CN107139218A - A kind of multi-purpose image laser is to the automatically controlled cradle head device of target - Google Patents
A kind of multi-purpose image laser is to the automatically controlled cradle head device of target Download PDFInfo
- Publication number
- CN107139218A CN107139218A CN201710589112.9A CN201710589112A CN107139218A CN 107139218 A CN107139218 A CN 107139218A CN 201710589112 A CN201710589112 A CN 201710589112A CN 107139218 A CN107139218 A CN 107139218A
- Authority
- CN
- China
- Prior art keywords
- target
- laser
- automatically controlled
- carry
- image laser
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Abstract
Because there is image transmitting shake in the tripod head equipment that robot is carried, it is impossible to realize a tractor serves several purposes function.The purpose of the present invention is realize the automatically controlled head of specialized robot accurate to target and the task quick-replaceable of carry platform.It is characterized in that：Feathering axis（1）Realize the revolution of head horizontal direction, vertical rotating shaft（4）The revolution of head vertical direction is realized, biaxially damper（8）Bottom is lifted with camera laser module（7）, so that exhaustion machine runs the different vibrations brought to the present apparatus, so as to ensure the stabilization of image transmitting.Pass through carry platform（6）Carry dissimilar sensor, can expand application field and all may be used.By the way that, by changing mission payload, carry task equipment reaches the purpose of a tractor serves several purposes on a specialized robot platform.Image laser is to target assembly（7）, target bearing can be quickly determined, is realized more efficient to target process.
Description
Technical field
The invention is related to a kind of automatically controlled cradle head device, and especially a kind of multi-purpose image laser is filled to the automatically controlled head of target
Put, belong to specialized robot technical applications.
Background technology
Specialized robot remote control installation is typically all visual robot on the move, control by operator's hand-held remote control device
Its operation is made, various instruction actions are carried out.There is camera image shake, and nothing in the tripod head equipment that existing robot is carried
The problems such as method is run simultaneously with head.Meanwhile, specialized robot is all single function tailored version, it is impossible to realize a tractor serves several purposes function,
Therefore application cost is higher.
In view of the above problems, for the integrated use of the automatically controlled head of specialized robot, the multi-purpose figure of one kind of the invention
Picture laser is to the automatically controlled cradle head device of target, and installation and operation is built upon on the unmanned application system of original specialized robot
, on the premise of original automatic running, artificial control mixed mode and real-time data transmission function is not changed, realize automatically controlled cloud
Platform rapid image is to target and the quick-replaceable of carry platform mission payload.And it is equipped with multichannel triggering（Control）The carry platform of module
The transmitters such as tear bombnoun, fire extinguisher bomb, life-saving casting device, manipulator, optical spectrum imagers and other type sensors etc. can be carried,
By changing mission payload on one specialized robot platform, carry task equipment reaches the purpose of a tractor serves several purposes.
The content of the invention
The purpose of the invention, is to provide a kind of multi-purpose image laser to the automatically controlled cradle head device of target, realizes particular kind of machine
The automatically controlled head of people it is accurate to target and the task quick-replaceable of carry platform.
A kind of multi-purpose image laser of the invention is to the automatically controlled cradle head device technical scheme of target：Including firm banking（12）、
Horizontal stage electric machine and driver storehouse（2）, vertical rotating shaft（4）, carry platform（5）, trigger control module（13）, mission payload（6）、
Image laser is to target assembly（9）, camera laser module（7）, biaxially damper（8）.
For a kind of multi-purpose image laser to the automatically controlled cradle head device of target, firm banking（12）With feathering axis（1）
Connection, feathering axis（1）With bottom horizontal stage electric machine and driver storehouse（2）Connection, carry platform（5）Pass through vertical rotating shaft
（4）With horizontal stage electric machine and driver storehouse（2）Connection, carry platform（5）Rear portion is trigger control module（13）, bottom be task carry
Lotus（6）.
For a kind of multi-purpose image laser to the automatically controlled cradle head device of target, image laser is to target assembly（9）It is positioned at extension
Carrying platform（5）Right side, image laser is to target assembly（9）Top is to target motor（10）, bottom is biaxially damper（8）, it is double
Axial vibration damper（8）Bottom lifting is camera laser module（7）.
For a kind of multi-purpose image laser to the automatically controlled cradle head device of target, horizontal stage electric machine and driver storehouse（2）Hang down inside
Straight controlled motor passes through gear pair（3）With vertical rotating shaft（4）Connection.
For a kind of multi-purpose image laser to the automatically controlled cradle head device of target, to target motor（10）With camera laser module
Control gear pair（11）Connection.
Brief description of the drawings
Fig. 1 is a kind of multi-purpose image laser to the automatically controlled cradle head device schematic diagram of target.
In accompanying drawing：
1. the horizontal stage electric machine of feathering axis 2. is put down with the vertical carry of 4. vertical rotating shaft of control gear pair 5. in driver storehouse 3.
The camera laser module 8. of 6. mission payload of platform 7. biaxially to target assembly 10. to target motor 11. take the photograph by the image laser of damper 9.
As the trigger control module of 12. firm banking of head laser module control gear pair 13..
Embodiment
The invention is further described with reference to the accompanying drawings and detailed description.
As shown in Figure 1, image laser is used in the automatically controlled cradle head device structure of target, the device can pass through fixed bottom plate
（12）It is secured to the suitable location at specialized robot bottom or top.
As shown in Figure 1, when operator's control head realizes present apparatus horizontal direction rotary motion, now horizontal stage electric machine
With driver storehouse（2）Internal horizontal step motor realizes the revolution of horizontal direction high pulling torque, realizes feathering axis（1）Rotation
Turn, carry platform（5）Realize the rotation in horizontal direction.
As shown in Figure 1, when operator's control head realizes present apparatus vertical direction rotary motion, now horizontal stage electric machine
With driver storehouse（2）Internal vertical stepper motor realizes the revolution of high pulling torque, passes through the vertical control gear pair of motor connection
（3）Transmission, realize vertical rotating shaft（4）Revolution, carry platform（5）Realize the rotation in vertical direction.
As shown in Figure 1, when control image laser is to target assembly（9）Top to target motor（10）During revolution, by with
To target motor（10）The camera laser module control gear pair of connection（11）Realize image laser to target assembly（9）Vertical Square
To rotation.
As shown in Figure 1, camera laser module（7）Pass through biaxially damper（8）Hang and be connected to image laser to target group
Part（9）The bottom of transverse slat, biaxially damper（8）Two groups of rubber shock-absorbing structures with two change in coordinate axis direction, can be achieved twin shaft
To damping so that exhaustion machine runs the different vibrations brought to the present apparatus, so as to ensure the stabilization of image transmitting.
As shown in Figure 1, head carry platform quick-replaceable mission payload is designed, and is equipped with multichannel trigger control module
（13）, carry platform（6）Can the transmitter such as carry tear bombnoun, fire extinguisher bomb, life-saving casting device, manipulator, hyperspectral imager and
Other type sensors, can all be applied in each field.
As shown in Figure 1, after the device is by horizontal direction and in vertical direction rotation, you can realize comprehensive
To target control, the head step motor control of the device is driven using bidirectional electronic speed regulator, and electric brake and damping make cloud
Platform stable action, accurate positioning.
As shown in Figure 1, image laser is to target assembly（7）,, can be fast by laser assisted when carrying out IMAQ
Speed determines target bearing, realizes more efficient to target process.
Finally illustrate, embodiment of above is only unrestricted to illustrate the technical scheme of the invention, although
Present invention innovation is described in detail with reference to better embodiment, it will be understood by those within the art that, can be with
Technical scheme to the invention is modified or equivalent substitution, and without departing from the objective and scope of the present invention program, its is equal
Because covering among the right of the invention.
Claims (3)
1. a kind of multi-purpose image laser is to the automatically controlled cradle head device of target, it is characterised in that：Firm banking（12）, horizontal stage electric machine and driving
Device storehouse（2）, vertical rotating shaft（4）, carry platform（5）, trigger control module（13）, mission payload（6）, image laser is to target group
Part（9）, camera laser module（7）, biaxially damper（8）.
2. a kind of multi-purpose image laser as claimed in claim 1 is to the automatically controlled cradle head device of target, firm banking（12）With horizontal rotation
Axle（1）Connection, feathering axis（1）With bottom horizontal stage electric machine and driver storehouse（2）Connection, carry platform（5）By vertically revolving
Rotating shaft（4）With horizontal stage electric machine and driver storehouse（2）Connection, carry platform（5）Rear portion is trigger control module（13）, bottom for appoint
Business load（6）.
3. a kind of multi-purpose image laser as claimed in claim 1 is to the automatically controlled cradle head device of target, image laser is to target assembly（9）Positioning
In carry platform（5）Right side, image laser is to target assembly（9）Top is to target motor（10）, bottom is biaxially damper
（8）, biaxially damper（8）Bottom lifting is camera laser module（7）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710589112.9A CN107139218A (en) | 2017-07-19 | 2017-07-19 | A kind of multi-purpose image laser is to the automatically controlled cradle head device of target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710589112.9A CN107139218A (en) | 2017-07-19 | 2017-07-19 | A kind of multi-purpose image laser is to the automatically controlled cradle head device of target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107139218A true CN107139218A (en) | 2017-09-08 |
Family
ID=59775942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710589112.9A Pending CN107139218A (en) | 2017-07-19 | 2017-07-19 | A kind of multi-purpose image laser is to the automatically controlled cradle head device of target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107139218A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108799747A (en) * | 2018-08-15 | 2018-11-13 | 科大智能电气技术有限公司 | A kind of novel and multifunctional small-sized hanging detection ball storehouse mechanism |
| CN109828274A (en) * | 2019-01-07 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Adjust the method, apparatus and unmanned plane of the main detection direction of airborne radar |
| CN113341775A (en) * | 2021-06-02 | 2021-09-03 | 天津云圣智能科技有限责任公司 | Pod dispatching method, device and system |
-
2017
- 2017-07-19 CN CN201710589112.9A patent/CN107139218A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108799747A (en) * | 2018-08-15 | 2018-11-13 | 科大智能电气技术有限公司 | A kind of novel and multifunctional small-sized hanging detection ball storehouse mechanism |
| CN109828274A (en) * | 2019-01-07 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Adjust the method, apparatus and unmanned plane of the main detection direction of airborne radar |
| CN113341775A (en) * | 2021-06-02 | 2021-09-03 | 天津云圣智能科技有限责任公司 | Pod dispatching method, device and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170908 |