CN106870892A - It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking - Google Patents
It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking Download PDFInfo
- Publication number
- CN106870892A CN106870892A CN201710200290.8A CN201710200290A CN106870892A CN 106870892 A CN106870892 A CN 106870892A CN 201710200290 A CN201710200290 A CN 201710200290A CN 106870892 A CN106870892 A CN 106870892A
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- head
- vertical
- horizontal
- worm
- high precision
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
Can be related to safety-security area from the compact high precision worm and gear self-locking head of motion tracking the invention provides a kind of, be used to solve existing head volume greatly, the problem that precision is relatively low and power consumption is big, including：The left support arm of head, vertical major, vertical worm screw, horizontal worm screw, vertical worm gear, horizontal worm gear, horizontal step motor, vertical step motor, master control decoding deck, vertical photoelectric limit switch, horizontal photoelectric limit switch, head base, head base aviation headstock, conducting slip ring, the second aviation headstock, the right support arm of head, horizontal spindle, vertical postive stop baffle, Horizontal limiting baffle plate and head main body.While meeting small volume and being easy to carry, precision is improved and lower power consumption, in power-off suddenly can self-locked position meet the requirement for setting up other portable equipments.
Description
【Technical field】
The present invention relates to safety-security area, especially it is a kind of can from the compact high precision worm and gear self-locking head of motion tracking,
Can be widely applied to various fixations, the mobile protection and monitor field for setting up.
【Background technology】
Not only volume is big for the head being currently known, and precision is relatively low and power consumption is big, be unsatisfactory for portable equipment to head volume,
The strict demand of the aspect such as precision and power consumption.
【The content of the invention】
Can be used to solve existing cloud from the compact high precision worm and gear self-locking head of motion tracking the invention provides a kind of
Stage body product is big, the problem that precision is relatively low and power consumption is big.
It is of the invention it is a kind of can from the compact high precision worm and gear self-locking head of motion tracking, including：The left support arm of head, hang down
Straight main shaft, vertical worm screw, horizontal worm screw, vertical worm gear, horizontal worm gear, horizontal step motor, vertical step motor, master control decoding
Plate, vertical photoelectric limit switch, horizontal photoelectric limit switch, head base, head base aviation headstock, conducting slip ring, second
The right support arm of aviation headstock, head, horizontal spindle, vertical postive stop baffle, Horizontal limiting baffle plate and head main body；Wherein, the water
Flat main shaft is connected with the left support arm of head and the right support arm of head respectively, and the vertical major is connected with head main body and head base；
The vertical worm screw is installed on the main shaft of vertical step motor, and the horizontal worm screw is installed on the main shaft of horizontal step motor
On；The vertical worm gear is installed in vertical major, and the horizontal worm gear is installed on horizontal spindle；The vertical postive stop baffle
It is installed in vertical major, the Horizontal limiting baffle plate is installed on horizontal spindle；The head main body inner sidewall upper portion is equipped with
The vertical photoelectric limit switch, the head main body madial wall bottom is equipped with the horizontal photoelectric limit switch；The conduction
Slip ring is connected with head base aviation headstock wire；The vertical step motor, horizontal step motor, vertical photoelectric position limit are opened
Pass, horizontal photoelectric limit switch, conducting slip ring and the second aviation headstock are connected with the master control decoding deck respectively.
Wherein, the master control decoding deck upper band analog-digital converter AD micro controllers, stepper motor driving circuit, image point
Analysis module and serial port circuit；The band analog-digital converter AD micro controllers connect the water by stepper motor driving circuit
Flat stepper motor and vertical step motor, and the band analog-digital converter AD micro controllers connect described image analysis respectively
Module and serial port circuit, and then be connected with external camera and computer.
Wherein, at the horizontal spindle at the top of head be furnished with sealed bearings, and head bottom the vertical major
It is furnished with sealed bearings at shaft.
Wherein, the horizontal spindle is hollow and is equipped with wire hole, and the conducting slip ring wire passes through wire hole and second
Aviation headstock is connected.
Wherein, it is equipped with the second aviation headstock on the right support arm of head.
Wherein, the horizontal worm gear is closely engaged with horizontal worm screw；The vertical worm gear is closely engaged with vertical worm screw.
Wherein, the horizontal step motor is placed on horizontal spindle, and the vertical step motor is placed in vertical major.
Wherein, the head main body is placed on head base.
Wherein, the head base aviation headstock is installed on head base.
Wherein, the horizontal spindle is installed on head base.
Wherein, the conducting slip ring is installed on head base.
Wherein, also include：It is placed in the head supporting plate of the head body top, the protecgulum of the head body front end, with
And the bonnet of the head body rear.
Wherein, when the vertical major rotates, the vertical postive stop baffle is recessed by inswept vertical limiting photoelectric switch
Groove, at this moment vertical limiting photoelectric switch will send electronic signal give master control decoding deck, when the horizontal spindle rotates, the water
The groove of inswept Horizontal limiting optoelectronic switch, at this moment Horizontal limiting optoelectronic switch will be sent electronic signal to master by flat postive stop baffle
Control decoding deck, to determine restraining position.
It is of the invention can be portable small volume is met from the compact high precision worm and gear self-locking head of motion tracking
Meanwhile, precision is improved and lower power consumption, in power-off suddenly can self-locked position meet and set up other portable equipments
It is required that.
【Brief description of the drawings】
Fig. 1 is the head schematic appearance of the embodiment of the present invention；
Fig. 2 be the embodiment of the present invention head split after, modular construction schematic diagram；
Fig. 3 be the embodiment of the present invention head in horizontal spindle and its associated components assembling schematic diagram；
Fig. 4 be the embodiment of the present invention head in vertical major and its associated components assembling schematic diagram；
Fig. 5 be the embodiment of the present invention head in vertical worm screw and vertical step motor assembling schematic diagram；
Fig. 6 be the embodiment of the present invention head in horizontal worm screw and horizontal step motor assembling schematic diagram.
【Specific embodiment】
Meet small volume it is an object of the invention to provide one kind to be easy to carry, high precision and electronic self-locking cloud low in energy consumption
Platform.Describe in detail by the following examples.
It is shown in Figure 1, be the present embodiment can be from the outward appearance of the compact high precision worm and gear self-locking head of motion tracking
Schematic diagram, after being decomposed, referring to shown in Fig. 2,3,4,5,6, including：The left support arm 1 of head, vertical major 2, vertical worm screw 301,
Horizontal worm screw 302, vertical worm gear 401, horizontal worm gear 402, vertical step motor 501, horizontal step motor 502, master control decoding
Plate 6, vertical photoelectric limit switch 701, horizontal photoelectric limit switch 702, head base 8, head base aviation headstock 801 is led
Electric slip ring 802, the second aviation headstock 9, the right support arm 10 of head, horizontal spindle 11, head supporting plate 12, vertical postive stop baffle 131, water
Flat postive stop baffle 132, protecgulum 14, bonnet 15, head main body 16.
Wherein, horizontal spindle 11 is connected with the left support arm 1 of head and the right support arm 10 of head respectively, vertical major 2 and head master
Body 16 and head base 8 are connected；Vertical worm screw 301 is installed on the main shaft of vertical step motor 501, and horizontal worm screw 302 is installed
In on the main shaft of horizontal step motor 502；Horizontal step motor 502 is placed on horizontal spindle 11, and vertical step motor 501 is placed in
In vertical major 2；Vertical worm gear 401 is installed in vertical major 2, and horizontal worm gear 402 is installed on horizontal spindle 11；Horizontal snail
Wheel 402 is closely engaged with horizontal worm screw 302, and vertical worm gear 401 is closely engaged with vertical worm screw 301；Vertical postive stop baffle 131 is pacified
Loaded in vertical major 2, Horizontal limiting baffle plate 132 is installed on horizontal spindle 11；The inner sidewall upper portion of head main body 16 is equipped with vertical
Straight photoelectric limit switch 701, the madial wall bottom of head main body 16 is equipped with horizontal photoelectric limit switch 702；Second aviation headstock 9 is put
In on the right support arm 10 of head；Head main body 16 is placed on head base 8；Head supporting plate 12 is placed in the top of head main body 16, cloud
There is protecgulum 14 front end of platform main body 16, and there is bonnet 15 rear end of head main body 16；And vertical step motor 501, horizontal step motor
502nd, vertical photoelectric limit switch 701, the aviation headstock 9 of horizontal photoelectric limit switch 702 and second respectively with the phase of master control decoding deck 6
Connection.In addition, the upper band analog-digital converter AD micro controllers of master control decoding deck 6, stepper motor driving circuit, graphical analysis module
With serial port circuit；Band analog-digital converter AD micro controllers connect the horizontal step motor by stepper motor driving circuit
502 and vertical step motor 501, and band analog-digital converter AD micro controllers connect described image analysis module and string respectively
Row mouth circuit, and then be connected with external camera and computer.It is furnished with sealed bearings, level master at horizontal spindle 11 at the top of head
Axle 11 is hollow and is equipped with wire hole and conducting slip ring 802 goes out wire and is connected with the second aviation headstock 9 through wire hole, conductive
The other end wire of slip ring 802 is connected with head base aviation headstock 801, then connects externally fed and control signal vision signal, leads to
The aviation headstock for crossing the head base aviation headstock 801 that matches is exported to the boat of head decoding deck 6 and second by conducting slip ring 802
On nominal seat 9, it are furnished with sealed bearings at the shaft of vertical major 2 of head bottom.
When vertical major 2 rotates, vertical postive stop baffle 131 by the groove of inswept vertical limiting photoelectric switch 701, at this moment
Vertical limiting photoelectric switch 701 will send electronic signal to master control decoding deck 6, to determine restraining position；When horizontal spindle 11 revolves
When turning, Horizontal limiting baffle plate 132 will by the groove of inswept Horizontal limiting optoelectronic switch 702, at this moment Horizontal limiting optoelectronic switch 702
Electronic signal is sent to master control decoding deck 6, to determine restraining position.
The control of above-mentioned master control decoding deck 6 can be used but be not limited to PELCO-D and PELCO-P agreements.
PELCO-D:Data form：1 start bit, 8 data, 1 stop position, check bit.Baud rate 2400B/S
Command format：
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| Sync byte | Address code | Instruction code 1 | Instruction code 2 | Numeric data code 1 | Numeric data code 2 | Check code |
All numerical value are all hexadecimal number in 1 agreement
2 sync bytes are always FFH
3 address codes are the logical address code of video camera, address realm 00H-FFH
The different action of 4 instruction representations
5 numeric data codes 1,2 represent level, vertical speed (00-3FH) respectively, and FFH is represented " turbo "
6 check codes=MOD [(byte 2+ byte 3+ byte 4+ byte 5+ bytes 6)/100H]
By taking address code 0x01 as an example：
{ 0xff, 0x01,0x00,0x08,0x00,0xff, 0x08, } // on
{ 0xff, 0x01,0x00,0x10,0x00,0xff, 0x10, } // under
{ 0xff, 0x01,0x00,0x04,0xff, 0x00,0x04, } // it is left
{ 0xff, 0x01,0x00,0x02,0xff, 0x00,0x02, } // it is right
{ 0xff, 0x01,0x00,0x20,0x00,0x00,0x21, } // zoom is short
{ 0xff, 0x01,0x00,0x40,0x00,0x00,0x41, } // become double-length
{ 0xff, 0x01,0x00,0x80,0x00,0x00,0x81, } // focus on closely
{ 0xff, 0x01,0x01,0x00,0x00,0x00,0x02, } // focus on far
{ 0xff, 0x01,0x02,0x00,0x00,0x00,0x03, } // aperture is small
{ 0xff, 0x01,0x04,0x00,0x00,0x00,0x05, } // aperture is big
{ 0xff, 0x01,0x00,0x0b, 0x00,0x01,0x0d, } // light is closed
{ 0xff, 0x01,0x00,0x09,0x00,0x01,0x0b, } // light is opened
{ 0xff, 0x01,0x00,0x07,0x00,0x01,0x09, } // go to preset point 001
{ 0xff, 0x01,0x00,0x03,0x00,0x01,0x05, } // preset point 001 is set
{ 0xff, 0x01,0x00,0x05,0x00,0x01,0x07, } // delete preset point 001
Corresponding cease-and-desist order is above：
{ 0xff, 0x01,0x00,0x00,0x00,0x00,0x01, } // stop order
PELCO-P data forms：1 start bit, 8 data, 1 stop position, no parity check position.Baud rate：9600B/S
Command format：
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 | Byte 8 |
| STX | Address code | Instruction code 1 | Instruction code 2 | Numeric data code 1 | Numeric data code 2 | ETX | Check code |
All numerical value are all hexadecimal number in 1 agreement
2 STX are always AOH
3 address codes are the logical address code of video camera, address realm 00H-1FH
The different action of 4 instruction representations
5 numeric data codes 1,2 represent level, vertical speed (00-3FH) respectively, in the operation about preset point, data
Code 2 represents preset values
6 ETX are always AFH
7 check codes (XOR sum of Bytes 2-6)=byte 2^ byte 3^ byte 4^ byte 5^ bytes 6
By taking address code 0x01 as an example：
{ 0xa0,0x01,0x00,0x08,0x00,0x30,0xaf, 0x39, } // on
{ 0xa0,0x01,0x00,0x10,0x00,0x30,0xaf, 0x21, } // under
{ 0xa0,0x01,0x00,0x04,0x10,0x00,0xaf, 0x15, } // it is left
{ 0xa0,0x01,0x00,0x02,0x10,0x00,0xaf, 0x13, } // it is right
{ 0xa0,0x01,0x00,0x40,0x00,0x00,0xaf, 0x41, } // zoom is short
{ 0xa0,0x01,0x00,0x20,0x00,0x00,0xaf, 0x21, } // become double-length
{ 0xa0,0x01,0x02,0x00,0x00,0x00,0xaf, 0x03, } // focus on closely
{ 0xa0,0x01,0x01,0x00,0x00,0x00,0xaf, 0x00, } // focus on far
{ 0xa0,0x01,0x08,0x00,0x00,0x00,0xaf, 0x09, } // aperture is small
{ 0xa0,0x01,0x04,0x00,0x00,0x00,0xaf, 0x05, } // aperture is big
Closed without command word transmission // light
Opened without command word transmission // light
{ 0xa0,0x01,0x00,0x96,0x00,0x20,0xaf, 0xb7, } // automatic cruising
{ 0xa0,0x01,0x00,0x99,0x00,0x20,0xaf, 0xb8, } // close automatic cruising
{ 0xa0,0x01,0x00,0x07,0x00,0x20,0xaf, 0xb8 } // go to preset point 001
{ 0xa0,0x01,0x00,0x03,0x00,0x01,0xaf, 0x03, } // preset point 001 is set
{ 0xa0,0x01,0x00,0x05,0x00,0x01,0xaf, 0x01, } // delete preset point 001
More than corresponding cease-and-desist order be (up and down, zoom, focusing, aperture have stop order)：
{0xa0,0x01,0x00,0x00,0x00,0x00,0xaf,0x01,}
The present embodiment can load weight within 7kg from the compact high precision worm and gear self-locking head of motion tracking
Carry out four direction up and down to rotate, mobile tracking function can be supported with self-locked position during power-off suddenly, support 3D intelligence
Can locomotive function.High precision of the present invention, it is low in energy consumption suitable for portable, can be widely applied to various fixations, the mobile security protection for setting up
Monitoring field.
Here description of the invention and application are all simply illustrative and exemplary, are not intended to the scope of the present invention
Limitation is in the above-described embodiments.The deformation and change of embodiments disclosed herein are entirely possible, for those this areas
Those of ordinary skill for, embodiment replacement and equivalent various parts be known.Those skilled in the art should also
Should it is clear that in the case where spirit or essential characteristics of the invention are not departed from, the present invention can in other forms, structure,
Arrangement, ratio, and realized with other components, material and part, and do not departing from the situation of scope and spirit of the present invention
Under, other deformations can be carried out to embodiments disclosed herein and is changed.
Claims (13)
1. a kind of can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that including：The left support arm of head,
Vertical major, vertical worm screw, horizontal worm screw, vertical worm gear, horizontal worm gear, horizontal step motor, vertical step motor, master control solution
Code plate, vertical photoelectric limit switch, horizontal photoelectric limit switch, head base, head base aviation headstock, conducting slip ring, the
Two aviation headstocks, the right support arm of head, horizontal spindle, vertical postive stop baffle, Horizontal limiting baffle plate and head main body；
Wherein, the horizontal spindle is connected with the left support arm of head and the right support arm of head respectively, the vertical major and head main body
Connected with head base；The vertical worm screw is installed on the main shaft of vertical step motor, and the horizontal worm screw is installed on level
On the main shaft of stepper motor；The vertical worm gear is installed in vertical major, and the horizontal worm gear is installed on horizontal spindle；Institute
State vertical postive stop baffle to be installed in vertical major, the Horizontal limiting baffle plate is installed on horizontal spindle；The head main body
Inner sidewall upper portion is equipped with the vertical photoelectric limit switch, and the head main body madial wall bottom is equipped with the horizontal photoelectric position limit
Switch；The conducting slip ring is connected with head base aviation headstock wire；The vertical step motor, horizontal step motor, hang down
Straight photoelectric limit switch, horizontal photoelectric limit switch, conducting slip ring and the second aviation headstock respectively with the master control decoding deck phase
Connection.
2. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that described
Master control decoding deck upper band analog-digital converter AD micro controllers, stepper motor driving circuit, graphical analysis module and serial port electricity
Road；The band analog-digital converter AD micro controllers connect the horizontal step motor and vertical by stepper motor driving circuit
Stepper motor, and the band analog-digital converter AD micro controllers connect described image analysis module and serial port electricity respectively
Road, and then be connected with external camera and computer.
3. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that head
It is furnished with the horizontal spindle at top and is furnished with seal shaft at sealed bearings, and the vertical major shaft of head bottom
Hold.
4. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that described
Horizontal spindle is hollow and is equipped with wire hole, and the conducting slip ring wire is connected through wire hole with the second aviation headstock.
5. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that head
The second aviation headstock is equipped with right support arm.
6. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that described
Horizontal worm gear is closely engaged with horizontal worm screw；The vertical worm gear is closely engaged with vertical worm screw.
7. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that described
Horizontal step motor is placed on horizontal spindle, and the vertical step motor is placed in vertical major.
8. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that described
Head main body is placed on head base.
9. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that described
Head base aviation headstock is installed on head base.
10. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that institute
State horizontal spindle and be installed on head base.
11. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that institute
State conducting slip ring and be installed on head base.
12. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that also
Including：The head supporting plate of the head body top is placed in, after the protecgulum of the head body front end, and the head main body
The bonnet at end.
13. as claimed in claim 1 can be from the compact high precision worm and gear self-locking head of motion tracking, it is characterised in that when
When the vertical major rotates, the vertical postive stop baffle is at this moment vertical spacing by the groove of inswept vertical limiting photoelectric switch
Optoelectronic switch will send electronic signal and give master control decoding deck, and when the horizontal spindle rotates, the Horizontal limiting baffle plate will be swept
The groove of Horizontal limiting optoelectronic switch is crossed, at this moment Horizontal limiting optoelectronic switch will send electronic signal and give master control decoding deck, with true
Fixing limit position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710200290.8A CN106870892A (en) | 2017-03-30 | 2017-03-30 | It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710200290.8A CN106870892A (en) | 2017-03-30 | 2017-03-30 | It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106870892A true CN106870892A (en) | 2017-06-20 |
Family
ID=59160420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710200290.8A Pending CN106870892A (en) | 2017-03-30 | 2017-03-30 | It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106870892A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN108525878A (en) * | 2018-05-29 | 2018-09-14 | 上海凡贝机械有限公司 | A kind of outdoor water spray rotating head |
| CN109005353A (en) * | 2018-09-07 | 2018-12-14 | 厦门亿联网络技术股份有限公司 | A kind of camera self-adaptation control method and device based on various control agreement |
| CN110018509A (en) * | 2019-03-05 | 2019-07-16 | 中国辐射防护研究院 | It is a kind of for looking for the scanning visualization device of gamma source item hot spot in space |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN108525878A (en) * | 2018-05-29 | 2018-09-14 | 上海凡贝机械有限公司 | A kind of outdoor water spray rotating head |
| CN109005353A (en) * | 2018-09-07 | 2018-12-14 | 厦门亿联网络技术股份有限公司 | A kind of camera self-adaptation control method and device based on various control agreement |
| CN110018509A (en) * | 2019-03-05 | 2019-07-16 | 中国辐射防护研究院 | It is a kind of for looking for the scanning visualization device of gamma source item hot spot in space |
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Application publication date: 20170620 |
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