CN111379944A - Robot camera shooting holder - Google Patents
Robot camera shooting holder Download PDFInfo
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- CN111379944A CN111379944A CN201811618410.7A CN201811618410A CN111379944A CN 111379944 A CN111379944 A CN 111379944A CN 201811618410 A CN201811618410 A CN 201811618410A CN 111379944 A CN111379944 A CN 111379944A
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 25
- 238000001816 cooling Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 38
- 230000001681 protective effect Effects 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000002093 peripheral effect Effects 0.000 description 5
- 235000010724 Wisteria floribunda Nutrition 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000006386 memory function Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
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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
- F16M11/14—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
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention relates to the technical field of photographic equipment and the technical field of manufacturing of auxiliary devices of photographic equipment, solves the use problem of a camera pan head, and comprises a pan head mechanical assembly, a pan head electrical assembly and a pan head control software assembly, wherein the pan head mechanical assembly comprises a horizontal assembly, a pitching assembly and a camera fixing assembly, the pan head electrical assembly comprises a control driver assembly, a motion control card, a power supply system assembly, a comprehensive circuit board, a cooling fan and a main case shell, the horizontal assembly comprises a screwing hand wheel, a horizontal adjusting bowl, a horizontal servo motor, a horizontal motor fixing seat, a horizontal harmonic reducer, a fixing plate and a screwing screw, the operation is stable, the mechanical structure greatly improves the smoothness and reliability of operation and control, the structure is small and exquisite, the cost is low, the popularization and the application are convenient, the pan head can be fixed and the pan head level can be adjusted on a common stand, the device is suitable for all machine leg devices with the ball bowl diameter of 100 mm.
Description
Technical Field
The invention relates to the technical field of photographic equipment, in particular to an auxiliary device of photographic equipment.
Background
The existing camera shooting holder needs a photographer to manually control shooting, has high requirement on professional literacy of people, cannot realize automatic intelligent remote control, and lacks a product meeting the requirements of automation, intelligence and remote control.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot camera shooting pan-tilt.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a robot camera shooting cloud platform comprises a cloud platform mechanical assembly, a cloud platform electrical appliance assembly and a cloud platform control software assembly, wherein the cloud platform mechanical assembly comprises a horizontal assembly (A), a pitching assembly (B) and a camera fixing assembly (C);
the holder electric appliance assembly comprises a control driver assembly (D), a motion control card (E), a power system assembly (F), an integrated circuit board (G), a cooling fan (H) and a main case shell (K);
the horizontal assembly (A) comprises a tightening hand wheel (1), a horizontal adjusting bowl (2), a horizontal servo motor (3), a horizontal motor fixing seat (4), a horizontal harmonic speed reducer (5), a fixing piece (22) and a tightening screw (23).
The pitching assembly (B) comprises a spherical shell (6), a left side support (7), a fixing plate (8), a left protective cover (9), a pitching servo motor (10), a pitching harmonic speed reducer (11), a pitching motor fixing seat (17), an I-shaped deep trench ball bearing (18), a right side protective cover (19), a right support (20) and a wire casing cover (21);
the camera fixing assembly (C) comprises a screwing handle (12), a clamping block (13), a pan-tilt panel (14), a fixing flange (15) and a pan-tilt panel fixing seat (16);
the control driver assembly (D) comprises a pan-tilt horizontal servo driver (D1), a pan-tilt pitch servo driver (D2) and an absolute value encoder module (D3);
the motion control card (E) comprises a pulse interface (E1), an Ethernet interface (E2), an Ethercat interface (E3), an RS232 interface (E4), an RS485 interface (E5), a CAN interface (E6), an I/O interface (E7) and a power supply interface (E8);
the power system assembly (F) comprises an AC power socket (F1), a 220V output (F2), a 24V output (F3) and a 5V output (F4);
the integrated circuit board (G) comprises a CAN communication (G1), a 232 communication (G2), a 422 communication (G3), a 232-to-422 module (G4), a relay (G5), a UDP module (G6), a Ref module (G7), a CPU (G8) and a zooming or focusing control interface (G9);
the main case shell (K) and the shell are provided with an AC power socket (F1), an EtherCAT interface 1(K2), an EtherNET interface (K3), a UDP module (G6) interface, a 422 communication (G3) interface, a Ref module (K6) interface, a zooming or focusing control interface (G9) and a servo motor communication control interface (K8).
Motor fixing base (4) keep away from the input of one end fixed connection horizontal harmonic speed reducer ware (5) of horizontal servo motor (3), the output fixed connection left side support (7) of horizontal harmonic speed reducer ware (5), the flange fixed connection on left side support (7) upper portion the stiff end of every single move harmonic speed reducer ware (11), the output of every single move harmonic speed reducer ware (11) be connected with every single move motor fixing base (17) and cloud platform every single move motor (10), every single move motor fixing base (17) keep away from the one end of every single move harmonic speed reducer ware (11) and be connected with right side support (20) through I type deep groove ball bearing (18).
The pitching assembly (B) is characterized in that the right side shield (19) is integrated with a holder pitching limiting structure, and the left side support (7) is connected with the horizontal harmonic reducer (5) to form a horizontal limiting structure of the integrated holder.
The cable trough is arranged on the inner side of the right side support (20), and a cable trough cover (21) is fastened on the cable trough.
The cradle head panel (14) is adjusted through sliding back and forth, and the cradle head panel (14) is locked and fixed through screwing the handle (12).
The material of horizontal adjustment bowl (2), horizontal motor fixing base (4), left side support (7), left guard shield (9), screw up handle (12), cloud platform panel (14), mounting flange (15), cloud platform panel fixing base (16), pitch motor fixing base (17), right side guard shield (19), right branch frame (20) and wire casing lid (21) be aluminium.
The horizontal adjusting bowl (2) is fixed and the horizontal of the holder is adjusted through a common tripod stand with the diameter of the ball bowl being 100 mm.
The motion control card (E) is connected with the servo driver assembly through a pulse interface (E1) or an EtherCAT (E3) for communication;
the motion control card (E) is connected with a CAN interface (G1) of the integrated circuit board (G) for communication through the CAN interface (E6);
the Ethernet interface of the motion control card (E) is connected with a TCP and an IP network port in the software host for communication;
the 232 interface (E4) in the motion control card (E) is connected with the 232 communication port (G2) of the integrated circuit board (G), and the 232 communication port (G2) in the integrated circuit board (G) is connected with the relay (G5);
a ref module (G7) in the integrated circuit board (G) is connected with a camera synchronization BB signal;
and a 422 communication port (G3) in the integrated circuit board (G) and a UDP module (G6) are connected with a third-party virtual host.
The invention has the beneficial effects that: the invention provides a robot camera pan-tilt which has the following characteristics: 1. the design has the advantages of simple operation, scientific and reasonable structure, low operation noise, stable operation, small structure, low cost, convenient popularization and application, capability of fixing and adjusting the horizontal position of the tripod head on a common tripod stand and suitability for all tripod stands with the diameter of a ball bowl of 100mm, and the mechanical structure greatly improves the smoothness and reliability of operation and control; 2. the design solves the problem of long-focus picture jitter in film and television shooting through a precise mechanical structure and a software optimization algorithm; 3. the design solves the problem of remote control shooting at a long distance and a special position; 4. the design solves the problems of accurate positioning of camera shooting of the cloud deck of the robot and returning of high-precision tracking data to a virtual system; 5. the design can be well matched with the prior art, and the robot can automatically run and be programmable by replacing manual shooting through additionally arranging a motor sensor control system and the like; 6. the operation is safe and reliable through software limit, physical limit and a distance sensor, and the safety of equipment is ensured; 7. the external port of the equipment has various communication modes of EtherNET, EtherCAT, 422 and UDP, can be communicated with each other, can also be connected in series for independent use, can realize the control of a plurality of pieces of equipment, and can also be controlled by peripheral centralized control equipment; 8. the protocol 232 and the protocol 422 are matched with software to automatically identify and control two full servo lenses of Canon and Fuji, and the full servo lenses are automatically switched; 9. and the power-off memory function is adopted, the data of each axis of the holder is stored in real time, after the equipment is powered off, the absolute coordinate data of each axis of the holder is automatically updated in real time, the holder is not required to be positioned again after being powered on again, and the datum position data is unchanged. The reference position does not need to be confirmed each time; 10. scene point locations can be prestored, and scene shooting and multipoint bit sequence scene operation can be started quickly.
Drawings
FIG. 1 is a schematic sectional view of a main structure of a camera pan-tilt head mechanical assembly of an intelligent control robot according to the present invention;
FIG. 2 is a schematic diagram of external wiring of the intelligent control robot camera pan-tilt of the present invention;
fig. 3 is a schematic diagram of the internal wiring of the intelligent control robot camera holder electrical assembly.
Detailed Description
As shown in fig. 1-3, a robot camera pan-tilt comprises a pan-tilt mechanical assembly, a pan-tilt electrical assembly and a pan-tilt control software assembly, wherein the pan-tilt mechanical assembly comprises a horizontal assembly a, a pitching assembly B and a camera fixing assembly C;
the holder electric appliance assembly comprises a control driver assembly D, a motion control card E, a power supply system assembly F, a comprehensive circuit board G, a cooling fan H and a main case shell K;
the horizontal assembly A comprises a tightening hand wheel 1, a horizontal adjusting bowl 2, a horizontal servo motor 3, a horizontal motor fixing seat 4, a horizontal harmonic speed reducer 5, a fixing piece 22 and a tightening screw 23.
The pitching assembly B comprises a spherical shell 6, a left side support 7, a fixing plate 8, a left protective cover 9, a pitching servo motor 10, a pitching harmonic speed reducer 11, a pitching motor fixing seat 17, an I-shaped deep groove ball bearing 18, a right side protective cover 19, a right support 20 and a wire groove cover 21;
the camera fixing assembly C comprises a screwing handle 12, a clamping block 13, a pan-tilt panel 14, a fixing flange 15 and a pan-tilt panel fixing seat 16;
the control driver assembly D comprises a holder horizontal servo driver D1, a holder pitching servo driver D2 and an absolute value encoder module D3;
the motion control card E comprises a pulse interface E1, an Ethernet interface E2, an Ethercat interface E3, an RS232 interface E4, an RS485 interface E5, a CAN interface E6, an I/O interface E7 and a power supply interface E8;
the power system assembly F comprises an AC power socket F1, a 220V output F2, a 24V output F3 and a 5V output F4;
the integrated circuit board G comprises a CAN communication G1, a 232 communication G2, a 422 communication G3, a 232-to-422 module G4, a relay G5, a UDP module G6, a Ref module G7, a CPUG8 and a zooming or focusing control interface G9;
and an AC power socket F1, an EtherCAT interface K2, an EtherNET interface K3, a UDP module G6 interface, a 422 communication G3 interface, a Ref module K6 interface, a zoom or focus control interface G9 and a servo motor communication control interface K8 are arranged on the shell K and the shell of the main case.
The pitching assembly B is characterized in that the right side shield 19 of the pitching assembly B is integrated with a holder pitching limiting structure, and one end of the left side support 7 connected with the horizontal harmonic reducer 5 is integrated with a horizontal limiting structure of a holder.
The inner side of the right side bracket 20 is provided with a cable groove, and a cable groove cover 21 is buckled on the cable groove.
The pan-tilt panel 14 is adjusted by sliding back and forth, and the pan-tilt panel 14 is locked and fixed by tightening the handle 12.
The materials of the horizontal adjusting bowl 2, the horizontal motor fixing seat 4, the left side support 7, the left protective cover 9, the screwing handle 12, the holder panel 14, the fixing flange 15, the holder panel fixing seat 16, the pitching motor fixing seat 17, the right side protective cover 19, the right support 20 and the wire groove cover 21 are all aluminum.
The horizontal adjusting bowl 2 is fixed and the horizontal of the holder is adjusted through a common tripod with the diameter of the bowl being 100 mm.
The motion control card E is connected with the servo driver assembly for communication through a pulse interface E1 or EtherCATE3,
the motion control card E is connected with a CAN interface G1 of the integrated circuit board G for communication through a CAN interface E6;
the EEthermet interface of the motion control card is connected with TCP and IP network ports in the software host for communication;
the 232 interface E4 in the motion control card E is connected with the 232 communication port G2 of the integrated circuit board G, and the 232 communication port G2 in the integrated circuit board G is connected with the relay G5;
the ref module G7 in the integrated circuit board G is connected with a camera synchronization BB signal;
and a 422 communication port G3UDP module G6 in the integrated circuit board G is connected with a third-party virtual host.
The functional principle is as follows: one, 4 degrees of freedom motion. The motion control card E, the servo drive assembly D and the comprehensive circuit board G are connected in the mode, so that the intelligent automatic operation of the horizontal, pitching, zooming and focusing of the robot holder is controlled by the motion control card E through basic language programming, and the automatic control of the four degrees of freedom of the camera is realized. The combination of the tripod head control software assembly III realizes the four-degree-of-freedom arbitrary recording track of the tripod head, and the track can be continuously connected in series to run, thereby realizing L-shaped and S-shaped tracks and the like; and secondly, zooming and focusing. The zooming and focusing are automatically identified and switched and controlled by a motion control card E through a 232-to-422 module G4 and a relay G5 in an integrated circuit board G through basic language programming, and built-in servo motors of two servo lenses Zoom and Focus of Fujinon and Canon are controlled. The Fuji servo lens realizes control and acquisition of servo data values in the servo lens, such as real-time data of zoom, focus and iris, through a physical protocol RS232 and a mutual agreed data communication protocol; the Canon servo lens realizes control and acquisition of the servo data value inside the Canon servo lens, such as real-time data of zoom focus iris, through a physical protocol RS-422 and a mutually agreed data communication protocol; and thirdly, absolute value. Through the communication protocols of the motion control card E and the driver assembly D such as ethercat or 485, the motion control card E reads and stores the data of the servo motor absolute value encoder module D3 in real time, so that the data can be stored in real time after power is off, and the data can be automatically updated after power is on again without initialization calibration; and fourthly, connecting virtual. The standardized output of the data in the motion control card E is in communication connection with a can interface G1 in the integrated circuit board G through a can 6, a data protocol is processed through basic programming language operation and outputs numerical values of four degrees of freedom of a camera, wherein the numerical values comprise a horizontal angle, a pitching angle, a zoom and a focus of the camera, and the numerical values are referred to as FREE-D data for short; default ports of Ethernet UDP data output interfaces in the integrated circuit board G can be preset; RS-422 data output pin 3T +, 4T-, dual-output high-precision FREE-D tracking data. A circuit board Ref interface synchronizes a BB signal interface of a studio standard, NTSC, PAL and 720P signals are separated by the circuit board to be synchronized BB signals, the effect is that free-D data strictly send data according to BB synchronization signal intervals, and the error range is lower than 0.01 ms. The method solves the problems of free-d tracking data delay adjustment and lens data delay adjustment, and realizes real-time seamless connection with virtual and real systems of peripheral virtual equipment such as viztt, Avid (Orad), Brainstarm, Ross, New Aute, Atlantic, Shanghai, Dilep, Sunday and the like. And the anti-shake technology for starting and stopping the 4K and 8K pictures shot by the pan-tilt camera is realized through a software start-stop optimization function in the mechanical structure optimization and operation control card E. The peripheral studio centralized control equipment communicates with the console or the control card through a standard TCP IP network protocol, and the peripheral equipment can control the operation of the robot holder according to the set track.
The invention has the beneficial effects that: the invention provides a robot camera pan-tilt which has the following characteristics: 1. the design has the advantages of simple operation, scientific and reasonable structure, low operation noise, stable operation, small structure, low cost, convenient popularization and application, capability of fixing and adjusting the horizontal position of the tripod head on a common tripod stand and suitability for all tripod stands with the diameter of a ball bowl of 100mm, and the mechanical structure greatly improves the smoothness and reliability of operation and control; 2. the design solves the problem of long-focus picture jitter in film and television shooting through a precise mechanical structure and a software optimization algorithm; 3. the design solves the problem of remote control shooting at a long distance and a special position; 4. the design solves the problems of accurate positioning of camera shooting of the cloud deck of the robot and returning of high-precision tracking data to a virtual system; 5. the design can be well matched with the prior art, and the robot can automatically run and be programmable by replacing manual shooting through additionally arranging a motor sensor control system and the like; 6. the operation is safe and reliable through software limit, physical limit and a distance sensor, and the safety of equipment is ensured; 7. the external port of the equipment has various communication modes of EtherNET, EtherCAT, 422 and UDP, can be communicated with each other, can also be connected in series for independent use, can realize the control of a plurality of pieces of equipment, and can also be controlled by peripheral centralized control equipment; 8. the protocol 232 and the protocol 422 are matched with software to automatically identify and control two full servo lenses of Canon and Fuji, and the full servo lenses are automatically switched; 9. and the power-off memory function is adopted, the data of each axis of the holder is stored in real time, after the equipment is powered off, the absolute coordinate data of each axis of the holder is automatically updated in real time, the holder is not required to be positioned again after being powered on again, and the datum position data is unchanged. The reference position does not need to be confirmed each time; 10. scene point locations can be prestored, and scene shooting and multipoint bit sequence scene operation can be started quickly.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, are not to be considered as limiting the present invention, and that the fundamental principles, the main features, and the advantages of the present invention are shown and described above, as would be understood by those skilled in the art.
Claims (8)
1. A robot camera shooting cloud platform is characterized by comprising a cloud platform mechanical assembly, a cloud platform electrical assembly and a cloud platform control software assembly, wherein the cloud platform mechanical assembly comprises a horizontal assembly (A), a pitching assembly (B) and a camera fixing assembly (C);
the holder electric appliance assembly comprises a control driver assembly (D), a motion control card (E), a power system assembly (F), an integrated circuit board (G), a cooling fan (H) and a main case shell (K);
the horizontal assembly (A) comprises a tightening hand wheel (1), a horizontal adjusting bowl (2), a horizontal servo motor (3), a horizontal motor fixing seat (4), a horizontal harmonic speed reducer (5), a fixing piece (22) and a tightening screw (23).
The pitching assembly (B) comprises a spherical shell (6), a left side support (7), a fixing plate (8), a left protective cover (9), a pitching servo motor (10), a pitching harmonic speed reducer (11), a pitching motor fixing seat (17), an I-shaped deep trench ball bearing (18), a right side protective cover (19), a right support (20) and a wire casing cover (21);
the camera fixing assembly (C) comprises a screwing handle (12), a clamping block (13), a pan-tilt panel (14), a fixing flange (15) and a pan-tilt panel fixing seat (16);
the control driver assembly (D) comprises a pan-tilt horizontal servo driver (D1), a pan-tilt pitch servo driver (D2) and an absolute value encoder module (D3);
the motion control card (E) comprises a pulse interface (E1), an Ethernet interface (E2), an Ethercat interface (E3), an RS232 interface (E4), an RS485 interface (E5), a CAN interface (E6), an I/O interface (E7) and a power supply interface (E8);
the power system assembly (F) comprises an AC power socket (F1), a 220V output (F2), a 24V output (F3) and a 5V output (F4);
the integrated circuit board (G) comprises a CAN communication (G1), a 232 communication (G2), a 422 communication (G3), a 232-to-422 module (G4), a relay (G5), a UDP module (G6), a Ref module (G7), a CPU (G8) and a zooming or focusing control interface (G9);
the main case shell (K) and the shell are provided with an AC power socket (F1), an EtherCAT interface (K2), an EtherNET interface (K3), a UDP module (G6) interface, a 422 communication (G3) interface, a Ref module (K6) interface, a zooming or focusing control interface (G9) and a servo motor communication control interface (K8).
2. The robot camera platform according to claim 1, wherein the end of the motor holder (4) away from the horizontal servo motor (3) is fixedly connected to the input end of the horizontal harmonic reducer (5), the output end of the horizontal harmonic reducer (5) is fixedly connected to the left bracket (7), the flange on the upper portion of the left bracket (7) is fixedly connected to the fixed end of the pitch harmonic reducer (11), the output end of the pitch harmonic reducer (11) is connected to the pitch motor holder (17) and the platform pitch motor (10), and the end of the pitch motor holder (17) away from the pitch harmonic reducer (11) is connected to the right bracket (20) through an I-shaped deep groove ball bearing (18).
3. A robot camera head according to claim 2, characterized in that said right side shield (19) of said pitch assembly (B) integrates head pitch limit, and said left side support (7) is connected to said horizontal harmonic reducer (5) and has an end integrated with the horizontal limit structure of the head.
4. A robot camera head according to claim 3, characterized in that the inner side of the right side frame (20) is provided with a cable groove, and a cable groove cover (21) is fastened on the cable groove.
5. A robot camera head according to claim 4, characterized in that said head panel (14) is adjusted by sliding back and forth, and that the head panel (14) is locked and fixed by tightening the handle (12).
6. The robot camera platform of claim 5, wherein the horizontal adjusting bowl (2), the horizontal motor fixing seat (4), the left side bracket (7), the left shield (9), the tightening handle (12), the platform panel (14), the fixing flange (15), the platform panel fixing seat (16), the pitching motor fixing seat (17), the right side shield (19), the right bracket (20) and the wire casing cover (21) are all made of aluminum.
7. A robot camera head according to claim 6, characterized in that said horizontal adjustment bowl (2) is fixed and the head level is adjusted by a common tripod stand with a ball bowl diameter of 100 mm.
8. A robot camera head according to claim 7, characterized in that said motion control card (E) communicates with the servo drive assembly through a pulse interface (E1) or EtherCAT (E3);
the motion control card (E) is connected with a CAN interface (G1) of the integrated circuit board (G) for communication through the CAN interface (E6);
the Ethernet interface of the motion control card (E) is connected with a TCP and an IP network port in the software host for communication;
the 232 interface (E4) in the motion control card (E) is connected with the 232 communication port (G2) of the integrated circuit board (G), and the 232 communication port (G2) in the integrated circuit board (G) is connected with the relay (G5);
a ref module (G7) in the integrated circuit board (G) is connected with a camera synchronization BB signal;
and a 422 communication port (G3) in the integrated circuit board (G) and a UDP module (G6) are connected with a third-party virtual host.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618410.7A CN111379944A (en) | 2018-12-27 | 2018-12-27 | Robot camera shooting holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618410.7A CN111379944A (en) | 2018-12-27 | 2018-12-27 | Robot camera shooting holder |
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| CN111379944A true CN111379944A (en) | 2020-07-07 |
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| CN201811618410.7A Pending CN111379944A (en) | 2018-12-27 | 2018-12-27 | Robot camera shooting holder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112050054A (en) * | 2020-09-25 | 2020-12-08 | 科森传动设备常州有限公司 | Remote control camera monitoring vehicle with speed reduction structure and control method thereof |
| CN113280806A (en) * | 2021-05-12 | 2021-08-20 | 上海智能网联汽车技术中心有限公司 | Intelligent holder suitable for posture adjustment of vehicle-road cooperative networking equipment and adjusting method |
| CN114151529A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Spherical harmonic reducer holder |
| CN115264313A (en) * | 2022-07-25 | 2022-11-01 | 山东优宝特智能机器人有限公司 | Full-automatic leveling electric pan-tilt and control method thereof |
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| CN113280806A (en) * | 2021-05-12 | 2021-08-20 | 上海智能网联汽车技术中心有限公司 | Intelligent holder suitable for posture adjustment of vehicle-road cooperative networking equipment and adjusting method |
| CN114151529A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Spherical harmonic reducer holder |
| CN115264313A (en) * | 2022-07-25 | 2022-11-01 | 山东优宝特智能机器人有限公司 | Full-automatic leveling electric pan-tilt and control method thereof |
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