CN108488577B - Tripod head - Google Patents
Tripod head Download PDFInfo
- Publication number
- CN108488577B CN108488577B CN201810360465.6A CN201810360465A CN108488577B CN 108488577 B CN108488577 B CN 108488577B CN 201810360465 A CN201810360465 A CN 201810360465A CN 108488577 B CN108488577 B CN 108488577B
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- cable
- box body
- positioning pin
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000008439 repair process Effects 0.000 abstract description 2
- 230000005855 radiation Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 229910003460 diamond Inorganic materials 0.000 description 4
- 239000010432 diamond Substances 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000005570 vertical transmission Effects 0.000 description 1
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
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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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
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/627—Snap or like fastening
Abstract
The invention discloses a cradle head, comprising: the device comprises a camera device, a box body, a locking mechanism and a support; the camera device is fixedly connected to one side face of the box body through a flange, the box body comprises an upper box body and a lower box body, and the upper box body is rotatably and fixedly connected to the lower box body; the locking mechanism is fixed on the bottom surface of the lower box body, and a locking connecting piece matched with the locking mechanism is arranged on the support; the locking mechanism is an annular boss protruding out of the bottom of the lower box body, the center of the annular boss is a cable plug, a plurality of positioning pin holes are further formed in the bottom surface of the annular boss, sliding slotted holes are formed in the side walls of the positioning pin holes, a slidable lock cylinder is arranged in the sliding slotted holes, a long slotted hole is formed in the middle of the lock cylinder, a lug is arranged on the side wall of the long slotted hole, a positioning pin on a support penetrates through the long slotted hole of the lock cylinder, and the lug on the side wall of the long slotted hole is buckled into a groove of the positioning pin to lock the cradle head on the support. The cradle head provided by the invention can be quickly disassembled and installed, and is convenient for maintenance and repair of the cradle head.
Description
Technical Field
The invention relates to the technical field of camera devices, in particular to a high-precision servo holder capable of being quickly assembled and disassembled.
Background
The cradle head used in the common industrial environment generally adopts a motor to drive a worm and gear to form a transmission system, the positioning precision of the cradle head is generally between 0.1 and 5 degrees (the cradle head is called as a high-precision cradle head when the positioning precision is not more than 0.5 degrees), and the closed-loop control is realized by a photoelectric encoder. The normal service life of the photoelectric device arranged in the existing industrial cradle head is extremely short under the nuclear radiation environment, and the photoelectric device is used in the nuclear radiation environment, such as a hot room and the like, so that the safety and reliability of the photoelectric device cannot be ensured. Therefore, even on the basis of the common industrial holder, the shielding performance and the sealing performance of the holder shell to the radiation environment are enhanced, all components are encapsulated and protected by lead blocks or lead-containing composite board materials, and various power supplies, chips, circuits and the like in the holder are sensitive to radiation, so that the holder shell also needs to be frequently disassembled and reassembled in use for maintenance or repair. However, the cradle head is generally fixed on the support by screwing, and a large number of complicated cables are arranged in the cradle head system, so that the quick disassembly and reassembly cannot be realized in a common industrial environment, not to mention that the nuclear radiation environment is required to be performed by a heavy manipulator. On the other hand, in order to prevent the internal cable from twisting and winding, the conventional cradle head is generally designed to have a horizontal reciprocating swing angle range within +/-180 degrees and a vertical pitching motion angle range within +/-100 degrees, and is generally limited by using a photoelectric switch, so that the conventional industrial cradle head has large volume, complex structure, large installation space, and cannot continuously rotate in two degrees of freedom, and the shooting angle and range are severely limited.
Disclosure of Invention
The embodiment of the invention provides a cradle head capable of being quickly disassembled and installed, and the monitoring angle and the scope of the cradle head are greatly improved through a novel cradle head structure and a wiring connection scheme. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
According to a first aspect of an embodiment of the present invention, there is provided a cradle head, including: the device comprises a camera device, a box body, a locking mechanism and a support;
the camera device is fixedly connected to one side face of the box body through a flange, the box body comprises an upper box body and a lower box body, and the upper box body is rotatably and fixedly connected to the lower box body; the locking mechanism is fixed on the bottom surface of the lower box body, and a locking connecting piece matched with the locking mechanism is arranged on the support;
the locking mechanism is an annular boss protruding out of the bottom of the lower box body, the center of the annular boss is a cable plug, a plurality of positioning pin holes are further formed in the bottom surface of the annular boss, sliding slotted holes are formed in the side walls of the positioning pin holes, one ends of the sliding slotted holes extend towards the center of the annular boss, the other ends of the sliding slotted holes are opened in the side walls of the annular boss, a slidable lock cylinder is arranged in the sliding slotted holes, one ends of the lock cylinders protrude out of the side walls of the annular boss, the other ends of the lock cylinders are perpendicular to the positioning pin holes and extend into the annular boss and are fixedly connected with the annular boss through compression springs, long slot holes corresponding to the positioning pin holes are formed in the middle of the lock cylinders, and bumps are arranged on the side walls, close to the centers of the annular boss, of the long slot holes; the locking connecting piece comprises a cable socket arranged in the center of the support and a positioning pin matched with the positioning pin hole; and a groove matched with the convex block is formed in one side of the positioning pin, facing the center of the support.
Therefore, when the cable plug is installed, the locating pin is inserted into the pin hole to be located, so that the cable plug can be accurately inserted into the socket. When the positioning pin is inserted in place, the convex block is buckled into the groove of the positioning pin under the action of the compression spring, so that the positioning pin is locked and fixed, and the installation is completed quickly; when the cable plug is disassembled, only the side face of the annular boss is required to be clamped, the lock cylinder slides into the sliding slot hole, the convex block is separated from the groove of the positioning pin, the locking between the holder and the support is released, and finally the holder and the support are separated by a certain distance to pull the cable plug out of the cable socket, so that the quick disassembly is completed, the whole process does not need to make fine and complicated actions such as screwing bolts, and the like, and the cable plug is very suitable for nuclear radiation environments such as a hot chamber and the like which need to be assembled and disassembled through a mechanical arm.
In one embodiment according to the present invention, the number of the positioning pins is two or more, and at least one of the positioning pins is different from the other positioning pins in shape; correspondingly, the positioning pin holes are two cylindrical holes with corresponding positions.
In one embodiment according to the present invention, the positioning pins are two, one of which is cylindrical and the other of which is prismatic. This arrangement is advantageous for achieving a quick and accurate installation.
Preferably, the cylindrical positioning pin is a stepped cylindrical pin, which is higher than the prismatic positioning pin, and the cylindrical positioning pin is a stepped cylindrical pin comprising a small-diameter thin shaft part and a large-diameter thick shaft part.
The thin shaft part of the stepped cylindrical pin firstly enters the pin hole to guide the thick shaft part of the stepped cylindrical pin and the diamond pin to enter the pin hole. The coarse axis of the stepped cylindrical pin is precisely matched with the pin hole, and the diamond pin is precisely matched with the pin hole only in one direction to limit the degree of freedom of rotation around the cylindrical pin.
In one embodiment according to the invention, a horizontal slewing servo motor, a horizontal slewing transmission chain and a lower box cable are arranged in the lower box; the horizontal servo motor drives a horizontal rotation transmission chain to horizontally rotate the upper box body; the lower box cable is electrically connected with the upper box cable communicated with the image pickup device through a horizontal conductive slip ring.
In one embodiment of the invention, the bottom surface of the upper box body is provided with a horizontal rotation harmonic reducer, and the horizontal rotation transmission chain is fixedly connected with the horizontal rotation harmonic reducer so as to drive the upper box body to rotate.
The horizontal rotation harmonic speed reducer eliminates transmission backlash in horizontal rotation by utilizing a harmonic speed reduction principle, reduces the system volume quality and the moment of inertia of the upper box body, and meets the requirements of accurate servo control and quick response, thereby being capable of realizing accurate positioning at any designated angle.
Preferably, the horizontal turning servomotor is also connected to a horizontal turning resolver to further achieve accurate control of the horizontal turning motion, which servomotor is preferably a direct current servomotor.
In one embodiment of the invention, the lower box cable is surrounded by a hard hollow shaft body arranged at the axle center of the horizontal rotation of the upper box, the bottom end of the lower box cable shaft is connected with a cable plug arranged in the locking mechanism, and the upper end of the lower box cable is fixedly connected to the horizontal conductive slip ring.
The arrangement realizes that the camera device can continuously rotate infinitely in the horizontal rotation plane, the limit of the swing angle range is avoided, and the cable is not wound.
In one embodiment of the invention, a vertical rotation transmission chain, a vertical rotation servo motor, an upper box cable and a vertical harmonic reducer are arranged in the upper box, the vertical servo motor drives an output end of the vertical harmonic reducer to vertically rotate through the vertical rotation transmission chain, an input end of the vertical harmonic reducer is fixedly connected with the vertical rotation transmission chain, and an output end of the vertical harmonic reducer is fixedly connected with a flange of the image pickup device and drives the image pickup device to vertically rotate; and the vertical rotary servo motor, the horizontal conductive slip ring and the cable of the camera device are assembled into an upper box cable.
The arrangement realizes that the camera device can continuously rotate infinitely in the vertical rotation plane, the limit of the swing angle range is avoided, and the winding of the cable is avoided. And the transmission backlash of the camera device during vertical rotation is eliminated by utilizing the harmonic speed reduction principle, and the system volume mass and the rotational inertia of the camera device are reduced, so that the requirements of accurate servo control and quick response during vertical rotation are met.
In one embodiment according to the invention, the upper housing cable is electrically connected to the cable of the camera device via a vertical conductive slip ring.
In one embodiment according to the invention, the cable of the camera device is connected to the cradle head upper box through a vertical conductive slip ring; after the cables of the vertical rotary servo motor and the cables of the vertical conductive slip ring in the upper box body are converged, the cables are introduced into the lower box body through the horizontal conductive slip ring; the cable plug is connected to the cable plug on the locking mechanism after being converged with the cable of the horizontal rotary servo motor in the lower box body, the cable plug on the locking mechanism is in butt joint with the cable socket on the support, and the cable socket is connected with an external power supply.
The wiring method of the cradle head solves the problem of line winding when the cradle head and the camera device do continuous infinite rotary motion around two degrees of freedom, and meanwhile, quick circuit insertion and quick replacement between the cradle head and the support can be realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic view of the overall structure of a cradle head according to an exemplary embodiment of the present invention;
FIG. 2a is a cross-sectional view of the locking mechanism in a disengaged condition with the locking connection on the support;
FIG. 2b is a cross-sectional view of the locking mechanism in a locked position with the locking connection on the support;
fig. 3 is a schematic cross-sectional view of a cradle head according to an embodiment of the invention.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other. The structures, products and the like disclosed in the embodiments correspond to the parts disclosed in the embodiments, so that the description is relatively simple, and the relevant parts refer to the description of the method parts.
Fig. 1 is a schematic overall structure of an embodiment of a pan-tilt head according to the present invention, including: an image pickup device 101, a casing, a lock mechanism 104, and a holder 105. Wherein the image pickup device 101 is fixedly connected to one side of a case including an upper case 102 and a lower case 103 through a flange 107, the upper case 102 being rotatably fixedly connected to the lower case 103. The locking mechanism 104 is fixed on the bottom surface of the lower case 103, and a locking connector 106 that cooperates with the locking mechanism 104 is provided on the support 105. As shown in fig. 1, the locking mechanism 104 is an annular boss protruding from the bottom of the lower case 103, a plurality of positioning pin holes are further formed on the bottom surface of the annular boss, and correspondingly, the locking connector 106 is a cable socket disposed at the center of the support 105 and a positioning pin 106 matched with the positioning pin holes.
The structure and connection of the locking mechanism and the locking connector will be further described with reference to fig. 2a and 2b, where fig. 2a is a cross-sectional view of the structure when the locking mechanism is separated from the locking connector on the support, and as shown in fig. 2a, the center of the annular boss 202 is a cable plug 203, and a plurality of positioning pin holes 204 are further provided on the bottom surface of the annular boss 202. The side wall of the positioning pin hole 204 is provided with a sliding slot hole, one end of the sliding slot hole extends towards the center of the annular boss 202, the other end of the sliding slot hole is opened on the side wall of the annular boss 202, a slidable lock cylinder 207 is arranged in the sliding slot hole, one end of the lock cylinder 207 protrudes out of the side wall of the annular boss 202, the other end of the lock cylinder 207 is perpendicular to the positioning pin hole 204 and extends into the annular boss 202 and is fixedly connected with the annular boss 202 through a compression spring 208, the middle part of the lock cylinder 207 is provided with a long slot hole corresponding to the positioning pin hole 204, and the long slot hole has a hole diameter larger than that of the positioning pin hole 204 in the extending direction along the lock cylinder 207. The positioning pin 205 will also penetrate the long slot hole when inserted into the positioning pin hole, and a bump 206 is provided on the side wall of the long slot hole near the center of the annular boss. The locking connector comprises a cable socket 209 arranged in the center of the support 201 and a positioning pin 205 matched with the positioning pin hole 204, and a groove 210 matched with the projection 206 is arranged on one side of the positioning pin 205 facing the center of the support 201. During installation, the cable plug 203 is connected into the cable socket 209, then the positioning pin 205 is aligned with the positioning pin hole 204, and when the positioning pin 205 is inserted into place, the projection 206 is buckled into the groove 210 of the positioning pin 205 under the action of the compression spring 208, so that the cable plug is locked and fixed, and the installation is completed quickly.
Fig. 2b is a structural cross-sectional view of the locking mechanism in a locked state with the locking connector on the support, as shown in fig. 2b, in the locked state, when the positioning pin 205 is inserted into the positioning pin hole 204, the lock cylinder 207 is pushed away from the center of the annular boss under the action of the compression spring, so that the protrusion 206 is buckled into the groove of the positioning pin 205, and thus the positioning pin 205 is locked and fixed. As shown in fig. 2b, in the locked state, the movable end of the lock core 207 far away from the annular boss protrudes from the side wall of the annular boss, so that during the disassembly, only the side surface of the annular boss is required to be clamped, the movable end of the lock core 207 is pressed, the lock core 207 slides into the sliding slot hole, and then the protruding block 206 is separated from the groove of the positioning pin 205, so that the lower box 200 of the cradle head is unlocked from the support 201, finally the cradle head is separated from the support 201 by a certain distance, and then the cable plug 203 is pulled out from the cable socket 209, thereby completing the quick disassembly, and the whole process does not need to make fine and complicated actions such as screwing bolts, and is very suitable for nuclear radiation environments such as a hot chamber which need to complete assembly and disassembly damage through a manipulator. As shown in fig. 2, the positioning pins may be two, one of which is cylindrical, and the other of which is prismatic, and the positioning pin holes 204 are correspondingly two, which may be cylindrical holes. The cylindrical locating pin is a stepped cylindrical pin and is higher than the prismatic locating pin, and the cylindrical locating pin is a stepped cylindrical pin comprising a small-diameter thin shaft part and a large-diameter thick shaft part. The thin shaft part of the stepped cylindrical pin firstly enters the pin hole to guide the thick shaft part of the stepped cylindrical pin and the diamond pin to enter the pin hole. The precise fit between the rough shaft and the pin hole of the stepped cylindrical pin, the precise fit between the diamond pin and the pin hole in one direction limits the degree of freedom of rotation around the cylindrical pin, and the precise positioning is guaranteed, the difficulty of the manipulator inserting operation is reduced to the minimum, and the rapid and accurate installation is facilitated. Of course, although the day is preferably provided with two positioning pins with different shapes in the present embodiment, more than two positioning pins and other shapes can be adopted in the implementation, and accordingly, the number and the shape of the positioning pin holes correspond to those of the positioning pins.
Fig. 3 is a schematic cross-sectional structure of a pan-tilt head according to an embodiment of the present invention, and as shown in fig. 3, a horizontal swing servo motor 303, a horizontal swing transmission chain 304 and a lower housing cable 314 are disposed in a lower housing 301. The horizontal servo motor 303 drives the horizontal rotation transmission chain 304 to horizontally rotate the upper box 302, the lower box cable 318 is surrounded by a hard hollow shaft body arranged at the axle center of the horizontal rotation of the upper box, the bottom end of the lower box cable 318 is connected with a cable plug 316 arranged in the locking mechanism, the upper end of the lower box cable 318 is fixedly connected to the horizontal conductive slip ring 311, and the horizontal conductive slip ring 311 is electrically connected with the upper box cable 315 communicated with the image pickup device. The arrangement realizes that the camera device can continuously rotate infinitely in the horizontal rotation plane, the limit of the swing angle range is avoided, and the cable is not wound. As shown in fig. 3, the bottom surface of the upper case 302 may be further provided with a horizontal rotation harmonic reducer 305, and the horizontal rotation transmission chain 304 is connected with the horizontal rotation harmonic reducer 305 through a gear set, so as to drive the upper case 302 to rotate, eliminate transmission backlash by using a harmonic reduction principle, reduce the volume quality and the moment of inertia of the system, and adapt to the requirements of precise servo control and quick response, thereby realizing precise positioning at any designated angle. As shown in fig. 3, a horizontal rotary servomotor 303 may also be connected to a horizontal rotary resolver 306 to further achieve precise control of the horizontal rotary motion, the servomotor 303 preferably being a dc servomotor.
The structure and cable arrangement of the upper case 302 will now be further described with reference to fig. 3. As shown in fig. 3, a vertical rotation transmission chain 308, a vertical rotation servo motor 307, an upper box cable 315 and a vertical rotation harmonic reducer 309 are disposed in the upper box 302, the input end of the vertical harmonic reducer 309 is fixedly connected with the vertical rotation transmission chain 308, the output end 313 of the vertical harmonic reducer is fixedly connected with a flange of the image pickup device, the vertical servo motor 307 drives the output end 313 of the vertical harmonic reducer to vertically rotate through the vertical rotation transmission chain 308, and then the output end 313 of the vertical harmonic reducer drives the image pickup device 300 to vertically rotate. The cable of the camera device comes out of this port, enters the upper box through the vertical conductive slip ring 312, and is led into the lower box through the horizontal conductive slip ring 311 as the upper box cable 315 is assembled with the wires of the vertical servo motor. The arrangement realizes that the camera device can continuously rotate infinitely in the horizontal rotation plane, the limit of the swing angle range is avoided, and the cable is not wound. Meanwhile, the harmonic speed reduction principle is utilized to eliminate the vertical transmission backlash of the camera device, so that the volume mass and the moment of inertia of the system are reduced, and the requirements of accurate servo control and quick response during vertical rotation are met.
Now further describing the preferred wiring scheme in this embodiment, as shown in fig. 3, the cable of the camera device 300 is connected to the upper box cable 315 of the pan-tilt through the vertical conductive slip ring 312, and after the cable of the vertical rotary servo motor 307 in the upper box 302 and the cable of the vertical conductive slip ring 312 are joined, the cable is connected to the lower box cable 318 through the horizontal conductive slip ring 311, so that the cable is introduced into the lower box 301; the cable plug 316 is connected to the locking mechanism after being converged with the cable 314 of the horizontal slewing servo motor in the lower box 301, the cable plug 316 on the locking mechanism is in butt joint with the cable socket 317 on the support, and the cable socket 317 is connected with an external power supply. The wiring method of the cradle head solves the problem of line winding when the cradle head and the camera device do continuous infinite rotary motion around two degrees of freedom, and meanwhile, quick circuit insertion and quick replacement between the cradle head and the support can be realized.
It is to be understood that the invention is not limited to the arrangements and instrumentality shown in the drawings and described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (9)
1. A cradle head, comprising: the device comprises a camera device, a box body, a locking mechanism and a support;
the camera device is fixedly connected to one side face of the box body through a flange, the box body comprises an upper box body and a lower box body, and the upper box body is rotatably and fixedly connected to the lower box body; the locking mechanism is fixed on the bottom surface of the lower box body, and a locking connecting piece matched with the locking mechanism is arranged on the support;
the locking mechanism is an annular boss protruding out of the bottom of the lower box body, the center of the annular boss is a cable plug, a plurality of positioning pin holes are further formed in the bottom surface of the annular boss, sliding slotted holes are formed in the side walls of the positioning pin holes, one ends of the sliding slotted holes extend towards the center of the annular boss, the other ends of the sliding slotted holes are opened in the side walls of the annular boss, a slidable lock cylinder is arranged in the sliding slotted holes, one ends of the lock cylinders protrude out of the side walls of the annular boss, the other ends of the lock cylinders are perpendicular to the positioning pin holes and extend into the annular boss and are fixedly connected with the annular boss through compression springs, long slot holes corresponding to the positioning pin holes are formed in the middle of the lock cylinders, and bumps are arranged on the side walls, close to the centers of the annular boss, of the long slot holes; the locking connecting piece comprises a cable socket arranged in the center of the support and a positioning pin matched with the positioning pin hole; a groove matched with the convex block is formed in one side, facing the center of the support, of the positioning pin;
the locating pins are more than two, at least one locating pin is different from other locating pins in shape, the locating pin different from other locating pins in shape is a stepped cylindrical pin, and the stepped cylindrical pin is higher than other locating pins.
2. The holder of claim 1, wherein the number of registration pin holes corresponds to the registration pins.
3. The holder of claim 2, wherein the number of the positioning pins is two, one of the positioning pins is cylindrical, and the other positioning pin is prismatic; the corresponding positioning pin holes are two cylindrical holes with corresponding positions.
4. The holder according to claim 1, wherein a horizontal swing servo motor, a horizontal swing transmission chain and a lower case cable are provided in the lower case; the horizontal rotation servo motor drives a horizontal rotation transmission chain to enable the upper box body to horizontally rotate; the lower box cable is electrically connected with the upper box cable communicated with the image pickup device through a horizontal conductive slip ring.
5. The cradle head of claim 4, wherein the bottom surface of the upper housing is provided with a horizontal slewing harmonic reducer, and the horizontal slewing transmission chain is fixedly connected with the horizontal slewing harmonic reducer.
6. The cradle head of claim 5, wherein the lower housing cable is surrounded by a rigid hollow shaft disposed at the axle center of the horizontal rotation of the upper housing, the lower housing cable axle bottom end is connected to a cable plug disposed in the locking mechanism, and the upper end is fixedly connected to the horizontal conductive slip ring.
7. The cradle head according to any one of claims 1 to 6, wherein a vertical rotation transmission chain, a vertical rotation servo motor, an upper box cable and a vertical harmonic reducer are arranged in the upper box, the input end of the vertical harmonic reducer is fixedly connected with the vertical rotation transmission chain, the output end of the vertical harmonic reducer is fixedly connected with a flange of the camera device, the vertical rotation servo motor drives the output end of the vertical harmonic reducer to vertically rotate through the vertical rotation transmission chain, and the output end of the vertical harmonic reducer drives the camera device to vertically rotate; and the vertical rotary servo motor, the horizontal conductive slip ring and the cable of the camera device are assembled into an upper box cable.
8. The cradle head of claim 7, wherein the upper housing cable is electrically connected to the camera cable via a vertical conductive slip ring.
9. The cradle head of claim 8, wherein the cable of the camera device is connected to the cradle head upper housing through a vertical conductive slip ring; after the cables of the vertical rotary servo motor and the cables of the vertical conductive slip ring in the upper box body are converged, the cables are introduced into the lower box body through the horizontal conductive slip ring; the cable plug is connected to the cable plug on the locking mechanism after being converged with the cable of the horizontal rotary servo motor in the lower box body, the cable plug on the locking mechanism is in butt joint with the cable socket on the support, and the cable socket is connected with an external power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810360465.6A CN108488577B (en) | 2018-04-20 | 2018-04-20 | Tripod head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810360465.6A CN108488577B (en) | 2018-04-20 | 2018-04-20 | Tripod head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108488577A CN108488577A (en) | 2018-09-04 |
| CN108488577B true CN108488577B (en) | 2023-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810360465.6A Active CN108488577B (en) | 2018-04-20 | 2018-04-20 | Tripod head |
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| CN (1) | CN108488577B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11181812B2 (en) * | 2018-10-31 | 2021-11-23 | Canon Kabushiki Kaisha | Camera platform system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001289394A (en) * | 2000-04-07 | 2001-10-19 | Japan Servo Co Ltd | Rotary electric machine having coaxial output hollow shaft speed reducer with slip ring |
| CN201907469U (en) * | 2010-12-16 | 2011-07-27 | 天津市嘉杰电子有限公司 | Bearing structure of vehicle-mounted integral camera holder base |
| CN205201536U (en) * | 2015-11-04 | 2016-05-04 | 上海拓趣信息技术有限公司 | A built -in cloud platform for robot head motion |
| CN107763381A (en) * | 2017-10-27 | 2018-03-06 | 北京迈凯飞工程技术有限公司 | Head quick despatch lockable mechanism and cradle head device |
| CN107806553A (en) * | 2017-12-20 | 2018-03-16 | 西安龙之梦网络信息有限公司 | A kind of easy-to-dismount security monitoring camera |
| CN208237386U (en) * | 2018-04-20 | 2018-12-14 | 北京轩宇智能科技有限公司 | A kind of holder |
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2018
- 2018-04-20 CN CN201810360465.6A patent/CN108488577B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001289394A (en) * | 2000-04-07 | 2001-10-19 | Japan Servo Co Ltd | Rotary electric machine having coaxial output hollow shaft speed reducer with slip ring |
| CN201907469U (en) * | 2010-12-16 | 2011-07-27 | 天津市嘉杰电子有限公司 | Bearing structure of vehicle-mounted integral camera holder base |
| CN205201536U (en) * | 2015-11-04 | 2016-05-04 | 上海拓趣信息技术有限公司 | A built -in cloud platform for robot head motion |
| CN107763381A (en) * | 2017-10-27 | 2018-03-06 | 北京迈凯飞工程技术有限公司 | Head quick despatch lockable mechanism and cradle head device |
| CN107806553A (en) * | 2017-12-20 | 2018-03-16 | 西安龙之梦网络信息有限公司 | A kind of easy-to-dismount security monitoring camera |
| CN208237386U (en) * | 2018-04-20 | 2018-12-14 | 北京轩宇智能科技有限公司 | A kind of holder |
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| CN108488577A (en) | 2018-09-04 |
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