CN109973770A - A kind of micromachine user tripod head - Google Patents
A kind of micromachine user tripod head Download PDFInfo
- Publication number
- CN109973770A CN109973770A CN201811449008.0A CN201811449008A CN109973770A CN 109973770 A CN109973770 A CN 109973770A CN 201811449008 A CN201811449008 A CN 201811449008A CN 109973770 A CN109973770 A CN 109973770A
- Authority
- CN
- China
- Prior art keywords
- pitching
- ring
- upper cover
- micromachine
- ball
- 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
- 230000013011 mating Effects 0.000 claims abstract description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000009738 saturating Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 4
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- B25J19/04—Viewing devices
-
- 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
-
- 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
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
-
- 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
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Accessories Of Cameras (AREA)
Abstract
A kind of micromachine user tripod head of the present invention, including the control assembly being located in pedestal and the level and pitch rotation mechanism that are set on the base, key is: the horizontal rotary mechanism includes the mounting cylinder being connected on cylindrical base, the horizontal motor and the mating gear being connected on motor shaft being arranged in mounting cylinder, gear is engaged with the ring gear for the turntable being rotatably connected on mounting cylinder, turntable is driven to rotate horizontally with respect to mounting cylinder, pitch rotation mechanism includes pitching ball and covers on the upper cover being fixedly connected on pitching ball with turntable, by the mating pitching rotary drive mechanism being located in upper cover, pitching ball is rotated relative to upper cover, the limiting slot rotation of finding a view that the photographic device being arranged on pitching ball matches setting in upper cover moves the image-taking structure of formation level and pitching rotation linkage.The horizontal rotary mechanism that the holder is supported by using tubular construction and nested ball-type luffing mechanism, simplify cradle head structure, reduce volume.
Description
Technical field
The present invention relates to microrobot Visual servoing control systems, and in particular to a kind of to control driving based on single-chip microcontroller
The miniature holder of integrated two-freedom degree.
Background technique
With the development of science and technology, more and more microrobots are widely used in various danger, situation complexity
, work in the environment that the mankind can not reach, people need to take pictures or record a video by robotic vision system, to complete to see
It surveys.Vision system is robot, especially micro robot research field a important directions.Miniature holder is as realization
The carrier of microrobot visual spatial attention is mainly used to carry camera.Traditional heads are mainly used in the security protection prison in large-scale place
Control because volume is big, structure is complicated, and is not suitable for microrobot.Therefore, develop simple small in size, structure, accurate positioning,
Cheap machine user tripod head is of great significance and value.
Summary of the invention
The present invention devises a kind of micromachine user tripod head to solve the problems, such as that traditional heads volume is big, structure is complicated,
By using tubular construction support horizontal rotary mechanism and nested ball-type luffing mechanism, simplification cradle head structure, diminution volume.
The technical solution that the present invention uses to solve above-mentioned technical problem are as follows: a kind of micromachine user tripod head, including be located at
Control assembly in pedestal and the level and pitch rotation mechanism being set on the base, key are: the horizontal rotary mechanism
Including the mounting cylinder being connected on cylindrical base, the horizontal motor being arranged in mounting cylinder and the mating tooth being connected on motor shaft
Wheel, gear are engaged with the ring gear for the turntable being rotatably connected on mounting cylinder, and driving turntable is rotated horizontally with respect to mounting cylinder, pitching
Rotating mechanism includes pitching ball and covers on the upper cover being fixedly connected on pitching ball with turntable, mating is bowed by be located in upper cover
Rotary drive mechanism is faced upward, pitching ball is rotated relative to upper cover, and the photographic device on pitching ball is arranged in and matches setting in upper cover
Limiting slot of finding a view rotation moves the image-taking structure of formation level and pitching rotation linkage.
The machine user tripod head, whole to use tubular socket structure, pitching ball is embedded in by components plug in cylinder
In cover, structure is greatly simplified, is reduced significantly holder size, outer dimension diameter is only 20mm or so, high 40mm or so.
Control assembly is mounted in pedestal, connection is convenient in the horizontal and pitch rotation mechanism side of being mounted on the base.By horizontal electricity
Machine is fixed in mounting cylinder, and drives ring gear rotation by gear, so that turntable is driven to rotate, the upper cover being fixed on turntable
It is rotated horizontally with turntable, pitching ball is mounted in upper cover, pitching can be rotated in upper cover, not only be realized horizontal and pitching rotation
Link capture, and structure is simple, compact, is completely embedded.The rotation axis of pitching ball is vertical with horizontal axis of rotation, level rotation
Change shape capture, pitch orientation are swept up and down, and both direction links to obtain the biggish visual field.Limiting slot of finding a view is pitching rotation
Guiding keeps movement steady.
Further, turntable includes the bracing ring being fixed on mounting cylinder and turn-takes, bracing ring upper end outer and mounting cylinder
There are limiting slots between in upper end, turn-take rotary spacing in limiting slot, and by its ring gear and gear internal messing, by
Bearing assembly and bracing ring are rotatablely connected, upper cover bottom is fixed on turn-take on.Bracing ring is step barrel structure, its underpart and installation
Cylinder grafting, top are turn-taked with mounting cylinder cooperation limit, for the rotary steering turn-taked, keep the movement turn-taked steady, reliable.Bearing group
On the one hand part is convenient for turn-taking connect with bracing ring, and on the other hand making to turn-take rotates flexibly.
Further, bearing assembly includes inserting in the bearing outer ring and self-contained bearing being located in bracing ring centre bore
The upper end inserting of circle, bearing inner race is located in the centre bore turn-taked, and the positioning column inserting of upper cover bottom is located in bearing inner race
Centre bore in, gear pass through bracing ring engaged with the ring gear for bottom of turn-taking.Bearing outer ring is matched with bracing ring centre bore interference
Conjunction is fixed as one, and bearing inner race is rotated relative to bearing outer ring and bracing ring, the upper end of bearing inner race and the centre bore mistake turn-taked
Cooperation of being full of is fixed as one, and then makes to turn-take relative to bearing outer ring and bracing ring rotation, and this connection structure is realized and turn-taked
With the rotation connection of bracing ring, keep connection reliable, movement is steady, in turn simplifies structure, is constantly shrinking.The positioning of upper cover bottom
Column inserting is located in the centre bore of bearing inner race, keeps the rotation turn-taked with upper cover synchronous, flexible.
Further, described to turn-take as step tray type structure, including lower rotary table, the limiting stand that is molded over lower rotary table periphery,
Top tray and centre bore, ring gear are molded over lower rotary table inner surface, and limiting stand rotary spacing is arranged in top tray in limiting slot
There is the fixed column being fixedly connected with upper cover bottom.The smart structural design turn-taked, lower there are inserting branch between rotary table and limiting stand
The gap of support ring forms step between limiting stand and top tray, mounting cylinder upper end is against on the step, makes limiting stand rotary spacing
In bracing ring upper end outer and mounting cylinder upper end along the limiting slot formed.Ring gear, internal tooth are formed in lower rotary table inner surface
Enclose mesoporous be greater than centre bore, reserve the installation space of pinion gear, in order to reduce size can also be processed on bearing inner race it is small
The mounting groove of gear, top tray support upper cover and pitching ball, and fixed column is formed, connect by fixed column and upper cover bottom are fixed
It connects, further makes support, connection reliable, movement is steady.
Further, end ring is fixed in mounting cylinder, bearing outer ring passes through the inserting of bracing ring centre bore and is located in axis
It holds in retaining ring inner hole, through slot matched with the gear is formed on end ring；Inserting is located solid in the centre bore of bearing inner race
Determine retainer ring, positioning column is located on fixed card ring；Supporting table is formed in bracing ring, turn-takes lower rotary table support in supporting table；Water
Angular displacement sensor is provided on flat telegram machine motor shaft.Mounting cylinder is connect by the fixed column of bracing ring lower part with bracing ring, axis
On the one hand the setting for holding retaining ring keeps the connection of mounting cylinder and bracing ring more reliable, on the one hand protect bearing.Fixed card ring is set
It sets convenient for positioning of the upper cover positioning column in the centre bore of bearing inner race.The setting of supporting table can reduce contact friction force, make water
Flat flexible rotation is laborsaving.The setting of angular displacement sensor is convenient for positioning, control pick-up position.
Further, the pitching rotary drive mechanism includes the external rotor electric machine being built in pitching ball, external rotor electric
The rotor of machine is fixedly connected with pitching ball, motor shaft is pierced by pitching ball and is located in upper cover.Angle displacement transducer is set on motor shaft
Device.For the ease of installing and realizing that pitching ball rotates in upper cover, the motor of driving pitching ball rotation uses external rotor electric machine,
Motor shaft is fixed in upper cover, and outer rotor is fixed on pitching ball, and pitching ball is driven to rotate relative to upper cover around motor shaft.By volume
Biggish motor housing portion is installed in pitching ball, and the inserting of the motor shaft of small volume is located in upper cover, and the design is into one
Step reduces the size of upper cover.The setting of angular displacement sensor is convenient for positioning, control pick-up position.
Further, for the ease of installation, upper cover is adopted a split structure, including left cover and right cover, limiting slot edge of finding a view
Pitching direction of rotation is provided with left and right cover buckling surface, and left cover and right cover bottom are fixedly connected with turn-taking, motor shaft and positioning column
It is located on left cover, pitching ball surface is provided with and finds a view the matched place-limited edge of limiting slot.Place-limited edge and limiting slot cooperation of finding a view
For the rotary steering of pitching ball, keeps pitching rotation steady, avoid shaking.
Further, in order to keep the movement of pitching ball steady, shaft is further fixed on pitching ball, shaft is located at motor shaft
It is opposite side, coaxial with motor shaft, and rotary spacing is in the mating limit hole on right cover.It is further fixed on shaft on the pitching ball,
Shaft is located at motor shaft opposite side, coaxial with motor shaft, and rotary spacing is in the mating limit hole on right cover.Shaft relative limit
Hole rotation, the structure can also use mandrel, and mandrel one end is fixed on right cover, and one end is inserted into the limit hole of pitching ball, bow
Ball is faced upward to rotate relative to mandrel.
Further, the limit hole periphery on right cover is provided with semicircle postive stop baffle, postive stop baffle and limit outer wall of hole
Limiting slot is formed, the limited block of mating setting rotates in limiting slot on pitching ball forms position limiting structure.Using the position limiting structure,
Avoidable photographic device is transferred to upper cover inner underside, to be maintained at upper half capture.
Further, the photographic device includes the camera shooting pcb board being located in pitching ball, camera and is embedded in pitching
The lens in view aperture on global shell, camera are located on the inside of lens.Camera is built-in to avoid damage, the setting of lens
Camera can be protected, and the visual field can be expanded.
The invention has the benefit that the 1, holder, by using tubular construction and embedded pitching ball, each components fill
Divide and utilize inner cylinder space, ingenious in design, structure is simple, compact, small in size, and field range is big, is convenient for positioning shooting position, movement
Flexibly, steadily, shake it is small, overcome the problem that micromachine user tripod head volume is big, structure is complicated, at high cost, can be widely used for
The vision systems such as camera shooting, monitoring, the tracking of microrobot, it can also be used to unmanned plane, the camera shooting of mechanical arm class and monitoring device.2,
Mechanism arranges that center of gravity is overlapped with the geometric center of body, and luffing mechanism and horizontal mechanism can be torn open at any time using Symmetric Composite
Unload, can greatly facilitate design, manufacture, installation and debugging, enclosed construction can dust-proof, cleaning, easy to maintain, use is safe, fortune
Row is stablized.
Detailed description of the invention
Fig. 1 is the outline structural diagram of holder in embodiment；
Fig. 2 is the assembly structure diagram of holder in embodiment；
Fig. 3 is the structural schematic diagram turn-taked；
Fig. 4, Fig. 5 are the assembling structure schematic diagrams turn-taked with bracing ring；
Fig. 6 is the structural schematic diagram of pitching ball；
Fig. 7 is the structural schematic diagram of upper cover；
In attached drawing, 1 represents pedestal, and 11 represent USB connecting line, and 2 represent mounting cylinder, and 21 represent horizontal motor, and 211 represent gear, and 3
Turntable is represented, 31 representatives are turn-taked, and 311 represent ring gear, and 312 represent limiting stand, and 313 represent top tray, and 314 represent centre bore,
32 represent bracing ring, and 321 represent supporting table, and 33 represent bearing outer ring, and 34 represent bearing inner race, and 35 represent end ring, 36 generations
Table fixed card ring, 4 represent pitching ball, and 41 represent external rotor electric machine, and 42 represent shaft, and 43 represent photographic device, and 44 represent limit
Position rib, 45 represent limited block, and 5 represent upper cover, and 51 represent left cover, and 52 represent right cover, and 521 represent limit hole, and 522 represent limiting block
Plate, 53 represent limiting slot of finding a view, and 54 represent positioning column, and 6 represent fixed column.
Specific embodiment
A kind of micromachine user tripod head, including cylindrical base 1, pedestal 1 is interior to install control assembly, and control assembly includes being pierced by
The USB connecting line 11 of pedestal 1 and the horizontal rotation control panel being sequentially loaded into pedestal 1, wireless radio frequency remote control PCB, pitching rotation
Control panel, single-chip microcontroller master board.One end connection computer or mobile phone of USB connecting line 11, the other end pass through connection string holes
For whole system power supply, horizontal motor 21, the external rotor electric machine 41 of pitching rotation driving and photographic device pass through single-chip microcontroller master control
Row's needle connection on plate is control and camera shooting is found a view etc. operates.
Pedestal 1 be locked connecting with mounting cylinder 2 by card slot interference fit, by card slot and admittedly in mounting cylinder 2
The motor fixing seat being scheduled in card slot installs horizontal motor 21, installs gear 211 on 21 motor shaft of horizontal motor.Under bracing ring 32
Portion forms fixed column 6, and fixed column 6 is embedded with nut.Screw across mounting cylinder 2 is fixedly connected with fixed column 6, bracing ring 32
Also pass through on lower edge and mounting cylinder 2 along grafting.End ring 35, bearing are fixed with by screw in fixed column 6 in mounting cylinder 2
Outer ring 33 passes through the inserting of 32 centre bore of bracing ring and is located in 35 inner hole of end ring, and the upper end inserting of bearing inner race 34 is located in
It turn-takes in 31 centre bore, the positioning column 54 of 5 bottom of upper cover is threaded on fixed card ring 36, and together with fixed card ring 36
It is inserted into the centre bore of bearing inner race 34, gear 211 passes through the internal tooth of end ring 35 and bracing ring 32 with 31 bottoms of turn-taking
311 engagement of circle.In 32 upper end of bracing ring along with there are limiting slots between 2 upper end outer of mounting cylinder.31 are turn-taked as step disc type knot
Structure including lower rotary table, is molded over limiting stand 312, top tray 313 and the centre bore 314 of lower rotary table periphery, and ring gear 311 forms
In lower rotary table inner surface, 312 rotary spacing of limiting stand is provided with and the fixed company in 5 bottom of upper cover in limiting slot in top tray 313
The fixed column 6 connect.Supporting table 321 is formed in bracing ring 32, turn-takes 31 lower rotary table supports in supporting table 321, gear 211 penetrates
It turn-takes 31 inner holes, is engaged from side with ring gear 311.Angular displacement sensor is provided on 21 motor shaft of horizontal motor.
Upper cover 5 includes left cover 51 and right cover 52, and left cover 51 and 52 bottoms of right cover are bolted in top tray 313
In fixed column 6.Positioning column 54 is located on left cover 51, and pitching ball 4 is installed in upper cover 5, and pitching ball 4 is two-piece unit formula structure, bows
It faces upward and external rotor electric machine 41 is installed in ball 4, the rotor clamping of external rotor electric machine 41 is fixed in 4 shell of pitching ball, and motor shaft is worn
Pitching ball 4 is fixed on left cover 51 out.Shaft 42 is further fixed on pitching ball 4, shaft 42 is located at motor shaft opposite side and motor shaft
Coaxially, and rotary spacing is in the mating limit hole 521 on right cover 52, and supporting pitch ball 4 rotates together with motor shaft.Right cover 52
On 521 periphery of limit hole be provided with semicircle postive stop baffle 522, postive stop baffle 522 and 521 outer wall of limit hole are formed and are limited
Slot, the limited block 45 of mating setting rotates in limiting slot on pitching ball 4 forms position limiting structure.Limiting slot 53 of finding a view is revolved along pitching
Turn direction and be provided with left and right cover buckling surface, 4 surface of pitching ball is provided with and finds a view the matched place-limited edge 44 of limiting slot 53.Camera shooting
Device 43 includes in the camera shooting pcb board, camera and the view aperture that is embedded on 4 shell of pitching ball being located in pitching ball 4
Lens, camera are located on the inside of lens.
When specific capture, horizontal motor 21 is rotated with moving gear 211, so that 31 rotations of turn-taking are driven by ring gear 311,
The pitching ball 4 turn-taked in 31 drive upper covers 5 and upper cover 5 rotates horizontally, to look around surrounding.External rotor electric machine 41 drives pitching simultaneously
The pitching in upper cover 5 of ball 4 rotates, and camera is along about 53 limiting slot pan of finding a view.It rotates horizontally and pitching rotates linkage
It can self-movement.
Claims (10)
1. a kind of micromachine user tripod head, level and pitch rotation mechanism including pedestal (1) and setting on pedestal (1),
Be characterized in that: the horizontal rotary mechanism includes connecting the mounting cylinder (2) being located on cylindrical base (1), being arranged in mounting cylinder
(2) horizontal motor (21) and the mating gear (211) being connected on motor shaft in, gear (211) and are rotatably connected on installation
Ring gear (311) engagement of turntable (3) on cylinder (2), driving turntable (3) are rotated horizontally with respect to mounting cylinder (2), pitching whirler
Structure includes pitching ball (4) and covers on the upper cover (5) being fixedly connected on pitching ball (4) with turntable (3), by being located in upper cover (5)
On mating pitching rotary drive mechanism, pitching ball (4) rotates relative to upper cover (5), and photographic device on pitching ball (4) is arranged
(43) limiting slot of finding a view (53) rotation of matching setting moves the image-taking structure for forming horizontal and pitching rotation linkage along upper cover (5).
2. micromachine user tripod head according to claim 1, it is characterised in that: the turntable (3) includes being fixed on installation
Cylinder (2) on bracing ring (32) and turn-take (31), in bracing ring (32) upper end outer and mounting cylinder (2) upper end edge between there are limits
Position slot, turn-takes (31) rotary spacing in limiting slot, and by its ring gear (311) with gear (211) internal messing, by bearing
Component and bracing ring (32) are rotatablely connected, and upper cover (5) bottom, which is fixed on, turn-takes on (31).
3. micromachine user tripod head according to claim 2, it is characterised in that: the bearing assembly includes that inserting is located in
The upper end of bearing outer ring (33) and self-contained bearing inner ring (34) in bracing ring (32) centre bore, bearing inner race (34) inserts positioning
In the centre bore for turn-taking (31), positioning column (54) inserting of upper cover (5) bottom is located in the centre bore of bearing inner race (34),
Gear (211) passes through bracing ring (32) and engages with the ring gear (311) for (31) bottom of turn-taking.
4. micromachine user tripod head according to claim 3, it is characterised in that: described turn-take (31) are step disc type knot
Structure, including lower rotary table, the limiting stand (312) for being molded over lower rotary table periphery, top tray (313) and centre bore (314), ring gear
(311) be molded over lower rotary table inner surface, limiting stand (312) rotary spacing in limiting slot, be provided in top tray (313) with it is upper
The fixed column (6) that cover (5) bottom is fixedly connected.
5. micromachine user tripod head according to claim 4, it is characterised in that: be fixed with bearing in the mounting cylinder (2)
Retaining ring (35), bearing outer ring (33) pass through the inserting of bracing ring (32) centre bore and are located in end ring (35) inner hole, bearing rib
It is formed on circle (35) and gear (211) matched through slot；Fixed card ring is located in inserting in the centre bore of bearing inner race (34)
(36), positioning column (54) is located on fixed card ring (36)；Supporting table (321) are formed in bracing ring (32), are turn-taked under (31)
Rotary table support is on supporting table (321)；Angular displacement sensor is provided on horizontal motor (21) motor shaft.
6. micromachine user tripod head according to claim 3, it is characterised in that: the pitching rotary drive mechanism includes interior
Set the external rotor electric machine (41) in pitching ball (4), the rotor of external rotor electric machine (41) is fixedly connected with pitching ball (4), motor
Axis is pierced by pitching ball (4) and is located on upper cover (5), and angular displacement sensor is arranged on motor shaft.
7. micromachine user tripod head according to claim 6, it is characterised in that: the upper cover (5) include left cover (51) and
Right cover (52), limiting slot of finding a view (53) are provided with left and right cover buckling surface, left cover (51) and right cover (52) bottom along pitching direction of rotation
Portion with turn-take (31) be fixedly connected, motor shaft and positioning column (54) are located on left cover (51), and pitching ball (4) surface is provided with
With limiting slot of finding a view (53) matched place-limited edge (44).
8. micromachine user tripod head according to claim 7, it is characterised in that: be further fixed on and turn on the pitching ball (4)
Axis (42), shaft (42) are located at motor shaft opposite side, coaxial with motor shaft, and mating limit hole of the rotary spacing on right cover (52)
(521) in.
9. micromachine user tripod head according to claim 8, it is characterised in that: the limit hole on the right cover (52)
(521) periphery is provided with semicircle postive stop baffle (522), and postive stop baffle (522) and limit hole (521) outer wall form limiting slot,
The limited block (45) of mating setting on pitching ball (4) rotates in limiting slot forms position limiting structure.
10. -9 described in any item micromachine user tripod heads according to claim 1, it is characterised in that: the photographic device (43)
Including saturating in the camera shooting pcb board, camera and the view aperture that is embedded on pitching ball (4) shell that are located in pitching ball (4)
Mirror, camera are located on the inside of lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449008.0A CN109973770A (en) | 2018-11-30 | 2018-11-30 | A kind of micromachine user tripod head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449008.0A CN109973770A (en) | 2018-11-30 | 2018-11-30 | A kind of micromachine user tripod head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109973770A true CN109973770A (en) | 2019-07-05 |
Family
ID=67076123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811449008.0A Pending CN109973770A (en) | 2018-11-30 | 2018-11-30 | A kind of micromachine user tripod head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109973770A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111255998A (en) * | 2020-01-16 | 2020-06-09 | 苗改燕 | Adjusting mechanism and adjusting method of electronic information monitoring equipment |
| CN114486093A (en) * | 2022-01-13 | 2022-05-13 | 南阳中通智能科技集团有限公司 | Laser methane telemetering device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2560004Y (en) * | 2002-07-12 | 2003-07-09 | 张学武 | Multidimensional rotary network digital photographic platform |
| CN2624551Y (en) * | 2003-06-28 | 2004-07-07 | 李科赛 | Drive unit for ball-type video camera |
| JP2008167257A (en) * | 2006-12-28 | 2008-07-17 | Mitsumi Electric Co Ltd | Pan/tilt device |
| CN101917545A (en) * | 2010-07-23 | 2010-12-15 | 北京宝塔山科技有限公司 | All-around intelligent electric control camera |
| CN201839359U (en) * | 2010-09-21 | 2011-05-18 | 常州市超凡伟业科技有限公司 | Photographic device holder all-in-one machine |
| CN203587943U (en) * | 2013-10-21 | 2014-05-07 | 浙江理工大学 | Rotating device for adjusting camera within 360 degrees |
| CN207218861U (en) * | 2017-08-17 | 2018-04-10 | 河南亚视软件技术有限公司 | The rotation support of high-speed intelligent ball machine |
| CN207283675U (en) * | 2017-10-23 | 2018-04-27 | 颜建富 | A kind of half ball machine of holder network |
-
2018
- 2018-11-30 CN CN201811449008.0A patent/CN109973770A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2560004Y (en) * | 2002-07-12 | 2003-07-09 | 张学武 | Multidimensional rotary network digital photographic platform |
| CN2624551Y (en) * | 2003-06-28 | 2004-07-07 | 李科赛 | Drive unit for ball-type video camera |
| JP2008167257A (en) * | 2006-12-28 | 2008-07-17 | Mitsumi Electric Co Ltd | Pan/tilt device |
| CN101917545A (en) * | 2010-07-23 | 2010-12-15 | 北京宝塔山科技有限公司 | All-around intelligent electric control camera |
| CN201839359U (en) * | 2010-09-21 | 2011-05-18 | 常州市超凡伟业科技有限公司 | Photographic device holder all-in-one machine |
| CN203587943U (en) * | 2013-10-21 | 2014-05-07 | 浙江理工大学 | Rotating device for adjusting camera within 360 degrees |
| CN207218861U (en) * | 2017-08-17 | 2018-04-10 | 河南亚视软件技术有限公司 | The rotation support of high-speed intelligent ball machine |
| CN207283675U (en) * | 2017-10-23 | 2018-04-27 | 颜建富 | A kind of half ball machine of holder network |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111255998A (en) * | 2020-01-16 | 2020-06-09 | 苗改燕 | Adjusting mechanism and adjusting method of electronic information monitoring equipment |
| CN114486093A (en) * | 2022-01-13 | 2022-05-13 | 南阳中通智能科技集团有限公司 | Laser methane telemetering device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11252309B1 (en) | Monitoring device | |
| WO2018076674A1 (en) | Integrated camera | |
| CN109973770A (en) | A kind of micromachine user tripod head | |
| JP2013225733A (en) | Imaging scanner system for 360° imaging | |
| KR102007390B1 (en) | Gimbal | |
| CN106737589B (en) | Robot and robot shoulder arm rotating structure thereof | |
| CN208675375U (en) | One kind can drive rotating camera | |
| CN113264197A (en) | Shoot device support, shoot device and unmanned aerial vehicle | |
| CN108361214A (en) | Reset assembly, fan head assembly and fan | |
| CN218113014U (en) | Unmanned aerial vehicle high altitude equipment of shouting | |
| CN212423518U (en) | Three-axis pan-tilt | |
| CN216122699U (en) | Double-camera linked solar monitoring pan-tilt camera | |
| CN207039755U (en) | Panorama camera | |
| CN212909738U (en) | Split type panoramic camera with rotatable lens | |
| CN205942244U (en) | Pan and tilt head and control system thereof | |
| CN108591738A (en) | A kind of waterproof holder for video camera | |
| CN205647701U (en) | Machine carries formula multi -angle oblique photography machine | |
| CN216162788U (en) | Underwater camera device | |
| CN213900604U (en) | Explosion-proof integrated stable spherical pan-tilt camera | |
| CN206479709U (en) | Automatic-searching tracks the sun and pinpoint telescope | |
| CN216789745U (en) | Intelligent cradle head machine | |
| CN217706312U (en) | Shoot device support, shoot device and unmanned aerial vehicle | |
| CN106275472B (en) | Panoramic shooting unmanned plane | |
| CN220356383U (en) | Map data acquisition device | |
| US12098820B2 (en) | Spherical moving head light fixture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190705 |
|
| RJ01 | Rejection of invention patent application after publication |