CN104595644A - Single-freedom-degree camera pitching regulation device - Google Patents

Single-freedom-degree camera pitching regulation device Download PDF

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Publication number
CN104595644A
CN104595644A CN201410835839.7A CN201410835839A CN104595644A CN 104595644 A CN104595644 A CN 104595644A CN 201410835839 A CN201410835839 A CN 201410835839A CN 104595644 A CN104595644 A CN 104595644A
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worm
wheel
freedom
base
semi
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CN201410835839.7A
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Chinese (zh)
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王杰
牛润新
徐照胜
刘路
陈慧
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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Abstract

The invention discloses a single-freedom-degree camera pitching regulation device. The single-freedom-degree camera pitching regulation device comprises a base, wherein a transversely-arranged worm is arranged on the base in a rotating mode, a semi-worm-wheel located above the worm is arranged on the base in a rotating mode and comprises a worm wheel shaft and a semi-worm-wheel body, the worm wheel shaft and the semi-worm-wheel body are integrated, the semi-worm-wheel body comprises an arc-shaped bottom face, the bottom face is provided with worm wheel teeth which are meshed and in transmission with wheel teeth on the surface of the worm, and a camera base is fixedly installed on the upper portion of the semi-worm-wheel. The single-freedom-degree camera pitching regulation device is simple in structure, and the regulation method is easy and convenient. By means of the transmission of the worm and worm wheel mode and the large transmission ratio, the influences on the overall regulation accuracy can still be small when the motor control accuracy is lowered, and therefore the accurate angle rotation is achieved. All components are finally supported by the base, and the whole single-freedom-degree camera pitching regulation device can be rapidly detached and installed.

Description

一种单自由度相机俯仰调节装置A single-degree-of-freedom camera pitch adjustment device

技术领域:Technical field:

本发明主要涉及一种单自由度相机俯仰调节装置,特别是涉及在田间崎岖道路环境中的机器人相机视角调节的单自由度转动机构。 The invention mainly relates to a single-degree-of-freedom camera pitch adjustment device, in particular to a single-degree-of-freedom rotating mechanism for adjusting the viewing angle of a robot camera in a rough road environment in the field.

背景技术:Background technique:

田间遥控机器人工作环境极其复杂,在机器人四周会出现凸起的石块、凹坑、横生的枝条等障碍,使得机器人在田间的运动需要一个定位便捷且使相机视角相对机械固定的调节装置。对于颠簸路面环境来说,机器人行驶在上面会带动相机随之俯仰摆动,如果相机的视角始终与机器人一致,会导致视野中的图像与机器人的相对位置出现很大的误差。在这种情况下,我们的单自由度相机俯仰调节装置可以随动调节相机的俯仰角度,使相机的视角与地面始终一致,可以大大减小了图像相对车身位置的变化,减少了图像识别中因视野位置变化而导致的测量误差。因此,单自由度相机俯仰调节装置对于在颠簸路面环境中的机器人,尤其是田间工作的机器人来说有,在相机识别精度上有着很重要的作用。 The working environment of remote control robots in the field is extremely complex. There will be obstacles such as raised stones, pits, and branches around the robot, which makes the movement of the robot in the field require an adjustment device that is convenient for positioning and relatively mechanically fixed for the camera angle of view. For a bumpy road environment, the robot driving on it will drive the camera to pitch and swing accordingly. If the camera's viewing angle is always consistent with the robot, it will cause a large error in the relative position between the image in the field of view and the robot. In this case, our single-degree-of-freedom camera pitch adjustment device can adjust the pitch angle of the camera accordingly, so that the viewing angle of the camera is always consistent with the ground, which can greatly reduce the change of the position of the image relative to the body, and reduce the time spent in image recognition. Measurement errors due to changes in the position of the field of view. Therefore, the single-degree-of-freedom camera pitch adjustment device is useful for robots working on bumpy roads, especially for robots working in the field, and plays an important role in camera recognition accuracy.

发明内容:Invention content:

本发明目的就是为了弥补已有技术的缺陷,提供一种单自由度相机俯仰调节装置,它解决了在崎岖环境中,相机做视觉观察时视野随着机器人前后摆动导致的视野定位误差的问题,实现在复杂运动环境下的精确视觉检测的工作要求。 The purpose of the present invention is to make up for the defects of the prior art, and to provide a single-degree-of-freedom camera pitch adjustment device, which solves the problem of field of view positioning errors caused by the field of view of the camera swinging back and forth with the robot when the camera is visually observed in a rugged environment. Realize the work requirements of precise visual inspection in complex motion environment.

本发明是通过以下技术方案实现的: The present invention is achieved through the following technical solutions:

一种单自由度相机俯仰调节装置,其特征在于:包括有基座,基座上转动安装有横置的蜗杆,所述基座上转动安装有位于蜗杆上方的半蜗轮,所述半蜗轮包括有蜗轮轴以及与蜗轮轴一体的半蜗轮体,半蜗轮体包括有弧形的底面,底面设有与蜗杆表面轮齿啮合传动的蜗轮齿;所述半蜗轮上部固定安装有相机底座。 A pitch adjustment device for a single-degree-of-freedom camera, characterized in that it includes a base on which a horizontally placed worm is rotatably mounted, and a half worm wheel above the worm is rotatably mounted on the base, and the half worm wheel includes There is a worm gear shaft and a half worm gear body integrated with the worm gear shaft. The half worm gear body includes an arc-shaped bottom surface, and the bottom surface is provided with worm gear teeth meshing with the gear teeth on the surface of the worm; the upper part of the half worm gear is fixedly installed with a camera base.

一种单自由度相机俯仰调节装置,其特征在于:所述基座上安装有蜗杆轴承,所述蜗杆转动安装在蜗杆轴承中,所述蜗杆前端安装有电机,电机和蜗杆之间通过电机联轴器传动连接。 A pitch adjustment device for a single-degree-of-freedom camera, characterized in that: a worm bearing is installed on the base, the worm is rotatably installed in the worm bearing, a motor is installed at the front end of the worm, and the motor and the worm are connected by a motor. Shaft drive connection.

一种单自由度相机俯仰调节装置,其特征在于:所述基座上安装有半蜗轮轴承座,半蜗轮轴承座上安装有半蜗轮轴承,所述蜗轮轴转动安装在半蜗轮轴承中。 A pitch adjustment device for a single-degree-of-freedom camera, characterized in that: a half-worm wheel bearing seat is installed on the base, a half-worm wheel bearing is installed on the half-worm wheel bearing seat, and the worm wheel shaft is rotatably installed in the half-worm wheel bearing.

一种单自由度相机俯仰调节装置,其特征在于:所述相机底座上安装有倾角传感器。 A single-degree-of-freedom camera pitch adjustment device is characterized in that an inclination sensor is installed on the base of the camera.

   本发明包括驱动部分、传动部分和固定部分;驱动部分包括电机和本发明的驱动源;所述传动部分包括蜗杆、半蜗轮、电机联轴器和相机底座;固定部分包括蜗杆轴承座、蜗杆轴承、半蜗轮轴承座和半蜗轮轴承。 The present invention comprises a driving part, a transmission part and a fixed part; the driving part comprises a motor and the drive source of the present invention; the transmission part comprises a worm, a half worm wheel, a motor coupling and a camera base; the fixed part comprises a worm bearing seat, a worm bearing , Half worm gear bearings and half worm gear bearings.

所述电机和驱动源通过螺栓固定于基座上。 The motor and the driving source are fixed on the base by bolts.

所述电机的输出轴和蜗杆的一端的转动限制结构是通过连接两轴的电机联轴器和轴向限定的平键同轴固定。 The rotation limiting structure of the output shaft of the motor and one end of the worm is coaxially fixed by a motor coupling connecting the two shafts and an axially defined flat key.

所述蜗杆通过蜗杆轴承和蜗杆轴承座固定于基座上。 The worm is fixed on the base through the worm bearing and the worm bearing seat.

所述蜗杆与半蜗轮为固定中心距并蜗轮蜗杆方式啮合,蜗杆通过自身的转动带动蜗杆以固定传动比转动。 The worm and the half worm gear are engaged with a fixed center distance and a worm gear, and the worm drives the worm to rotate with a fixed transmission ratio through its own rotation.

所述半蜗轮通过半蜗轮轴承座和半蜗轮轴承固定于基座上。 The half worm wheel is fixed on the base through the half worm wheel bearing seat and the half worm wheel bearing.

所述相机底座通过螺栓固定于半蜗轮上。 The camera base is fixed on the half worm wheel by bolts.

本发明工作时,电机带动蜗杆转动,此时,半蜗轮和蜗杆之间通过蜗轮蜗杆原理,半蜗轮可以实现向前前后转动,进而实现相机底座俯仰的目的,最终实现在复杂运动环境下的精确视觉检测的工作要求。 When the present invention works, the motor drives the worm to rotate. At this time, the half worm wheel and the worm can realize the forward and backward rotation through the principle of the worm gear between the half worm wheel and the worm, and then realize the purpose of pitching the camera base, and finally realize the accurate positioning in complex motion environments. Job requirements for visual inspection.

本发明的优点是: The advantages of the present invention are:

本发明结构简单,调节方式简便。通过蜗轮蜗杆的方式传动,可通过大的传动比,实现当电机控制精度降低时对整体调节精度影响仍然很小,从而现精确的角度转动。本发明所有元器件最终都以基座为支撑,可以实现整体的快速拆装。 The invention has simple structure and convenient adjustment method. Through the transmission of worm and gear, the large transmission ratio can realize that when the control precision of the motor is reduced, the influence on the overall adjustment precision is still small, so that precise angular rotation can be achieved. All the components and parts of the present invention are finally supported by the base, which can realize rapid assembly and disassembly as a whole.

附图说明:Description of drawings:

图1为本发明的装配图。 Fig. 1 is the assembly drawing of the present invention.

图2为半蜗轮的结构示意图。 Figure 2 is a schematic diagram of the structure of the half worm gear.

图3为本发明的工作状态图。 Fig. 3 is a working state diagram of the present invention.

具体实施方式:Detailed ways:

参见附图。 See attached picture.

一种单自由度相机俯仰调节装置,包括有基座6,基座6上转动安装有横置的蜗杆5,所述基座6上转动安装有位于蜗杆5上方的半蜗轮7,所述半蜗轮7包括有蜗轮轴12以及与蜗轮轴12一体的半蜗轮体13,半蜗轮体13包括有弧形的底面,底面设有与蜗杆5表面轮齿啮合传动的蜗轮齿;所述半蜗轮7上部固定安装有相机底座1。 A single-degree-of-freedom camera pitch adjustment device, including a base 6, on which a horizontal worm 5 is rotatably mounted, and a half worm wheel 7 above the worm 5 is rotatably mounted on the base 6, and the half worm Worm wheel 7 comprises worm wheel shaft 12 and half worm wheel body 13 integrated with worm wheel shaft 12, and half worm wheel body 13 includes the bottom surface of arc, and bottom surface is provided with the worm gear tooth of meshing transmission with worm screw 5 surface gear teeth; Said half worm wheel 7 A camera base 1 is fixedly installed on the upper part.

基座6上安装有蜗杆轴承8,所述蜗杆5转动安装在蜗杆轴承8中,所述蜗杆5前端安装有电机10,电机10和蜗杆5之间通过电机联轴器9传动连接。 A worm bearing 8 is installed on the base 6, and the worm 5 is rotatably installed in the worm bearing 8. A motor 10 is installed at the front end of the worm 5, and the motor 10 and the worm 5 are connected through a motor coupling 9 through transmission.

基座6上安装有半蜗轮轴承座3,半蜗轮轴承座3上安装有半蜗轮轴承2,所述蜗轮轴12转动安装在半蜗轮轴承2中。 A half worm wheel bearing seat 3 is installed on the base 6 , and a half worm wheel bearing 2 is installed on the half worm wheel bearing seat 3 , and the worm wheel shaft 12 is rotatably installed in the half worm wheel bearing 2 .

相机底座上安装有倾角传感器。 An inclination sensor is installed on the base of the camera.

电机10和驱动源11,通过螺栓固定于基座6上。 The motor 10 and the driving source 11 are fixed on the base 6 by bolts.

相机底座1上的倾角传感器实时采集自身位置倾角并传送给驱动源11上的核心控制器。 The inclination sensor on the camera base 1 collects the inclination angle of its own position in real time and transmits it to the core controller on the driving source 11 .

如图一所示,驱动源11上的核心控制器根据倾角要求和倾角传感器角度反馈发出PWM脉宽调制波。所述PWM波形经由功率放大模块进行功率放大后控制所述电机实现转动。 As shown in Figure 1, the core controller on the driving source 11 sends out PWM pulse width modulation waves according to the inclination angle requirement and the angle feedback of the inclination sensor. The PWM waveform is amplified by the power amplifying module to control the motor to rotate.

所述电机10的输出轴和蜗杆5的一端的转动限制结构是通过连接两轴的联轴器和轴向限定的平键同轴固定。 The rotation limiting structure of the output shaft of the motor 10 and one end of the worm 5 is coaxially fixed by a coupling connecting the two shafts and an axially defined flat key.

所述蜗杆5通过蜗杆轴承8和蜗杆轴承座4固定于基座6上。 The worm 5 is fixed on the base 6 through the worm bearing 8 and the worm bearing seat 4 .

所述蜗杆5与半蜗轮7为固定中心距并蜗轮蜗杆方式啮合,蜗杆5通过自身的转动带动蜗杆以固定传动比转动。 The worm 5 and the half worm wheel 7 are meshed with a fixed center distance and a worm wheel, and the worm 5 drives the worm to rotate with a fixed transmission ratio through its own rotation.

如图三所示,半蜗轮7下半部为于蜗杆5传动啮合的蜗轮齿。齿数根据相机底座1所需调节俯仰角度计算得到;半蜗轮7上的蜗轮轴也是啮合传动转动中心轴;蜗轮轴两端为阶梯轴结构,主要为了实现与轴承的轴向定位。 As shown in Figure 3, the lower half of the half worm wheel 7 is the worm gear teeth that are meshed with the worm 5 for transmission. The number of teeth is calculated according to the required adjustment pitch angle of the camera base 1; the worm gear shaft on the half worm gear 7 is also the central axis of meshing transmission rotation; the two ends of the worm gear shaft are stepped shaft structures, mainly to achieve axial positioning with the bearing.

所述半蜗轮7通过半蜗轮轴承座3和半蜗轮轴承2固定于基座6上。 The half worm wheel 7 is fixed on the base 6 through the half worm wheel bearing seat 3 and the half worm wheel bearing 2 .

所述相机底座1通过螺栓固定于半蜗轮7上。 The camera base 1 is fixed on the half worm wheel 7 by bolts.

Claims (4)

1. a single-degree-of-freedom camera pitching regulating device, it is characterized in that: include pedestal, pedestal is rotatablely equipped with horizontal worm screw, described pedestal is rotatablely equipped with half worm gear be positioned at above worm screw, described half worm gear includes worm-wheel shaft and half worm wheel body with worm-wheel shaft one, half worm wheel body includes the bottom surface of arc, and bottom surface is provided with the worm-gear tooth with the transmission of worm screw face gear teeth meshing; Described half worm gear top is installed with camera pedestal.
2. a kind of single-degree-of-freedom camera pitching regulating device according to claim 1, it is characterized in that: described pedestal is provided with worm bearing, described worm screw is rotatably installed in worm bearing, and described worm screw front end is provided with motor, is in transmission connection between motor and worm screw by motor coupler.
3. a kind of single-degree-of-freedom camera pitching regulating device according to claim 1, it is characterized in that: described pedestal is provided with semi-scroll wheel bearing seat, semi-scroll wheel bearing seat is provided with half Worm Bearing, described worm-wheel shaft is rotatably installed in half Worm Bearing.
4. a kind of single-degree-of-freedom camera pitching regulating device according to claim 1, is characterized in that: described camera pedestal is provided with dip sensor.
CN201410835839.7A 2014-12-29 2014-12-29 Single-freedom-degree camera pitching regulation device Pending CN104595644A (en)

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Cited By (9)

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Publication number Priority date Publication date Assignee Title
CN106439417A (en) * 2016-11-11 2017-02-22 湖南长城信息金融设备有限责任公司 Adjusting mechanism applied to shooting angle of self-service terminal camera and mounting structure of adjusting mechanism
CN108072450A (en) * 2016-11-16 2018-05-25 刘伟华 Infrared thermometry device fixing bracket
CN108302298A (en) * 2018-03-14 2018-07-20 哈尔滨理工大学 A kind of camera fine-tuning stent for guiding composite material drilling robot
CN108343814A (en) * 2018-02-27 2018-07-31 攀枝花市旭鼎机械制造有限公司 Angle regulator
CN108877456A (en) * 2018-09-01 2018-11-23 长春工业大学 Gantry arc orbit simulation test stand
CN108896964A (en) * 2018-06-27 2018-11-27 天津煋鸟科技有限公司 A kind of vehicle-mounted LFMCW radar mounting base
CN108980586A (en) * 2018-09-14 2018-12-11 桂林飞宇科技股份有限公司 A kind of nonopiate stabilizer structure
CN109973778A (en) * 2019-03-08 2019-07-05 福建信息职业技术学院 A multi-level support device for big data processor based on cloud computing
CN113048355A (en) * 2021-05-24 2021-06-29 中宏航天(北京)技术有限公司 Multi-angle rotating device for base station

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Publication number Priority date Publication date Assignee Title
CN106439417A (en) * 2016-11-11 2017-02-22 湖南长城信息金融设备有限责任公司 Adjusting mechanism applied to shooting angle of self-service terminal camera and mounting structure of adjusting mechanism
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CN109973778A (en) * 2019-03-08 2019-07-05 福建信息职业技术学院 A multi-level support device for big data processor based on cloud computing
CN113048355A (en) * 2021-05-24 2021-06-29 中宏航天(北京)技术有限公司 Multi-angle rotating device for base station

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Application publication date: 20150506