A two-axis turntable adjusting device

Abstract

The application relates to a two-axis rotary table adjusting device and relates to the field of capsule robots for pipeline detection, which comprises a base, a horizontal rotation adjusting assembly arranged on the base, a vertical rotation adjusting assembly connected with the horizontal rotation adjusting assembly, a mounting block connected with the vertical rotation assembly, a camera mechanism arranged on the mounting block and a controller; the rotation directions of the horizontal rotation adjusting assembly and the vertical rotation adjusting assembly are perpendicular, and the horizontal rotation adjusting assembly and the vertical rotation adjusting assembly are electrically connected with the controller. The application can flexibly adjust the angle of the camera mechanism according to requirements.

Description

Technical Field

[0001] This application relates to the field of capsule robots for pipeline inspection, and more particularly to a two-axis turntable adjustment device. Background Technology

[0002] The capsule robot for drainage pipeline inspection is a low-cost, high-efficiency inspection device designed for the complex environment of underground urban drainage networks. The capsule robot can effectively enter narrow spaces to complete inspection tasks, greatly improving the convenience and accuracy of underground pipeline maintenance work, and has become one of the important tools for modern urban management.

[0003] Existing capsule robots are equipped with cameras, but because these cameras are mostly fixed in place, the shooting angle cannot be flexibly adjusted. This makes it difficult to meet the accurate detection requirements of different scenarios during actual operation, thus limiting the overall efficiency of pipeline inspection. Utility Model Content

[0004] To solve the above-mentioned technical problems, this application provides a two-axis rotary table adjustment device.

[0005] This application provides a two-axis rotary table adjustment device, which adopts the following technical solution: A two-axis turntable adjustment device includes a base, a horizontal rotation adjustment component disposed on the base, a vertical rotation adjustment component connected to the horizontal rotation adjustment component, a mounting block connected to the vertical rotation component, a camera mechanism disposed on the mounting block, and a controller; the rotation directions of the horizontal rotation adjustment component and the vertical rotation adjustment component are perpendicular, and both the horizontal rotation adjustment component and the vertical rotation adjustment component are electrically connected to the controller.

[0006] By adopting the above technical solution, the two-axis turntable adjustment device can achieve precise angle adjustment of the camera mechanism in both horizontal and vertical directions. The base provides a stable support foundation for the entire device, ensuring its stability during operation. The horizontal rotation adjustment component works in conjunction with the vertical rotation adjustment component, with their rotation directions perpendicular to each other. This allows the camera mechanism to cover a wider detection range and flexibly adjust its angle in different positions, thereby improving the accuracy and efficiency of pipeline inspection.

[0007] Preferably, the horizontal rotation adjustment assembly includes a lower base mounted on the base, a first motor mounted inside the lower base, and a horizontal main shaft. The drive shaft of the first motor is fixedly connected to the horizontal main shaft. A first connecting bearing is mounted on the horizontal main shaft. The horizontal main shaft is connected to the lower base through the first connecting bearing. The horizontal main shaft is connected to the vertical rotation adjustment assembly. The first motor is electrically connected to the controller.

[0008] By adopting the above technical solution, the horizontal rotation adjustment assembly achieves precise angle adjustment of the camera in the horizontal direction. The first motor drives the horizontal main shaft to rotate, enabling the vertical rotation adjustment assembly connected to the horizontal main shaft and the camera mechanism mounted on it to rotate around the horizontal axis. This allows for flexible changes in the shooting angle according to actual inspection needs, thereby improving the efficiency and accuracy of pipeline inspection. The first connecting bearing improves the smoothness and precision of the horizontal main shaft rotation, further enhancing the overall reliability of the device.

[0009] Preferably, the vertical rotation adjustment assembly includes a mounting plate fixedly connected to the horizontal main shaft, an upper base disposed on the mounting plate, a mounting groove formed in the center of the upper base, a second motor disposed on one side of the upper base, and two connecting shafts. The mounting block is disposed in the mounting groove, and the two connecting shafts are respectively disposed on opposite sides of the mounting block. A second connecting bearing is disposed on the connecting shaft, and the connecting shaft is rotatably connected to the upper base through the second connecting bearing. The drive shaft of the second motor is drively connected to the connecting shaft on one side, and the second motor is electrically connected to the controller.

[0010] By adopting the above technical solution, precise vertical rotation adjustment is achieved. The mounting plate is fixedly connected to the horizontal main shaft, ensuring the stability of the vertical rotation adjustment component. The upper base and its central mounting slot accommodate the mounting block. Combined with the design of two connecting shafts and a second connecting bearing, this allows the mounting block to rotate smoothly around the vertical axis. A second motor drives one of the connecting shafts for precise control, thereby enabling the camera mechanism on the mounting block to flexibly adjust its vertical angle. This design effectively solves the problem in existing technologies where the unstable posture of the capsule robot makes real-time precise camera adjustment difficult, significantly improving the flexibility and accuracy of camera angle adjustment during pipeline inspection.

[0011] Preferably, the horizontal spindle is located at the center of the mounting plate.

[0012] By adopting the above technical solution, the horizontal spindle is set at the center of the mounting plate, making the center of gravity of the entire two-axis turntable adjustment device more stable. When the horizontal rotation adjustment component drives the vertical rotation adjustment component and the camera mechanism mounted on it to rotate horizontally, it can effectively reduce the shaking or vibration caused by eccentricity, further improving the stability and accuracy of the camera angle adjustment process. This improves the stability of the capsule robot in the pipeline inspection process, reduces the phenomenon of tipping over, and thus improves the efficiency of the pipeline inspection process.

[0013] Preferably, protective covers are provided on both sides of the upper base.

[0014] By adopting the above technical solution, protection can be provided for the vertical rotation adjustment component in the two-axis turntable adjustment device. The protective cover can effectively prevent external impurities or foreign objects from entering the upper base, avoiding interference with the normal operation of key components such as the second motor and connecting shaft, thereby improving the reliability and durability of the entire device.

[0015] Preferably, the camera mechanism includes a camera mounted on the mounting block and a plurality of flashlights, the plurality of flashlights being evenly arranged on the outside of the camera.

[0016] By adopting the above technical solution, the camera can achieve clear imaging of the inside of the pipeline. Multiple flashes are evenly distributed on the outside of the camera to ensure full coverage of the illumination range and avoid the problem of image quality degradation due to insufficient or uneven light, thereby improving the accuracy and efficiency of pipeline inspection.

[0017] Preferably, both the first motor and the second motor are piezoelectric motors.

[0018] By adopting the above technical solution, the piezoelectric motor has the characteristics of fast response and high-precision control, which can realize the precise angle adjustment of the horizontal rotation adjustment component and the vertical rotation adjustment component, thereby improving the adaptability of the camera mechanism in different detection scenarios, and thus helping to improve the efficiency and accuracy of pipeline inspection.

[0019] Preferably, both the first connecting bearing and the second connecting bearing are angular contact bearings.

[0020] By adopting the above technical solution and using angular contact bearings as support components for the horizontal spindle and connecting shaft, combined loads can be effectively withstood, especially the radial and axial forces generated during the operation of the horizontal and vertical rotation adjustment components, ensuring smooth and precise rotation. At the same time, the selection of angular contact bearings improves the overall structural stability and reliability, and extends the service life of the device.

[0021] In summary, this application has the following beneficial technical effects: 1. By combining the horizontal and vertical rotation adjustment components, the camera can be precisely adjusted in two vertical directions, improving the flexibility and adaptability of pipeline inspection; 2. Both the horizontal and vertical rotation adjustment components are driven by a controller, ensuring the automation and convenience of the adjustment process and further improving detection efficiency; 3. The overall structural design is compact and reasonable, which can realize the multi-functionality of the camera while ensuring the stability of the capsule robot, and solves the detection limitations caused by fixed cameras in the existing technology. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the two-axis turntable adjustment device provided in the embodiments of this application; Figure 2 This is a partial structural schematic diagram of the two-axis turntable adjustment device provided in the embodiments of this application; Figure 3 This is a partial cross-sectional structural diagram of the vertical rotation adjustment assembly and mounting block provided in the embodiments of this application.

[0023] Explanation of reference numerals in the attached drawings: 1. Base; 2. Horizontal rotation adjustment assembly; 21. Lower base; 22. First motor; 23. Horizontal spindle; 24. First connecting bearing; 3. Vertical rotation adjustment assembly; 31. Mounting plate; 32. Upper base; 33. Mounting slot; 34. Second motor; 35. Connecting shaft; 36. Second connecting bearing; 37. Protective cover; 4. Mounting block; 5. Camera mechanism; 51. Camera; 52. Flash. Detailed Implementation

[0024] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0025] This application discloses a two-axis turntable adjustment device.

[0026] Reference Figure 1 , Figure 2 and Figure 3 A two-axis turntable adjustment device includes a base 1, a horizontal rotation adjustment component 2 mounted on the base 1, a vertical rotation adjustment component 3 connected to the horizontal rotation adjustment component 2, a mounting block 4 connected to the vertical rotation adjustment component 3, a camera mechanism 5 mounted on the mounting block 4, and a controller (not shown in the figure). The rotation directions of the horizontal rotation adjustment component 2 and the vertical rotation adjustment component 3 are perpendicular, and both the horizontal rotation adjustment component 2 and the vertical rotation adjustment component 3 are electrically connected to the controller.

[0027] The horizontal rotation adjustment assembly 2 includes a lower base 21 fixedly mounted on the base 1, a first motor 22 fixedly mounted inside the lower base 21, and a horizontal main shaft 23. The drive shaft of the first motor 22 is fixedly connected to the horizontal main shaft 23. A first connecting bearing 24 is fixedly mounted on the horizontal main shaft 23. The horizontal main shaft 23 is rotatably connected to the lower base 21 through the first connecting bearing 24. The horizontal main shaft 23 is connected to the vertical rotation adjustment assembly 3. The first motor 22 is electrically connected to the controller.

[0028] The vertical rotation adjustment assembly 3 includes a mounting plate 31 fixedly connected to the horizontal spindle 23, an upper base 32 fixedly mounted on the mounting plate 31, a mounting groove 33 formed in the center of the upper base 32, a second motor 34 fixedly mounted on one side of the upper base 32, and two connecting shafts 35. A mounting block 4 is disposed in the mounting groove 33. The two connecting shafts 35 are respectively fixedly mounted on opposite sides of the mounting block 4. A second connecting bearing 36 is fixedly mounted on each connecting shaft 35, and the connecting shaft 35 is rotatably connected to the upper base 32 via the second connecting bearing 36. The drive shaft of the second motor 34 is fixedly connected to one side of the connecting shaft 35, and the second motor 34 is electrically connected to the controller. Protective covers 37 are fixedly mounted on both sides of the upper base 32. The horizontal spindle 23 is fixedly mounted at the center of the mounting plate 31.

[0029] The camera assembly 5 includes a camera mounted on the mounting block 4 and four flashlights 52, which are evenly distributed on the outside of the camera.

[0030] Both the first motor 22 and the second motor 34 are piezoelectric motors. Both the first connecting bearing 24 and the second connecting bearing 36 are angular contact bearings.

[0031] The implementation principle of the two-axis turntable adjustment device in this application embodiment is as follows: the first motor 22 drives the horizontal main shaft 23 and the mounting plate 31 to rotate, the mounting plate 31 drives the upper base 32, the mounting block 4 and the camera 51 to rotate in the left and right direction, and the second motor 34 drives the connecting shaft 35, the mounting block 4 and the camera 51 to rotate in the pitch direction, thereby flexibly adjusting the angle of the camera 51 on the mounting block 4, thereby improving the accuracy and efficiency of pipeline inspection.

[0032] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A two-axis turntable adjustment device, characterized in that: The device includes a base (1), a horizontal rotation adjustment assembly (2) mounted on the base (1), a vertical rotation adjustment assembly (3) connected to the horizontal rotation adjustment assembly (2), a mounting block (4) connected to the vertical rotation adjustment assembly (3), a camera mechanism (5) mounted on the mounting block (4), and a controller; the horizontal rotation adjustment assembly (2) and the vertical rotation adjustment assembly (3) rotate in perpendicular directions, and both the horizontal rotation adjustment assembly (2) and the vertical rotation adjustment assembly (3) are electrically connected to the controller.

2. The two-axis turntable adjustment device according to claim 1, characterized in that: The horizontal rotation adjustment assembly (2) includes a lower base (21) disposed on the base (1), a first motor (22) disposed inside the lower base (21), and a horizontal spindle (23). The transmission shaft of the first motor (22) is fixedly connected to the horizontal spindle (23). A first connecting bearing (24) is disposed on the horizontal spindle (23). The horizontal spindle (23) is connected to the lower base (21) through the first connecting bearing (24). The horizontal spindle (23) is connected to the vertical rotation adjustment assembly (3). The first motor (22) is electrically connected to the controller.

3. The two-axis turntable adjustment device according to claim 2, characterized in that: The vertical rotation adjustment assembly (3) includes a mounting plate (31) fixedly connected to the horizontal main shaft (23), an upper base (32) set on the mounting plate (31), a mounting groove (33) opened in the center of the upper base (32), a second motor (34) set on one side of the upper base (32), and two connecting shafts (35). The mounting block (4) is set in the mounting groove (33), and the two connecting shafts (35) are respectively set on opposite sides of the mounting block (4). A second connecting bearing (36) is set on the connecting shaft (35). The connecting shaft (35) is rotatably connected to the upper base (32) through the second connecting bearing (36). The drive shaft of the second motor (34) is drively connected to the connecting shaft (35) on one side. The second motor (34) is electrically connected to the controller.

4. The two-axis turntable adjustment device according to claim 3, characterized in that: The horizontal spindle (23) is located at the center of the mounting plate (31).

5. A two-axis turntable adjustment device according to claim 4, characterized in that: Protective covers (37) are provided on both sides of the upper base (32).

6. The two-axis turntable adjustment device according to claim 5, characterized in that: The camera mechanism (5) includes a camera mounted on the mounting block (4) and a plurality of flashlights (52), which are evenly arranged on the outside of the camera.

7. A two-axis turntable adjustment device according to claim 6, characterized in that: Both the first motor (22) and the second motor (34) are piezoelectric motors.

8. A two-axis rotary table adjustment device according to claim 7, characterized in that: Both the first connecting bearing (24) and the second connecting bearing (36) are angular contact bearings.

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