with the first side frame 5 and the second side frame 7 through two rotating shafts 10 respectively. At this time, the camera component 4 can always be in a parallel state with the ground. At this time, the camera 9 can capture images of the front end of the snake robot to ensure the clarity of the image. If it is necessary to fix the camera component 4 so that the front end of the camera component 4 can move up and down synchronously with the head of the snake robot, the telescopic plate 13 can be pushed to the position of the locking block 12 by the miniature electric push rod 18. When the telescopic plate 13 contacts the locking block 12, the locking block 12 will be locked by friction. The camera component 4 is locked by the auxiliary positioning shaft 11 so that the camera component 4 will not rotate.
[0028] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A snake-shaped robot camera monitoring structure, comprising a base (1), characterized in that: The front end of the base (1) is an arc-shaped surface, and an arc-shaped groove (3) is provided at the front end of the base (1). A first side frame (5) is provided at one edge of the front end of the base (1), and a second side frame (7) is provided at the other edge of the front end of the base (1). The front ends of the first side frame (5) and the second side frame (7) are both mounted with a rotating shaft (10) via bearings. The opposite ends of the two rotating shafts (10) are connected to a camera assembly (4). A recess (16) is provided at the bottom of the camera assembly (4), and an arc-shaped groove (3) is provided inside the recess (16). There is a counterweight (6), and rollers (15) are installed at the top middle position of the counterweight (6) and at both ends of the sink (16). The outer surfaces of the three rollers (15) are connected to a traction rope (17). An auxiliary positioning shaft (11) is provided on one side of the camera assembly (4) near the first side frame (5). One side of the auxiliary positioning shaft (11) extends out of the first side frame (5). A locking block (12) is provided at the extended end of the auxiliary positioning shaft (11). A telescopic disc (13) is provided on one side of the first side frame (5) near the locking block (12).
2. The snake-like robot camera monitoring structure according to claim 1, characterized in that: The first side frame (5) has a limiting track (19) that matches the auxiliary positioning shaft (11) on one side.
3. The snake-like robot camera monitoring structure according to claim 1, characterized in that: The front end of the camera assembly (4) is provided with a camera (9), and a fill light (8) is provided on the front end of the camera assembly (4) on one side of the camera (9).
4. The snake-like robot camera monitoring structure according to claim 1, characterized in that: The rear end of the camera assembly (4) is provided with a movable wheel (14), the rear end of which extends into the arc-shaped groove (3).
5. The snake-like robot camera monitoring structure according to claim 1, characterized in that: Two mounting brackets (2) are provided on both sides of the rear end of the base (1).
6. The snake-like robot camera monitoring structure according to claim 1, characterized in that: The interior of the first side frame (5) and the middle position of the telescopic disc (13) are connected to a miniature electric push rod (18).