CN104595644A - Single-freedom-degree camera pitching regulation device - Google Patents
Single-freedom-degree camera pitching regulation device Download PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- worm
- wheel
- freedom
- pedestal
- semi
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
technical field:
The present invention relates generally to a kind of single-degree-of-freedom camera pitching regulating device, particularly relates to the single-degree-of-freedom rotating mechanism of the robot camera both view angle adjustment in the crankcase ventilaton environment of field.
background technique:
Field remote-controlled robot working environment is extremely complicated, there will be the obstacles such as protruding stone, pit, the branch that grows wild, make robot need one to locate controlling device that is convenient and that make camera perspective relative mechanical fixing in the motion in field in robot surrounding.For the road environment that jolts, robot ride can drive camera pitching thereupon above, if the visual angle of camera is consistent with robot all the time, the relative position of the image in the visual field and robot can be caused to occur very large error.In this case, our single-degree-of-freedom camera pitching regulating device can the luffing angle of follow-up adjustment camera, make the visual angle of camera and ground consistent all the time, the change of the relative vehicle body position of image can be substantially reduced, decrease the measurement error caused because of visual field change in location in image recognition.Therefore, single-degree-of-freedom camera pitching regulating device is in the robot in road environment that jolts, and especially the robot of field work has, and camera accuracy of identification has very important effect.
summary of the invention:
The object of the invention is exactly the defect in order to make up prior art, a kind of single-degree-of-freedom camera pitching regulating device is provided, it solve in rugged environment, the problem of the visual field positioning error that the visual field causes along with robot swing when camera does Visual Observations Observations, realizes the job requirement that the accurate vision under compound movement environment detects.
The present invention is achieved by the following technical solutions:
A kind of 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.
A kind of single-degree-of-freedom camera pitching regulating device, 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.
A kind of single-degree-of-freedom camera pitching regulating device, 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.
A kind of single-degree-of-freedom camera pitching regulating device, is characterized in that: described camera pedestal is provided with dip sensor.
The present invention includes drive part, drive part and standing part; Drive part comprises motor and driving source of the present invention; Described drive part comprises worm screw, half worm gear, motor coupler and camera pedestal; Standing part comprises worm shaft bearing, worm bearing, semi-scroll wheel bearing seat and half Worm Bearing.
Described motor and driving source are secured by bolts on pedestal.
The output shaft of described motor and the rotation limiting structure of one end of worm screw are that the motor coupler by being connected diaxon is coaxially fixed with the flat key axially limited.
Described worm screw is fixed on pedestal by worm bearing and worm shaft bearing.
Described worm screw and half worm gear are fixed center distance and worm and gear mode engages, and worm screw drives worm screw to rotate with fixed drive ratio by the rotation of self.
Described half worm gear is fixed on pedestal by semi-scroll wheel bearing seat and half Worm Bearing.
Described camera pedestal is secured by bolts on half worm gear.
When the present invention works, driven by motor worm screw is rotated, now, by worm and gear principle between half worm gear and worm screw, half worm gear can realize rotating forward, and then realizes the object of camera pedestal pitching, finally realizes the job requirement that the accurate vision under compound movement environment detects.
Advantage of the present invention is:
Structure of the present invention is simple, and regulative mode is easy.By the mode transmission of worm and gear, by large velocity ratio, realize still very little to integrally-regulated Accuracy when Electric Machine Control precision reduces, thus existing accurate angular turn.The all components and parts of the present invention are all finally support with pedestal, can realize overall fast assembling-disassembling.
accompanying drawing illustrates:
Fig. 1 is erection drawing of the present invention.
Fig. 2 is the structural representation of half worm gear.
Fig. 3 is working state figure of the present invention.
embodiment:
See accompanying drawing.
A kind of single-degree-of-freedom camera pitching regulating device, include pedestal 6, pedestal 6 is rotatablely equipped with horizontal worm screw 5, described pedestal 6 is rotatablely equipped with half worm gear 7 be positioned at above worm screw 5, described half worm gear 7 includes worm-wheel shaft 12 and half worm wheel body 13 with worm-wheel shaft 12 one, half worm wheel body 13 includes the bottom surface of arc, and bottom surface is provided with the worm-gear tooth of the surperficial gear teeth meshing transmission with worm screw 5; Described half worm gear 7 top is installed with camera pedestal 1.
Pedestal 6 is provided with worm bearing 8, described worm screw 5 is rotatably installed in worm bearing 8, and described worm screw 5 front end is provided with motor 10, is in transmission connection between motor 10 and worm screw 5 by motor coupler 9.
Pedestal 6 is provided with semi-scroll wheel bearing seat 3, semi-scroll wheel bearing seat 3 is provided with half Worm Bearing 2, described worm-wheel shaft 12 is rotatably installed in half Worm Bearing 2.
Camera pedestal is provided with dip sensor.
Motor 10 and driving source 11, be secured by bolts on pedestal 6.
Dip sensor Real-time Collection self-position inclination angle in camera pedestal 1 core controller sent on driving source 11.
As shown in figure, the core controller on driving source 11 requires according to inclination angle and dip sensor angle feed-back sends PWM pulse width modulated wave.Described PWM waveform controls described motor and realizes rotating after carrying out power amplification via power amplifier module.
Output shaft and the rotation limiting structure of one end of worm screw 5 of described motor 10 are that coupling by being connected diaxon and the flat key that axially limits coaxially are fixed.
Described worm screw 5 is fixed on pedestal 6 by worm bearing 8 and worm shaft bearing 4.
And half worm gear 7 is fixed center distance and worm and gear mode engages for described worm screw 5, and worm screw 5 drives worm screw to rotate with fixed drive ratio by the rotation of self.
As shown in Figure 3, half worm gear 7 Lower Half is the worm-gear tooth in worm screw 5 transmission engagement.Number of teeth adjusting pitch angle needed for camera pedestal 1 calculates; Worm-wheel shaft on half worm gear 7 is also engagement driving rotary middle spindle; Worm-wheel shaft two ends are multidiameter shaft structure, mainly for realizing the axially locating with bearing.
Described half worm gear 7 is fixed on pedestal 6 by semi-scroll wheel bearing seat 3 and half Worm Bearing 2.
Described camera pedestal 1 is secured by bolts on half worm gear 7.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410835839.7A CN104595644A (en) | 2014-12-29 | 2014-12-29 | Single-freedom-degree camera pitching regulation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410835839.7A CN104595644A (en) | 2014-12-29 | 2014-12-29 | Single-freedom-degree camera pitching regulation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104595644A true CN104595644A (en) | 2015-05-06 |
Family
ID=53121601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410835839.7A Pending CN104595644A (en) | 2014-12-29 | 2014-12-29 | Single-freedom-degree camera pitching regulation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104595644A (en) |
Cited By (9)
| 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 kind of multistage support device of 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 |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4586393A (en) * | 1984-03-07 | 1986-05-06 | Quick-Set Incorporated | Minimum fit worm and gear drive |
| CN2092655U (en) * | 1991-05-24 | 1992-01-08 | 常州市江南自动化设备厂 | Motor-drive stand |
| JPH1068995A (en) * | 1996-08-26 | 1998-03-10 | Hitachi Denshi Ltd | Worm gear backlash removing mechanism |
| JP2005256930A (en) * | 2004-03-11 | 2005-09-22 | Hitachi Kokusai Electric Inc | Worm wheel mechanism and camera turning device |
| CN2788227Y (en) * | 2005-04-01 | 2006-06-14 | 迟建 | Human image collecting camera bracket |
| CN201892001U (en) * | 2010-12-16 | 2011-07-06 | 天津市嘉杰电子有限公司 | Bearing structure of vehicle-mounted integrated camera cloud deck transmission worm wheel |
| JP5063507B2 (en) * | 2008-02-20 | 2012-10-31 | 三菱電機株式会社 | Worm speed reducer, swivel camera and radio wave receiver using the same |
| CN102819271A (en) * | 2012-08-09 | 2012-12-12 | 天津市亚安科技股份有限公司 | Fine adjustable cloud deck structure |
| CN202746876U (en) * | 2012-07-11 | 2013-02-20 | 北京中电金桥电网技术开发有限公司 | Cradle head for automatic measurement |
-
2014
- 2014-12-29 CN CN201410835839.7A patent/CN104595644A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4586393A (en) * | 1984-03-07 | 1986-05-06 | Quick-Set Incorporated | Minimum fit worm and gear drive |
| CN2092655U (en) * | 1991-05-24 | 1992-01-08 | 常州市江南自动化设备厂 | Motor-drive stand |
| JPH1068995A (en) * | 1996-08-26 | 1998-03-10 | Hitachi Denshi Ltd | Worm gear backlash removing mechanism |
| JP2005256930A (en) * | 2004-03-11 | 2005-09-22 | Hitachi Kokusai Electric Inc | Worm wheel mechanism and camera turning device |
| CN2788227Y (en) * | 2005-04-01 | 2006-06-14 | 迟建 | Human image collecting camera bracket |
| JP5063507B2 (en) * | 2008-02-20 | 2012-10-31 | 三菱電機株式会社 | Worm speed reducer, swivel camera and radio wave receiver using the same |
| CN201892001U (en) * | 2010-12-16 | 2011-07-06 | 天津市嘉杰电子有限公司 | Bearing structure of vehicle-mounted integrated camera cloud deck transmission worm wheel |
| CN202746876U (en) * | 2012-07-11 | 2013-02-20 | 北京中电金桥电网技术开发有限公司 | Cradle head for automatic measurement |
| CN102819271A (en) * | 2012-08-09 | 2012-12-12 | 天津市亚安科技股份有限公司 | Fine adjustable cloud deck structure |
Cited By (9)
| 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 |
| CN108343814A (en) * | 2018-02-27 | 2018-07-31 | 攀枝花市旭鼎机械制造有限公司 | Angle regulator |
| 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 |
| 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 |
| CN108877456A (en) * | 2018-09-01 | 2018-11-23 | 长春工业大学 | Gantry arc orbit simulation test stand |
| 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 kind of multistage support device of 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104595644A (en) | Single-freedom-degree camera pitching regulation device | |
| CN109057359B (en) | Full-automatic cement trowelling robot | |
| KR101008150B1 (en) | Trolley for assembly of large size satellite | |
| CN206416936U (en) | A kind of pilotless automobile rear view mirror adjustment device | |
| CN202023345U (en) | Full-automatic wall sanding machine | |
| CN201559518U (en) | Single type automatic vehicle wheel unit | |
| CN103240772A (en) | Cutting device for processing butt joint between guitar neck and upper end of guitar case | |
| KR20190099757A (en) | Automatic Guide Vehicle Steering Device | |
| CN102310123A (en) | Pneumatic wire arranging mechanism of water tank wire drawing machine | |
| CN102423828A (en) | Automatic-welding special repairing machine for train coupler knuckle | |
| CN203064022U (en) | Steering control device of motor vehicle | |
| CN202240072U (en) | Special automatic welding and repairing machine for coupler knuckle of train | |
| CN202572090U (en) | Automatic polishing machine | |
| CN204249912U (en) | A kind of automobile rearview mirror variotrol | |
| CN104562908A (en) | Multifunctional full-hydraulic manhole repair machine | |
| CN204924196U (en) | Forest zone three -dimensional laser scanning appearance carries on cloud platform mechanism | |
| CN203751484U (en) | Intersecting-line cutting device and ellipticity measurement mechanism thereof | |
| CN102656985B (en) | Independent power wide/narrow row transplanting mechanism and control method thereof | |
| CN110548301B (en) | Marionette man demonstration device | |
| CN205437426U (en) | flame groove cutting machine | |
| CN114102551A (en) | Positioning device and method for inspection robot by applying 5G transmission communication | |
| JP2017160682A (en) | Double floor level automatic adjustment device and double floor level automatic adjustment method | |
| CN209142222U (en) | The controllable walking mechanism of angle of turn | |
| CN203804651U (en) | Flange sealing surface machining device | |
| CN110821241A (en) | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150506 |
|
| RJ01 | Rejection of invention patent application after publication |