CN110293584A - A kind of holder of video display Te Pai robot without dead angle - Google Patents
A kind of holder of video display Te Pai robot without dead angle Download PDFInfo
- Publication number
- CN110293584A CN110293584A CN201910690899.7A CN201910690899A CN110293584A CN 110293584 A CN110293584 A CN 110293584A CN 201910690899 A CN201910690899 A CN 201910690899A CN 110293584 A CN110293584 A CN 110293584A
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- Prior art keywords
- frame
- robot
- interior annular
- holder
- outer toroid
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- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000288673 Chiroptera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
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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
-
- 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
- F16M11/043—Allowing translations
-
- 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
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
Abstract
Holder the invention discloses a kind of video display Te Pai robot without dead angle, it include: a U-frame frame, for being bonded and being threadedly connected to robot arm distal end faces on the outside of the transverse bar of U-frame frame, one outer toroid, clamping is set between two vertical bars of U-frame frame, its outer wall left and right ends forms clamping part and connects with corresponding vertical rod bearing, and two aid portion lines are located along the same line, and outer toroid can be axis relative to U-frame frame flip-flop movement using two aid portions；One interior annular, coaxial sleeve are set in outer toroid, and interior annular can be rotated relative to outer toroid, and the inner wall of interior annular keeps the lens axis of photographic device to be overlapped with the axis of interior annular for installing photographic device；The present invention can evade singular point, reduce the range of limit, increase shooting angle and range, increase automatically with burnt system, the more ultimate attainment characteristic for having played robot saves and the time is taken on site.
Description
[technical field]
The invention belongs to the holder fields of movies-making robot more particularly to a kind of video display Te Pai robot without dead angle
Holder.
[background technique]
Video display Te Pai robot is the MotionControl for taking the lead in proposing and developing at home by my company.It can be with
The linkage control of 6-10 axis is provided, long electric track can be added and automatically with burnt system for 10 meters including basis.It beats
Having broken previous needs, axis carries out control memory point and external hand with burnt operation mode one by one, and operator only needs to operate movement
Position of the video camera in space, angle, the distance of shooting, it will be able to match multiaxis adjust automatically machinery arm posture and be remembered
Recall.Make every operation more flexible, more intuitive, more convenient.Its birth has filled up China without video display special lens and has shot machine
The history of people, this MotionControl are the perfect combinations of mechanical action and Image Art, even more pass on the tool of art of film
The act of body practicing.
Existing kinetic control system carries video camera in the form of block form holder, L-type holder, straight panel holder mostly, but
It is that its structure is simple, often will appear singular point when the operation of space coordinates XYZ axis direction and XrYrZr (around XY Z) are run,
Limit problem is not can effectively solve in the limit of robot axis itself, not matching axis is all automatically by external hand with burnt system
It is dynamic to complete such as:
1. the limit rotate when will appear A4A5A6 (456 axis) servo motor speed limit and stop robot operation (three axis are in
Same straight line) cause operation angle to cover the calculating mistake for being easy to appear singular point less.
2. the limit of A5 axis can not increase when wanting to be moved to highest camera site from the minimum camera site of robot, only
Can mobile robot less than half of functional characteristic robot cannot be performed to ultimate attainment, need to image if increasing by force
Platform is increased in changing face reversing 180 degree or increasing by one 1 meter on robot base for machine.
It 3. existing holder cannot carry the automatic with burnt system of video camera, is manually completed using wireless focus tracking,
The shortcomings that wireless focus tracking is the excessive situation so as to cause the empty coke of picture that is delayed in robot high-speed mobile.
4. will affect the safety of video camera itself when video camera needs special angle to shoot and rotate, there are also machines
People itself needs to set from newly because special complicated camera lens leads to the case where each axis limit is to be not achieved picture required for shooting
Count track, or change holder etc.；This lens locus for not only affecting director is realized, but also also affects the preciousness of live shooting
Time.
[summary of the invention]
Holder the object of the present invention is to provide a kind of video display Te Pai robot without dead angle has to solve existing holder shooting
The problem of dead angle.
The invention adopts the following technical scheme: a kind of holder of video display Te Pai robot without dead angle, comprising:
One U-frame frame, the transverse bar outside of U-frame frame is for being bonded and being threadedly connected to robot arm distal end faces
On,
One outer toroid, clamping are set between two vertical bars of U-frame frame, outer wall left and right ends formation clamping part,
And connected with corresponding vertical rod bearing, two aid portion lines are located along the same line, and outer toroid can be with two aid portions
Axis is relative to U-frame frame flip-flop movement；
One interior annular, coaxial sleeve are set in outer toroid, and interior annular can be rotated relative to outer toroid, and the inner wall of interior annular is for pacifying
Photographic device is filled, and the lens axis of photographic device is kept to be overlapped with the axis of interior annular.
Further, first servo motor is installed, the output shaft of first servo motor is used for across U-shaped on U-frame frame
The vertical bar of frame is fixedly attached in outer toroid, and junction is clamping part, and first servo motor is for driving outer toroid with two
A aid portion is axis relative to U-frame frame flip-flop movement.
It is connected between outer toroid and interior annular by bearing or sliding rail.
Further, the second servo motor is installed in outer toroid, is equipped with first on the output shaft of the second servo motor
Gear is equipped with around the outer of interior annular and is used for first gear mutually ratcheting second gear, the second servo motor by the
One gear drives second gear to be rotated.
Further, interior annular internal screw thread is connected with bottom plate, and for fixing movable plate, bottom plate is parallel with movable plate to be set bottom plate
It sets, for installing photographic device, bottom plate can relatively move plate and move up and down movable plate.
Further, it is bolted between bottom plate and movable plate by four, each bolt is by two nuts upper and lower two
Fixed movable plate is held, and is moved on bolt by two nuts to adjust the height of movable plate, so that photographic device
Lens axis is overlapped with the axis of interior annular.
Further, the transverse bar of U-frame frame is threaded with cup dolly, and is connected to robot by cup dolly
In arm distal end faces.
Further, focus tracking, the setting direction of focus tracking and the camera lens of photographic device are connected with by strut on bottom plate
Axis is in the same direction, and focus tracking is connected to third servo motor, and third servo motor is for controlling the automatic with burnt system of video camera.
The beneficial effects of the present invention are: evading singular point, the range of limit is reduced, increases shooting angle and range, is increased
Add automatically with burnt system, the more ultimate attainment characteristic for having played robot saves and the time is taken on site.
[Detailed description of the invention]
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is side view of the invention；
Fig. 3 is the structural schematic diagram of first gear and second gear of the invention；
Fig. 4 is the structural schematic diagram of first servo motor of the invention；
Fig. 5 is the structural schematic diagram of U-frame frame of the invention.
Wherein: 1.U shape frame；100. transverse bar；101. vertical bar；2. outer toroid；3. interior annular；4. the first servo is electric
Machine；5. photographic device；6. the second servo motor；7. first gear；8. second gear；9. bottom plate；10. movable plate；11. bolt；
12. cup dolly.
[specific embodiment]
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Holder the invention discloses a kind of video display Te Pai robot without dead angle, as depicted in figs. 1 and 2, comprising: a U-shaped
Frame 1, as shown in figure 5, U-frame frame 1 is made of the vertical bar 101 that 1 horizontally disposed transverse bar 100 and 2 is vertically arranged,
For being bonded and being threadedly connected to robot arm distal end faces on the outside of the transverse bar 100 of U-frame frame 1, U-frame frame 1 is to use
In being fixed in robot arm distal end faces, so that the equipment of position in the inner is fixed on robot arm end, Jin Erji
Device people drives equipment to shoot；One outer toroid 2, clamping are set between two vertical bars 101 of U-frame frame 1, outer toroid 2
Outer wall left and right ends form clamping part and connected with corresponding 101 bearing of vertical bar, i.e. the cross section of outer toroid 2 and U-frame
Line is parallel between two vertical bars 101 of frame 1, and is connected in two vertical bars 101 by bearing, two aid portion lines
It is located along the same line, outer toroid 2 can be axis relative to 1 flip-flop movement of U-frame frame using two aid portions；The two of U-frame frame 1
A 101 line of vertical bar is parallel to the section of outer toroid 2, an interior annular 3, and coaxial sleeve is set in outer toroid 2, and interior annular 3 can phase
External annulus 2 rotates, and the axis of interior annular 3 is overlapped with the axis of outer toroid 2, and the inner wall of interior annular 3 is for installing photographic device
5, and the lens axis of photographic device 5 and the axis of interior annular 3 is kept to be overlapped, wherein outer toroid 2 is also used to U-frame frame 1
Line between two 101 free ends of vertical bar is that axis is rotated, and is also used to that photographic device 5 is driven to be rotated；Inner circle
Ring 3 is also used in outer toroid 2, carries out rotation with the axis of interior annular 3, so drive be located at the photographic device 5 of interior annular 3 into
Row rotation.
First servo motor 4 is installed, as shown in figure 4, first servo motor 4 is located at appointing for U-frame frame 1 on U-frame frame 1
On the outside of one vertical bar, 101 free end, the output shaft of first servo motor 4 is used for across the fixed company of the vertical bar 101 of U-frame frame 1
It is connected in outer toroid 2, junction is clamping part, and first servo motor 4 is for driving outer toroid 2 using two aid portions as axis phase
For 1 flip-flop movement of U-frame frame, i.e., first servo motor 4 is for driving outer toroid 2 with two vertical bars 101 of U-frame frame 1
Line between free end is that axis is rotated, and then the photographic device 5 being located inside outer toroid 2 is driven to be rotated.
This practical new U-frame frame 1, outer toroid 2 and inner circle are processed using almag material, material not only merrily and lightheartedly and
And there is not oxidizable characteristic.
Connected between outer toroid 2 and interior annular 3 by bearing or sliding rail, no matter bearing or sliding rail connection, as long as guarantee
Interior annular 3 can in outer toroid 2 can with rotation, i.e., between the inner wall of outer toroid 2 and the inner wall of interior annular 3 by bearing or
Sliding rail connection is driven the progress rotation of photographic device 5 for being located at interior annular 3 by interior annular 3 in this way, enables photographic device 5
Reference object shoot from three-sixth turn, coverage is increased.
Second servo motor 6 is installed, as shown in figure 3, being equipped on the output shaft of the second servo motor 6 in outer toroid 2
First gear 7, the second gear 8 mutually ratcheting with first gear 7 is equipped with around the outer of interior annular 3, and the second servo motor 6 is used
It is rotated in by the drive of first gear 7 second gear 8, and then is driven by second gear 8 and be located at taking the photograph for interior annular 3
As 5 rotation of device.
3 internal screw thread of interior annular is connected with bottom plate 9, and for fixing movable plate 10, bottom plate 9 is parallel with movable plate 10 to be set bottom plate 9
It sets, for installing photographic device 5, bottom plate 9 can relatively move plate 10 and move up and down movable plate 10.Between bottom plate 9 and movable plate 10
It is connected by four bolts 11, each bolt 11 is used for through two nuts in the fixed movable plate 10 of upper and lower ends, and passes through two
Nut moves to adjust the height of movable plate 10 on bolt 11, so that the lens axis of photographic device 5 and interior annular 3
Axis is overlapped.
The transverse bar 100 of U-frame frame 1 is also threaded with cup dolly 12, and is connected to machine by cup dolly 12
In human arm distal end faces, because robot end end face is circle, by increasing cup dolly 12 for entire U-frame frame
1 and U-frame frame 1 in equipment integral installation on robot end end face, i.e. the 6th axis of robot, in six common axis
In robot arm, arm distal end faces refer to the 6th shaft flange disk.
Focus tracking is connected with by strut on bottom plate 9, the setting direction of focus tracking and the lens axis of photographic device 5 are same
To focus tracking is connected to third servo motor, and third servo motor is for controlling the automatic with burnt system of video camera.
The present invention is not under the premise of influencing the program speed of floor and directing default lens locus, in original space
The operation of coordinate system XY Z-direction and XrYr Zr are improved on the basis of X Y Z operation, with X YZ space coordinate algorithm
Rotatable 360 degree of the first servo motor 4 of matching robot system and the are added in the holder design of carrying video camera
Two servo motors 6 also increase one with the matched third servo motor of robot system to control video camera on holder
Automatically with burnt system, make robot in Yr, i.e., cleverly evade A4 A5 A6 when running around Y-axis, i.e. 456 axis are the same as always
The case where will appear singular point when line, and easier increase rotation angle.Meanwhile it not only avoiding in high-speed mobile
The manual empty burnt problem of follow focus meeting in the case of shooting, and also avoid video camera and robot when being changed without other holders
The problem of collision, it is crucial that video camera can be allowed to complete the bats of certain more cunning angle tracks when being changed without holder
It takes the photograph, is effectively reduced the probability that robot movement-control system calculates mistake, thus reinforce machine device people complicated ring at the scene
The adaptability in border, the present invention are not only mounted with that video camera can also be installed with burnt system automatically, can make to take the photograph with up and down adjustment position
The camera lens of camera is always at holder round frame center.
First servo motor 4, the second servo motor 6, third servo motor cooperate, when robot receives shooting life
After order, poor complementary operation is carried out according to shooting angle, and make first servo motor 4, the second servo motor 6, third servo motor
It moving simultaneously, first servo motor 4 drives outer toroid 2 to be rotated, and the second servo motor 6 driving interior annular 3 is rotated, the
Three servo motors drive focus tracking movement, and shooting is completed at visual angle needed for being rapidly achieved shooting angle, improve capture rate.
Present invention mainly solves the following impossible photographing requests of other holders:
1. being that point ramps, and is rotated by 360 ° by dot of reference object with reference object.
2. pair reference object level is shot, and is ramped and reached robot highest point, existing holder is shot in level
When, the arm exhibition of robot is unable to reach maximum, because holder will limit the 4th axis and the 5th straight state of axis shape of robot,
So when robot reaches highest arm exhibition, still there is certain angle in the 4th axis and the 5th axis, and U-frame frame 1 of the invention
It can be swung, the 4th axis and the 5th axis can be allowed to form straight line, after U-frame frame 1 is swung at this time, so that it may the camera shooting for being
Device 5 shoots reference object, increases shooting angle.
3. pair reference object level is shot, and is rotated by 360 °, the singular point of existing robot is overcome the problems, such as.
4. pair reference object level is shot, shooting distance is increased to reference object rotary taking with the artificial dot of machine.
Application method of the invention:
Cup dolly 12 of the invention is connect with robot the 6th shaft flange, according to wanting the specific rotation of reference object to want
It asks, robot adjusts the swing angle of U-frame frame 1 by first servo motor 4 by operation, and then passes through the second servo electricity
Machine 6 adjusts the rotation angle of interior annular 3 and the photographic device 5 in interior annular 3, then by robot to photographic device 5 into
Row shooting.
Claims (8)
1. a kind of holder of video display Te Pai robot without dead angle characterized by comprising
One U-frame frame (1), transverse bar (100) outside of the U-frame frame (1) is for being bonded and being threadedly connected to robot
In arm distal end faces,
One outer toroid (2), clamping are set between two vertical bars (101) of the U-frame frame (1), outer wall left and right ends
It forms clamping part and is connected with corresponding vertical bar (101) bearing, described two aid portions line is located along the same line, institute
Stating outer toroid (2) can be axis relative to U-frame frame (1) flip-flop movement using two aid portions；
One interior annular (3), coaxial sleeve are set in the outer toroid (2), and the interior annular (3) can rotate relative to outer toroid (2), institute
The inner wall of interior annular (3) is stated for installing photographic device (5), and keeps the lens axis of photographic device (5) and interior annular (3)
Axis is overlapped.
2. holder of a kind of video display Te Pai robot without dead angle according to claim 1, which is characterized in that the U-frame
It is equipped on frame (1) first servo motor (4), the output shaft of the first servo motor (4) is used for across U-frame frame (1)
Vertical bar (101) is fixedly attached on outer toroid (2), and the junction is clamping part, and the first servo motor (4) is for driving
Dynamic outer toroid (2) are axis relative to U-frame frame (1) flip-flop movement using two aid portions.
3. holder of a kind of video display Te Pai robot without dead angle according to claim 2, which is characterized in that the outer toroid
(2) it is connected between interior annular (3) by bearing or sliding rail.
4. holder of a kind of video display Te Pai robot without dead angle according to claim 3, which is characterized in that the outer toroid
(2) it is equipped on the second servo motor (6), first gear (7) is installed on the output shaft of second servo motor (6), around
The outer of the interior annular (3) is equipped with the second gear (8) mutually ratcheting with first gear (7), second servo motor
(6) for driving second gear (8) to be rotated by first gear (7).
5. holder of a kind of video display Te Pai robot without dead angle according to claim 1 to 4, which is characterized in that described
Interior annular (3) internal screw thread is connected with bottom plate (9), and the bottom plate (9) is for fixing movable plate (10), the bottom plate (9) and movement
Plate (10) is arranged in parallel, and for the movable plate (10) for installing photographic device (5), the bottom plate (9) can relatively move plate (10)
It moves up and down.
6. holder of a kind of video display Te Pai robot without dead angle according to claim 5, which is characterized in that the bottom plate
(9) by four bolt (11) connections between movable plate (10), each bolt (11) is by two nuts in upper and lower ends
Fixed movable plate (10), and moved on bolt (11) by two nuts to adjust the height of movable plate (10), so that
The lens axis of photographic device (5) is overlapped with the axis of interior annular (3).
7. holder of a kind of video display Te Pai robot without dead angle according to claim 1 to 4, which is characterized in that described
The transverse bar (100) of U-frame frame (1) is threaded with cup dolly (12), and is connected to machine by the cup dolly (12)
In device human arm distal end faces.
8. holder of a kind of video display Te Pai robot without dead angle according to claim 6, which is characterized in that the bottom plate
(9) focus tracking is connected with by strut on, the setting direction of the focus tracking and the lens axis of photographic device (5) are in the same direction, institute
It states focus tracking and is connected to third servo motor, the third servo motor is for controlling the automatic with burnt system of video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910690899.7A CN110293584A (en) | 2019-07-29 | 2019-07-29 | A kind of holder of video display Te Pai robot without dead angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910690899.7A CN110293584A (en) | 2019-07-29 | 2019-07-29 | A kind of holder of video display Te Pai robot without dead angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110293584A true CN110293584A (en) | 2019-10-01 |
Family
ID=68032240
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|---|---|---|---|
| CN201910690899.7A Pending CN110293584A (en) | 2019-07-29 | 2019-07-29 | A kind of holder of video display Te Pai robot without dead angle |
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| CN (1) | CN110293584A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113422905A (en) * | 2021-06-22 | 2021-09-21 | 浙江博采传媒有限公司 | Automatic control method and system for movement locus of focus follower |
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| CN210551348U (en) * | 2019-07-29 | 2020-05-19 | 韩城韩韩文旅产业发展集团有限公司 | Cloud platform at no dead angle of movie & TV special shooting robot |
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| KR20130093359A (en) * | 2012-02-14 | 2013-08-22 | 김성남 | Pan tilt system |
| CN103235602A (en) * | 2013-03-25 | 2013-08-07 | 山东电力集团公司电力科学研究院 | Automatic photography control device for power line inspection unmanned aerial vehicle, and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113422905A (en) * | 2021-06-22 | 2021-09-21 | 浙江博采传媒有限公司 | Automatic control method and system for movement locus of focus follower |
| CN113422905B (en) * | 2021-06-22 | 2022-09-16 | 浙江博采传媒有限公司 | Automatic control method and system for movement locus of focus follower |
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