A heavy-load holder with self-locking structure

Abstract

The utility model discloses a heavy load holder with self -locking structure, include: equipment base, the high accuracy rudder is rotationally connected with the central position, and the left and right sides of high accuracy rudder are symmetry and have rotated one cloud detection camera respectively, the bottom fixedly connected with equipment shell of cloud detection camera, and equipment shell sets up the upper end of vehicle, still include, self -locking mechanism, set up inside equipment shell, with high accuracy rudder's central position fixed connection, wherein, self -locking mechanism includes the rotation gear of high accuracy rudder bottom fixed connection through the axle rod, after the rotation gear turns a tooth, spring will immediately pull the clamping rod reset, and the rotation gear is re -clamped, avoids the preset angle unexpected deviation caused by the road bump, the operation machinery vibration and the external factors such as wind force in the vehicle travel, guarantees the accuracy of cloud detection camera and so on load equipment observation data, prevents target tracking loss and the problem of operation area incomplete coverage.

Description

Technical Field

[0001] This utility model relates to the field of vehicle-mounted gimbal technology, specifically a heavy-duty gimbal with a self-locking structure. Background Technology

[0002] The vehicle-mounted heavy-duty gimbal is a heavy-duty load-bearing and operating platform designed specifically for mobile vehicle scenarios. Its core purpose is to stably support various heavy professional equipment and enable precise operation under vehicle movement, bumpy or complex road conditions. Its main function is to provide a mounting base for heavy loads such as high-definition cameras, infrared thermal imagers, laser rangefinders, microwave detectors and lighting equipment. Through an integrated attitude adjustment and stability control system, it can achieve 360-degree horizontal rotation and a wide range of pitch adjustment, ensuring that the load equipment maintains a stable attitude during the dynamic movement of the vehicle and is not affected by factors such as road bumps and vehicle tilt.

[0003] However, in the current application of gimbals in pure electric control systems, when the vehicle experiences severe conditions such as bumps or frequent turns, the servo motors in the gimbal need to rotate frequently to ensure the normal operation of the shooting equipment. This can easily lead to malfunctions or reduced accuracy of the servo motors under frequent rotation, thus significantly shortening their service life.

[0004] Therefore, this utility model provides a heavy-duty gimbal with a self-locking structure to solve the above problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a heavy-duty gimbal with a self-locking structure, which solves the problem mentioned above where frequent rotation of the servo motor in the gimbal to ensure the normal operation of the shooting equipment can easily lead to malfunctions or reduced accuracy of the servo motor under frequent rotation, thus significantly shortening the service life of the servo motor.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a heavy-duty gimbal with a self-locking structure, comprising: A high-precision servo motor is used to drive the gimbal and achieve precise angle positioning and control. The high-precision servo motor is rotatably connected to the center of the equipment base. The equipment housing is located on the upper part of the vehicle. It also includes, The self-locking mechanism includes a rotating gear fixedly connected to the bottom of a high-precision servo motor via a shaft. A movable disk is rotatably connected to the bottom of the rotating gear. An eccentric disk is fixedly connected to the bottom of the movable disk and eccentrically fixedly connected to the output shaft of the output motor. A connecting rod is fixedly connected to the side of the eccentric disk and rotatably connected to the movable rod. A small lever matching the rotating gear is rotatably connected to the other end of the movable rod. A locking lever matching the rotating gear is also rotatably connected to one side of the rotating gear. The locking lever and the small lever are connected by a spring. Next, a limiting component is provided between the movable disc and the locking rod to restrict the rotation of the rotating gear. When the output motor drives the eccentric disc and the movable disc to rotate, the movable disc drives the locking rod to rotate through the limiting component, thereby causing the rotating gear to disengage from the locking rod. At the same time, since the eccentric disc makes eccentric motion on the output shaft of the output motor, the rotation of the eccentric disc drives the movable rod to rotate through the connecting rod. This causes the movable rod to push the rotating gear to rotate through the small lever. When it rotates past a tooth on the rotating gear, the locking rod is pulled back by the spring under the action of the spring and engages with the tooth on the rotating gear, thus completing the self-locking.

[0007] Preferably, a stabilizing mechanism is fixedly connected to the shaft, and the stabilizing mechanism includes a limiting chuck. A limiting turntable is rotatably connected inside the limiting chuck, and multiple fixing tubes are arranged in an array on the limiting turntable. A groove matching the fixing tube is opened on the rotating gear, so that when the rotating gear rotates, it drives the limiting turntable to rotate through the fixing tube.

[0008] Preferably, the limiting chuck has a stabilizing groove inside that matches the limiting turntable, and the limiting turntable has a rotating groove at its center that matches the shaft.

[0009] Preferably, an electromagnet is fixedly connected inside the limiting chuck, and the interiors of the multiple fixing tubes and the stabilizing groove are filled with magnetorheological fluid. When the angle of the device is adjusted, the electromagnet is activated, and the arrangement of the magnetorheological fluid inside the fixing tubes and the stabilizing groove changes and hardens, thereby locking the limiting turntable inside the stabilizing groove, so that the device will not shift its angle due to bumps or vibrations.

[0010] Preferably, the limiting mechanism includes an eccentric paddle fixed on the circumference of the movable disk, and a straight rod matching the eccentric paddle is fixedly connected to the side of the locking rod, so that when the output motor drives the movable disk to rotate, when the eccentric paddle on the movable disk contacts the straight rod, the locking rod rotates around the axis, thereby causing the rotating gear to disengage from the locking rod and rotate under the push of the small paddle.

[0011] Preferably, the opposing sides of the straight rod and the eccentric lever are both smooth surfaces.

[0012] This invention provides a heavy-duty gimbal with a self-locking structure. Compared with the prior art, it has the following advantages: (1) When the heavy-duty gimbal with self-locking structure drives the eccentric disk to rotate through the output motor, it can not only release the restriction of the locking rod on the rotating gear through the cooperation of the eccentric lever and the straight rod, but also drive the movable rod and the small lever to push the rotating gear to achieve angle adjustment through the linkage. After the rotating gear turns one tooth, the spring will immediately pull the locking rod to reset and re-engage with the rotating gear. This avoids the need for the servo motor in the gimbal to rotate frequently to ensure the normal operation of the shooting equipment when the vehicle experiences bumps or frequent turns. This can easily lead to the servo motor malfunctioning or reducing its accuracy under frequent rotation, thus significantly shortening the service life of the servo motor.

[0013] (2) The heavy-duty gimbal with a self-locking structure uses an electromagnet in the limiting chuck to generate a magnetic field that changes the arrangement of the magnetorheological fluid in the fixed tube and the stabilizing tank, causing the magnetorheological fluid to harden and lock the limiting turntable. The limiting turntable is linked to the rotating gear through the fixed tube, thereby limiting the movement of the rotating gear and further enhancing the stability of the gimbal. Even when facing strong turbulence or strong winds, it can firmly fix the position of the equipment base, ensuring that the high-precision servo motor and cloud inspection camera maintain the preset angle continuously, greatly improving the working accuracy of the heavy-duty gimbal under complex working conditions, and ensuring the stable operation of heavy-duty equipment such as high-definition cameras and laser rangefinders. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the external structure of this utility model; Figure 2 This is an exploded view of the overall structure of this utility model; Figure 3 This is an exploded view of the stabilizing mechanism of this utility model; Figure 4 This is a three-dimensional view of the self-locking mechanism structure of this utility model.

[0015] In the picture: 1. Equipment base; 2. High-precision servo motor; 3. Cloud inspection camera; 4. Equipment casing; 5. Self-locking mechanism; 51. Rotating gear; 52. Movable disc; 53. Eccentric lever; 54. Output motor; 55. Eccentric disc; 56. Connecting rod; 57. Movable rod; 58. Small lever; 59. Spring; 510. Locking lever; 511. Straight rod; 6. Stabilizing mechanism; 61. Limiting chuck; 62. Electromagnet; 63. Limiting turntable; 64. Fixing tube; 65. Rotary groove; 66. Stabilizing groove. Detailed Implementation

[0016] 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. Example

[0017] Please see Figures 1 to 4 A heavy-duty gimbal with a self-locking structure includes: A high-precision servo motor 2 is used to drive the gimbal and achieve precise angle positioning and control. The high-precision servo motor 2 is rotatably connected to the center of the equipment base 1. The equipment housing 4 is set on the upper part of the vehicle. It also includes, The self-locking mechanism 5 and the high-precision servo motor 2 are either servo motors or stepper motors. The self-locking mechanism 5 includes a rotating gear 51 fixedly connected to the bottom of the high-precision servo motor 2 via a shaft. A movable disk 52 is rotatably connected to the bottom of the rotating gear 51. An eccentric disk 55 is fixedly connected to the bottom of the movable disk 52 and is eccentrically fixedly connected to the output shaft of the output motor 54. A connecting rod 56 is fixedly connected to the side of the eccentric disk 55 and rotatably connected to a movable rod 57. A small paddle 58 matching the rotating gear 51 is rotatably connected to the other end of the movable rod 57. A locking rod 510 matching the rotating gear 51 is also rotatably connected to one side of the rotating gear 51. The locking rod 510 and the small paddle 58 are movably connected by a spring 59. A limiting component is provided between the movable disk 52 and the locking rod 510 to restrict the rotation of the rotating gear 51. When the output motor 54 drives the eccentric disk 55 and the movable disk 52 to rotate, the movable disk 52 drives the locking rod 510 to rotate through the limiting component, thereby causing the rotating gear 51 to disengage from the locking rod 510. Simultaneously, because the eccentric disk 55 performs eccentric motion on the output shaft of the output motor 54, the rotation of the eccentric disk 55 causes the movable rod 57 to rotate via the connecting rod 56. This, in turn, causes the movable rod 57 to push the rotating gear 51 to rotate via the small lever 58. When the gear 51 rotates past one tooth, the locking lever 510 is pulled back by the spring 59 and engages with the tooth on the rotating gear 51, completing the self-locking mechanism. The limiting mechanism includes a fixed part on the movable disk 52. An eccentric paddle 53 is on the circumference, and a straight rod 511 matching the eccentric paddle 53 is fixedly connected to the side of the lever 510. When the output motor 54 drives the movable disk 52 to rotate, when the eccentric paddle 53 on the movable disk 52 contacts the straight rod 511, the lever 510 rotates around the axis, thereby causing the rotating gear 51 to break free from the restriction of the lever 510 and rotate under the push of the small paddle 58. The opposite sides of the straight rod 511 and the eccentric paddle 53 are both smooth surfaces. During operation, the output motor 54 starts, driving the eccentric disk 55 to rotate. The eccentric disk 55 synchronously drives the movable disk 52 to rotate. As the movable disk 52 rotates, its eccentric paddle 53 gradually approaches and contacts the straight rod 511 on the side of the locking rod 510. Because the opposite sides of the straight rod 511 and the eccentric paddle 53 are smooth surfaces, contact friction is reduced, causing the locking rod 510 to rotate around its own axis. The rotating gear 51 disengages from the locking rod 510, and simultaneously, the eccentric disk 55 performs eccentric motion on the output shaft of the output motor 54. When in motion, the connecting rod 56 drives the movable rod 57 to rotate. During the rotation of the movable rod 57, the small paddle 58 at the other end moves synchronously. The small paddle 58 pushes the rotating gear 51 to rotate. When the rotating gear 51 passes one tooth, the output motor 54 drives the eccentric disk 55 to continue rotating. The eccentric paddle 53 separates from the straight rod 511. Under the action of the spring 59, the locking rod 510 is pulled back and precisely engages with the next tooth on the rotating gear 51, completing the self-locking operation after a single angle adjustment. This cycle is repeated to achieve the rotation of the gear. The intermittent rotation and self-locking of 51, at this time, the locking of the detection equipment after the angle adjustment is achieved by the self-locking mechanism 5, thereby locking the detection equipment and the gimbal within a rough angle range. At the same time, the high-precision servo motor 2 drives the cloud inspection camera 3 to perform fine angle adjustments (the rough angle refers to first locking the equipment within the range of 0-10 degrees by the self-locking structure 5, avoiding the need for the high-precision servo motor 2 to adjust the angle range of 0-90 degrees or a large rotation when the detection equipment is not in use. Then, the high-precision servo motor 2 is used to fine-tune the detection equipment. The above angles are just examples. The specific angles can be adjusted by the staff according to the actual operation of the equipment). This avoids the need for the servo motor in the gimbal to rotate frequently to ensure the normal operation of the shooting equipment when the vehicle experiences bumps or frequent turns. This can easily lead to malfunctions or reduced accuracy of the servo motor under frequent rotation, thus significantly shortening the service life of the servo motor. At the same time, it avoids the wear of the locking mechanism caused by the large weight of the equipment when the high-precision servo motor 2 drives the detection equipment to lock on bumpy roads. Example

[0018] Please see Figures 1 to 4This embodiment provides a technical solution based on Embodiment 1: a stabilizing mechanism 6 is fixedly connected to the shaft, and the stabilizing mechanism 6 includes a limiting chuck 61. A limiting turntable 63 is rotatably connected inside the limiting chuck 61, and multiple fixing tubes 64 are arrayed on the limiting turntable 63. A groove matching the fixing tubes 64 is opened on the rotating gear 51, so that when the rotating gear 51 rotates, it drives the limiting turntable 63 to rotate through the fixing tubes 64. A stabilizing groove 66 matching the limiting turntable 63 is opened inside the limiting chuck 61. Furthermore, a rotating groove 65 matching the shaft is provided at the center of the limiting turntable 63, and an electromagnet 62 is fixedly connected inside the limiting chuck 61. The interiors of multiple fixing tubes 64 and stabilizing grooves 66 are filled with magnetorheological fluid. When the angle of the equipment is adjusted, the electromagnet 62 is activated. At this time, the arrangement of the magnetorheological fluid inside the fixing tubes 64 and stabilizing grooves 66 changes and hardens, thereby locking the limiting turntable 63 inside the stabilizing grooves 66, so that the equipment will not shift its angle due to bumps or vibrations. During operation, when the rotating gear 51 rotates, the groove on its surface cooperates with the fixing tube 64 on the limiting turntable 63, driving the limiting turntable 63 to rotate synchronously inside the stabilizing groove 66 of the limiting chuck 61 through the rotating groove 65. After the equipment completes the angle adjustment, the electromagnet 62 inside the limiting chuck 61 is activated. The electromagnet 62 generates a magnetic field that acts on the magnetorheological fluid filled inside the fixing tube 64 and the stabilizing groove 66. The arrangement of the magnetorheological fluid changes and hardens. The hardened magnetorheological fluid firmly locks the limiting turntable 63 inside the stabilizing groove 66, preventing the limiting turntable 63 from continuing to rotate. This, in turn, restricts the rotation of the rotating gear 51 through the fixing tube 64, ensuring that the equipment will not shift its angle due to vehicle bumps or mechanical vibrations during operation.

[0019] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0020] Working Principle: During operation, the equipment is first started. Based on operational requirements, the initial attitude of the cloud inspection camera 3 is adjusted via the high-precision servo motor 2. The elevation angle of the equipment is then adjusted via the high-precision servo motor 2. After locking by the self-locking mechanism inside the high-precision servo motor 2 (the high-precision servo motor 2 has a built-in high-precision encoder (magnetic encoder or photoelectric encoder) that monitors the output shaft angle in real time; the main control chip (MCU) compares the target angle with the actual angle, calculates the error, and outputs a control signal through a PID algorithm to drive the motor for fine-tuning and maintaining the angle), the equipment base 1 provides stable support for the high-precision servo motor 2, and the equipment casing 4 protects the internal components. Subsequently, the output motor 54 starts, and the eccentric disk 55 moves eccentrically with the output shaft of the output motor 54. The movable disk 52 drives the eccentric lever 53 to contact the straight rod 511, causing the locking lever 510 to release the restriction on the rotating gear 51. The connecting rod 56 then pulls the movable rod 57. The small lever 58 pushes the rotating gear 51 to rotate. After the rotating gear 51 has rotated one tooth, the spring 59 pulls the locking lever 510 to reset and engage the rotating gear 51, realizing self-locking and intermittent angle adjustment. When the cloud inspection camera 3 reaches the preset angle, the electromagnet 62 in the stabilizing mechanism 6 is activated. The magnetic field generated by the electromagnet 62 hardens the magnetorheological fluid in the fixing tube 64 and the stabilizing groove 66, locking the limiting turntable 63 in the limiting chuck 61. This restricts the movement of the rotating gear 51 through the fixing tube 64. Under the influence of external factors such as bumpy road conditions and mechanical vibration or wind during operation, the rotating gear 51 is always kept in a fixed state. During driving, the equipment may be offset relative to the servo motor installation position due to bumps. At the same time, it avoids the additional load brought by the weight of the equipment, which may cause the servo motor locking mechanism to malfunction under frequent impacts, thus significantly shortening the service life of the servo motor.

[0021] It should be noted that all standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0022] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A heavy-duty gimbal with a self-locking structure, comprising: A high-precision servo motor (2) is used to drive the gimbal and achieve precise angle positioning and control. The high-precision servo motor (2) is rotatably connected to the center of the equipment base (1). The equipment shell (4) is set on the upper part of the vehicle. Its characteristic is that it also includes, The self-locking mechanism (5) includes a rotating gear (51) fixedly connected to the bottom of a high-precision servo motor (2) via a shaft, and a movable disk (52) is rotatably connected to the bottom of the rotating gear (51). An eccentric disk (55) is fixedly connected to the bottom of the movable disk (52), and the eccentric disk (55) is eccentrically fixedly connected to the output shaft of the output motor (54). A connecting rod (56) is fixedly connected to the side of the eccentric disk (55), and the connecting rod (56) rotates... The movable plate (52) is rotatably connected to the movable rod (57), and a small paddle (58) matching the rotating gear (51) is rotatably connected to the other end of the movable rod (57). A locking rod (510) matching the rotating gear (51) is also rotatably connected to one side of the rotating gear (51). The locking rod (510) and the small paddle (58) are rotatably connected by a spring (59). A limiting component for limiting the rotation of the rotating gear (51) is provided between the movable plate (52) and the locking rod (510).

2. A heavy-duty gimbal with a self-locking structure according to claim 1, characterized in that: A stabilizing mechanism (6) is fixedly connected to the shaft, and the stabilizing mechanism (6) includes a limiting chuck (61). The limiting chuck (61) is rotatably connected to a limiting turntable (63), and multiple fixing tubes (64) are arranged in an array on the limiting turntable (63). The rotating gear (51) has a groove that matches the fixing tube (64).

3. A heavy-duty gimbal with a self-locking structure according to claim 2, characterized in that: The limiting chuck (61) has a stabilizing groove (66) inside that matches the limiting turntable (63), and the limiting turntable (63) has a rotating groove (65) at its center that matches the shaft.

4. A heavy-duty gimbal with a self-locking structure according to claim 3, characterized in that: The limiting chuck (61) is also fixedly connected to an electromagnet (62), and the interiors of the multiple fixing tubes (64) and the stabilizing groove (66) are filled with magnetorheological fluid.

5. A heavy-duty gimbal with a self-locking structure according to claim 1, characterized in that: The limiting component includes an eccentric paddle (53) fixed on the circumference of the movable disc (52), and a straight rod (511) matching the eccentric paddle (53) is fixedly connected to the side of the lever (510).

6. A heavy-duty gimbal with a self-locking structure according to claim 5, characterized in that: The opposite sides of the straight rod (511) and the eccentric lever (53) are both smooth surfaces.

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