CN103994311B - Multi-functional Three Degree Of Freedom intelligent console - Google Patents
Multi-functional Three Degree Of Freedom intelligent console Download PDFInfo
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- CN103994311B CN103994311B CN201410210633.5A CN201410210633A CN103994311B CN 103994311 B CN103994311 B CN 103994311B CN 201410210633 A CN201410210633 A CN 201410210633A CN 103994311 B CN103994311 B CN 103994311B
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Abstract
The present invention relates to a kind of multi-functional Three Degree Of Freedom intelligent console.It comprises base and camera mount, described base rotates installation one and horizontally rotates disk, horizontally rotates on disk and installs the first electric rotating machine, second pitching motor and the 3rd electric rotating machine; Described first electric rotating machine is connected with base drive by first speed reducer, second pitching motor to be in transmission connection a pitching shell by second speed reducer, and the 3rd electric rotating machine to be in transmission connection an external flange be rotatably installed on pitching shell by the 3rd speed reducer; External flange fixedly mounts camera mount.The present invention not only has the repertoire of traditional two degrees of freedom electronic platform, also by 360 degree of shootings that the rotation of The Cloud Terrace three degree of freedom is carried out along camera optical axis to object, and then solve the situation of the relative display device of shooting picture sometimes or human eye inclination or handstand, improve multifunctionality and the intelligence degree of The Cloud Terrace; Compact structure of the present invention, operates steadily, and by designing different camera mounts thus the vidicon camera of different size is connected with external flange, applied range.
Description
Technical field
The present invention relates to intelligent console field, particularly a kind of multi-functional Three Degree Of Freedom The Cloud Terrace.
Background technique
In traditional The Cloud Terrace field, intelligent console mostly is two degrees of freedom, namely horizontally rotates and pitch rotation.Two degrees of freedom can only meet simple shooting, and the photographing request for complexity cannot realize.In the middle of shooting or monitoring, watch and image procossing for the ease of display device or human eye, normal expectation picture is relative forward.But when two-degree-of-freedom cradle head turns to certain position, there will be the image seeing or gather and picture be tilt or stand upside down, this is unfavorable for monitoring and image procossing.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of multi-functional Three Degree Of Freedom intelligent console, to make captured by any position of vidicon camera in slewing area or the image that gathers is all forward relative to human eye and display device.
The present invention is by following technological scheme technical solution problem:
A kind of multi-functional Three Degree Of Freedom intelligent console, comprises base and camera mount.Described base rotates installation one and horizontally rotate disk, horizontally rotate on disk and the first electric rotating machine, second pitching motor and the 3rd electric rotating machine are installed; Described first electric rotating machine is connected with base drive by first speed reducer, second pitching motor to be in transmission connection a pitching shell by second speed reducer, and the 3rd electric rotating machine to be in transmission connection an external flange be rotatably installed on pitching shell by the 3rd speed reducer; External flange fixedly mounts camera mount.
Described first speed reducer is primary gear speed reducing, adopts spur gear, is connected, realizes horizontally rotating of The Cloud Terrace with the first electric rotating machine;
Described second speed reducer is three-stage gear reduction, adopts spur gear, is connected, realizes the pitching movement of vidicon camera with the second pitching motor;
Described 3rd speed reducer is level Four gear reduction, and front tertiary gear is all spur gear, and fourth stage gear adopts bevel gear, is connected, realizes the rotary motion of vidicon camera along optical axis with the 3rd electric rotating machine;
Described base, by a deep groove ball bearing and a tapered roller bearing support level rotating disk, horizontally rotates between disk and base and installs described first speed reducer; Described camera mount is fixedly attached on external flange by screw, and vidicon camera is fixedly attached on camera mount by screw.
Described first speed reducer comprises a small gear and a gearwheel, and described small gear is fixedly mounted on the output shaft of the first electric rotating machine, and small gear engages with gearwheel, and gearwheel is fixed by screws on base.
Described second speed reducer comprises a motor fixing plate, motor fixing plate is fixed on and horizontally rotates on disk, an one-level small gear is fixedly connected with the second pitching motor, one-level small gear engages with an one-level gearwheel, one-level gearwheel is fixed on an one-level pinion shaft by key, one-level pinion shaft two ends are supported on motor fixing plate and bearing spider respectively, one-level pinion shaft engages with a secondary gearwheel, secondary gearwheel is fixed on a secondary gear wheel shaft by key, these secondary gear wheel shaft two ends are supported on a supporting frame and a closing cap respectively, secondary gear wheel shaft engages with three grades of gearwheels, these three grades of gearwheels connect a pitching transmission shaft, pitching transmission shaft is fixedly connected with pitching shell.
Before described 3rd speed reducer, three-stage cylindrical gear is identical with the second speed reducer structure; In addition, three grades of gearwheels are equipped with bevel gear drive axle, bevel gear drive axle the inner are fixedly connected with a bevel pinion, this bevel pinion engages with a bevel gear wheel, and this bevel gear wheel is fixedly connected on a root flange transmission shaft; This flange transmission shaft external part is fixedly connected with described external flange; Described flange transmission shaft is arranged in pitching shell by bearing.
Described external flange is axially positioned on flange transmission shaft by screw and locating stop piece, external flange radial arrangement has the steel ball of 36 diameter 4mm, carry out axis and radial location by axle sleeve to 36 steel balls, axle sleeve carries out axially locating by the end cap be fixedly connected on pitching shell.
First horizontally rotates degrees of freedom angle range is ± 360 degree, and the second pitch freedom angle range is ± 122 degree, and the 3rd vidicon camera rotary freedom angle range is ± 360.
Three degree of freedom adopts cascaded structure, and the rotation axis of three degree of freedom intersects at a point.
The present invention compared with prior art, there is following apparent outstanding substantive distinguishing features and remarkable technological progress: (1) not only has the repertoire of traditional two degrees of freedom electronic platform, 360 degree of shootings along camera optical axis can also be carried out to object in Work Space Range, and then solve the situation of the relative display device of shooting picture sometimes or human eye inclination or handstand, improve multifunctionality and the intelligence degree of The Cloud Terrace; (2) three motor arrangements are tight, and motor, the speed reducer of the motor of second degrees of freedom, speed reducer and three degree of freedom adopt symmetrical structure to design, and drive mechanism is compact, saving material, take up space little, stability is high; (3) by designing different camera mounts thus the vidicon camera of different size is connected with external flange, applied range.
Accompanying drawing explanation
Fig. 1 is the stereogram of the embodiment of the present invention;
Fig. 2 is the right elevation of the embodiment of the present invention;
Fig. 3 is the plan view of the embodiment of the present invention;
Fig. 4 is the main sectional view of the embodiment of the present invention;
Fig. 5 be the embodiment of the present invention horizontally rotate disk network for location;
Fig. 6 is the parts thereof network for location of the embodiment of the present invention;
Fig. 7 is the motor arrangement figure of the embodiment of the present invention;
Fig. 8 is the first speed reducer transmission diagram of the embodiment of the present invention;
Fig. 9 is the second speed reducer transmission diagram of the embodiment of the present invention;
Figure 10 is second and third speed reducer sectional view of the embodiment of the present invention.
Embodiment
In order to further illustrate technological scheme of the present invention, below in conjunction with accompanying drawing, the preferred embodiments of the present invention and working principle are described in detail.
Embodiment one:
See Fig. 1-Fig. 8, this multi-functional Three Degree Of Freedom intelligent console comprises base (1) and camera mount (13).Described base (1) upper rotation installation one horizontally rotates disk (4), horizontally rotates upper installation first electric rotating machine (6) of disk (4), second pitching motor (7) and the 3rd electric rotating machine (10); Described first electric rotating machine (6) is in transmission connection by first speed reducer (5) and base (1), second pitching motor (7) to be in transmission connection a pitching shell (11) by second speed reducer (8), and the 3rd electric rotating machine (10) to be in transmission connection one the external flange (12) be rotatably installed on pitching shell (11) by the 3rd speed reducer (9); External flange (12) fixedly mounts camera mount (13).
Embodiment two:
The present embodiment is substantially identical with embodiment one, and specialization is as follows:
Described first speed reducer (5) is primary gear speed reducing, adopts spur gear, is connected, realizes horizontally rotating of The Cloud Terrace with the first electric rotating machine (6);
Described second speed reducer (8) is three-stage gear reduction, adopts spur gear, is connected, realizes the pitching movement of vidicon camera with the second pitching motor (7);
Described 3rd speed reducer (9) is level Four gear reduction, and front tertiary gear is all spur gear, and fourth stage gear adopts bevel gear, is connected, realizes the rotary motion of vidicon camera along optical axis with the 3rd electric rotating machine (10);
Described base (1), by a deep groove ball bearing (2) and a tapered roller bearing (3) support level rotating disk (4), horizontally rotates between disk (4) and base (1) and installs described first speed reducer (5); Described camera mount (13) is fixedly attached on external flange (12) by screw, and vidicon camera (14) is fixedly attached on camera mount (13) by screw.
Described first speed reducer (5) comprises a small gear (51) and a gearwheel (52), described small gear (51) is fixedly mounted on the output shaft of the first electric rotating machine (6), small gear (51) engages with gearwheel (52), and gearwheel (52) is fixed by screws on base (1).
Described second speed reducer (8) comprises a motor fixing plate (801), motor fixing plate (801) is fixed on and horizontally rotates on disk (4), an one-level small gear (802) is fixedly connected with the second pitching motor (7), one-level small gear (802) engages with an one-level gearwheel (803), one-level gearwheel (803) is fixed on an one-level pinion shaft (804) by key, one-level pinion shaft (804) two ends are supported on motor fixing plate (801) and bearing spider (809) respectively, one-level pinion shaft (804) engages with a secondary gearwheel (805), secondary gearwheel (805) is fixed on a secondary gear wheel shaft (806) by key, these secondary gear wheel shaft (806) two ends are supported on a supporting frame (810) and a closing cap (811) respectively, secondary gear wheel shaft (806) engages with one three grades gearwheels (807), the upper connection pitching transmission shaft (808) of these three grades of gearwheels (807), pitching transmission shaft (808) is fixedly connected with pitching shell (11).
Described 3rd speed reducer (9) front three-stage cylindrical gear is identical with the second speed reducer (8) structure; In addition, three grades of gearwheels (907) are equipped with bevel gear drive axle (908), bevel gear drive axle (908) the inner is fixedly connected with a bevel pinion (910), this bevel pinion (910) engages with a bevel gear wheel (912), and this bevel gear wheel (912) is fixedly connected on a root flange transmission shaft (913); This flange transmission shaft (913) external part is fixedly connected with described external flange (12); Described flange transmission shaft (913) is arranged in pitching shell (11) by bearing.
Described external flange (12) is axially positioned on flange transmission shaft (913) by screw (22) and locating stop piece (23), external flange (12) radial arrangement has the steel ball (24) of 36 diameter 4mm, carry out axis and radial location by axle sleeve (25) to 36 steel balls (24), axle sleeve (25) carries out axially locating by the end cap (26) be fixedly connected on pitching shell (11).
First horizontally rotates degrees of freedom angle range is ± 360 degree, and the second pitch freedom angle range is ± 122 degree, and the 3rd vidicon camera rotary freedom angle range is ± 360.
Three degree of freedom adopts cascaded structure, and the rotation axis of three degree of freedom intersects at a point.
Embodiment three:
As Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4 and Fig. 7, this multi-functional Three Degree Of Freedom intelligent console, it comprises base (1), described base (1) is by deep groove ball bearing (2) and tapered roller bearing (3) support level rotating disk (4), horizontally rotate between disk (4) and base (1) and be connected with the first speed reducer (5), first electric rotating machine (6) is fixed on and horizontally rotates on disk (4) and be connected with the first speed reducer (5), second pitching motor (7) is connected with the second speed reducer (8), second speed reducer (8) output terminal connects pitching shell (11), 3rd electric rotating machine (10) connects the 3rd speed reducer (9), 3rd speed reducer (9) output terminal is fixedly connected with external flange (12), camera mount (13) is fixedly attached on external flange (12) by screw, vidicon camera (14) is fixedly attached on camera mount (13) by screw, camera mount (13) is L-type support.
As shown in Figure 4, Figure 5, horizontally rotate disk (4) to be connected by screw locating stop piece (15) and to carry out axially locating; As shown in Figure 6, pitching shell (11) carries out axially locating by screw (16) connection locating stop piece (17); Bevel pinion (910) connects locating stop piece (19) by screw (18) and carries out axially locating; Bevel gear wheel (912) connects locating stop piece (21) by screw (20) and carries out axially locating; Flange transmission shaft (913) is connected by screw locating stop piece (27) and carries out axially locating.External flange (12) connects locating stop piece (23) by screw (22) and carries out axially locating, external flange (12) radial arrangement has the steel ball (24) of 36 diameter 4mm, positioned 36 steel balls (24) by axle sleeve (25), axle sleeve (25) carries out axially locating by the end cap (26) be fixedly connected on pitching shell (11).
As shown in Figure 10, the one-level pinion shaft (804) in the second speed reducer (8) relies on motor fixing plate (801) and bearing spider (809) to carry out axially locating; Secondary pinion shaft (806) relies on supporting frame (810) and closing cap (811) to carry out axially locating.The axially locating of two pinion shafts of the 3rd speed reducer (9) and the second speed reducer (8) similar, bevel gear drive axle (908) relies on three grades of gearwheels (907) and closing cap (911) to carry out axially locating.
Specific works principle:
First degrees of freedom drive path: the first electric rotating machine (6) is connected with the first speed reducer (5), control horizontally rotating of The Cloud Terrace, angle range is ± 360 degree.Particularly, as shown in Figure 7, Figure 8, first electric rotating machine (6) is fixed on and horizontally rotates on disk (4), fixing assembling small gear (51) on the output shaft of the first electric rotating machine (6), small gear (51) engages with gearwheel (52), gearwheel (52) is fixed by screws on base (1), and base is fixed.Therefore, when the first electric rotating machine (6) rotates, small gear (51) rotates around gearwheel (52), thus drive horizontally rotates disk (4) rotation.
Second degrees of freedom drive path: the second pitching motor (7) is connected with the second speed reducer (8), control the pitching movement of vidicon camera, angle range is ± 122 degree.Particularly, as shown in Fig. 7, Fig. 9, Figure 10, second pitching motor (7) is fixed by screws on motor fixing plate (801), motor fixing plate (801) is fixed by screws in and horizontally rotates on disk (4), fixing assembling one-level small gear (802) on the output shaft of the second pitching motor (7).When the second pitching motor (7) rotates, one-level small gear (802) starts to rotate, one-level small gear (802) engages with one-level gearwheel (803) thus drives it to rotate, one-level gearwheel (803) is fixed on one-level pinion shaft (804) by key, thus one-level pinion shaft (804) rotates, one-level pinion shaft (804) engages with secondary gearwheel (805) thus drives it to rotate, secondary gearwheel (805) is fixed on secondary pinion shaft (806) by key, thus the upper rotation of secondary pinion shaft (806), secondary pinion shaft (806) engages with three grades of gearwheels (807) thus drives it to rotate, three grades of gearwheels (807) and pitching transmission shaft (808) are connected by key thus drive it to rotate, pitching transmission shaft (808) and pitching shell (11) are also that key is connected, thus rotation is finally delivered to pitching shell (11), realize the pitch rotation of vidicon camera (14).
Three Degree Of Freedom drive path: the 3rd electric rotating machine (10) connects the 3rd speed reducer (9), control the rotary motion of vidicon camera along optical axis, angle range is ± 360.Particularly, as shown in Fig. 4, Fig. 7, Figure 10,3rd electric rotating machine (10) is fixed by screws on motor fixing plate (901), motor fixing plate (901) is fixed by screws in and horizontally rotates on disk (4), fixing assembling one-level small gear (902) on the output shaft of the 3rd electric rotating machine (10).When the 3rd electric rotating machine (10) rotates, one-level small gear (902) starts to rotate, one-level small gear (902) engages with one-level gearwheel (903) thus drives it to rotate, one-level gearwheel (903) is fixed on one-level pinion shaft (904) by key, thus one-level pinion shaft (904) rotates, one-level pinion shaft (904) engages with secondary gearwheel (905) thus drives it to rotate, secondary gearwheel (905) is fixed on secondary pinion shaft (906) by key, thus the upper rotation of secondary pinion shaft (906), secondary pinion shaft (906) engages with three grades of gearwheels (907) thus drives it to rotate, three grades of gearwheels (907) and bevel gear drive axle (908) are connected by key thus drive it to rotate, upper fixing assembling bevel pinion (910) of bevel gear drive axle (908), bevel pinion (910) engages with bevel gear wheel (912) thus drives it to rotate, bevel gear wheel (912) is fixedly assemblied on flange transmission shaft (913), thus flange transmission shaft (913) rotates, flange transmission shaft (913) is connected by key with external flange (12), thus external flange (12) rotates, camera mount (13) is fixedly attached on external flange (12) by screw, vidicon camera (14) is fixedly attached on camera mount (13) by screw, and then finally realize the rotation of vidicon camera along its optical axis.Camera mount (13) is L-type support.
Claims (7)
1. a multi-functional Three Degree Of Freedom intelligent console, comprise base (1) and camera mount (13), it is characterized in that: described base (1) upper rotation installation one horizontally rotates disk (4), horizontally rotate upper installation first electric rotating machine (6) of disk (4), second pitching motor (7) and the 3rd electric rotating machine (10); Described first electric rotating machine (6) is in transmission connection by first speed reducer (5) and base (1), second pitching motor (7) to be in transmission connection a pitching shell (11) by second speed reducer (8), and the 3rd electric rotating machine (10) to be in transmission connection one the external flange (12) be rotatably installed on pitching shell (11) by the 3rd speed reducer (9); External flange (12) fixedly mounts camera mount (13);
Described first speed reducer (5) is primary gear speed reducing, adopts spur gear, is connected, realizes horizontally rotating of The Cloud Terrace with the first electric rotating machine (6);
Described second speed reducer (8) is three-stage gear reduction, adopts spur gear, is connected, realizes the pitching movement of vidicon camera with the second pitching motor (7);
Described 3rd speed reducer (9) is level Four gear reduction, and front tertiary gear is all spur gear, and fourth stage gear adopts bevel gear, is connected, realizes the rotary motion of vidicon camera along optical axis with the 3rd electric rotating machine (10);
Described base (1), by a deep groove ball bearing (2) and a tapered roller bearing (3) support level rotating disk (4), horizontally rotates between disk (4) and base (1) and installs described first speed reducer (5); Described camera mount (13) is fixedly attached on external flange (12) by screw, and vidicon camera (14) is fixedly attached on camera mount (13) by screw.
2. multi-functional Three Degree Of Freedom intelligent console according to claim 1, it is characterized in that: described first speed reducer (5) comprises a small gear (51) and a gearwheel (52), described small gear (51) is fixedly mounted on the output shaft of the first electric rotating machine (6), small gear (51) engages with gearwheel (52), and gearwheel (52) is fixed by screws on base (1).
3. multi-functional Three Degree Of Freedom intelligent console according to claim 1, it is characterized in that: described second speed reducer (8) comprises a motor fixing plate (801), motor fixing plate (801) is fixed on and horizontally rotates on disk (4), an one-level small gear (802) is fixedly connected with the second pitching motor (7), one-level small gear (802) engages with an one-level gearwheel (803), one-level gearwheel (803) is fixed on an one-level pinion shaft (804) by key, one-level pinion shaft (804) two ends are supported on motor fixing plate (801) and bearing spider (809) respectively, one-level pinion shaft (804) engages with a secondary gearwheel (805), secondary gearwheel (805) is fixed on a secondary gear wheel shaft (806) by key, these secondary gear wheel shaft (806) two ends are supported on a supporting frame (810) and a closing cap (811) respectively, secondary gear wheel shaft (806) engages with one three grades gearwheels (807), the upper connection pitching transmission shaft (808) of these three grades of gearwheels (807), pitching transmission shaft (808) is fixedly connected with pitching shell (11).
4. multi-functional Three Degree Of Freedom intelligent console according to claim 3, is characterized in that: described 3rd speed reducer (9) front three-stage cylindrical gear is identical with the second speed reducer (8) structure; In addition, three grades of gearwheels (907) are equipped with bevel gear drive axle (908), bevel gear drive axle (908) the inner is fixedly connected with a bevel pinion (910), this bevel pinion (910) engages with a bevel gear wheel (912), and this bevel gear wheel (912) is fixedly connected on a root flange transmission shaft (913); This flange transmission shaft (913) external part is fixedly connected with described external flange (12); Described flange transmission shaft (913) is arranged in pitching shell (11) by bearing.
5. multi-functional Three Degree Of Freedom intelligent console according to claim 4, it is characterized in that: described external flange (12) is axially positioned on flange transmission shaft (913) by screw (22) and locating stop piece (23), external flange (12) radial arrangement has the steel ball (24) of 36 diameter 4mm, carry out axis and radial location by axle sleeve (25) to 36 steel balls (24), axle sleeve (25) carries out axially locating by the end cap (26) be fixedly connected on pitching shell (11).
6. multi-functional Three Degree Of Freedom intelligent console according to claim 1, it is characterized in that: first horizontally rotates degrees of freedom angle range is ± 360 degree, second pitch freedom angle range is ± 122 degree, and the 3rd vidicon camera rotary freedom angle range is ± 360.
7. multi-functional Three Degree Of Freedom intelligent console according to claim 1, is characterized in that: its three degree of freedom adopts cascaded structure, and the rotation axis of three degree of freedom intersects at a point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410210633.5A CN103994311B (en) | 2014-05-19 | 2014-05-19 | Multi-functional Three Degree Of Freedom intelligent console |
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| CN201410210633.5A CN103994311B (en) | 2014-05-19 | 2014-05-19 | Multi-functional Three Degree Of Freedom intelligent console |
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| CN103994311B true CN103994311B (en) | 2016-03-30 |
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| CN104679003B (en) * | 2015-02-02 | 2017-06-13 | 东北大学 | A kind of all-around mobile head robot |
| CN104786234A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | 'swing-swing-rotation' type three-freedom-degree wrist mechanism |
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| CN107877488A (en) * | 2016-09-30 | 2018-04-06 | 深圳市越疆科技有限公司 | Eliminate the robot rotating base of backhaul deviation |
| CN106385659B (en) * | 2016-10-08 | 2022-04-01 | 常州大学 | Microphone clamp |
| CN106764304B (en) * | 2016-12-12 | 2018-06-15 | 大连理工大学 | A kind of Three Degree Of Freedom multi-functional mechanical cradle head device |
| CN113741554A (en) * | 2017-04-21 | 2021-12-03 | 深圳市大疆创新科技有限公司 | Cloud deck and cloud deck control method |
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| CN110966496A (en) * | 2019-12-12 | 2020-04-07 | 浙江大学 | Three-degree-of-freedom precision positioning shooting cloud platform with harmonic reducer |
| CN111306419B (en) * | 2020-02-28 | 2021-12-24 | 东南大学 | Easy-to-machine cloud platform |
| CN112009710A (en) * | 2020-09-23 | 2020-12-01 | 袁兴平 | Novel tripod head structure of unmanned aerial vehicle camera |
| CN112283511B (en) * | 2020-09-29 | 2022-06-21 | 广州韩乐电器实业有限公司 | Adjustable support for closed circuit television monitoring device |
| CN112428931B (en) * | 2020-11-27 | 2022-05-10 | 江苏联成开拓集团有限公司 | Three-freedom-degree three-dimensional laser radar sensing device for unmanned driving |
| CN114017615B (en) * | 2021-11-18 | 2023-01-17 | 成都航空职业技术学院 | Self-adaptive multi-shaft electric holder device |
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| US8221008B2 (en) * | 2006-03-29 | 2012-07-17 | Canon Kabushiki Kaisha | Cradle having panhead function |
| CN201083944Y (en) * | 2007-08-15 | 2008-07-09 | 深圳市艾立克电子有限公司 | Video camera cloud platform |
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| CN202203616U (en) * | 2011-08-31 | 2012-04-25 | 中国航天科工集团第三研究院第八三五八研究所 | Rotary holder based on 180-degree perspective panoramic camera |
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