CN112728364A - Two-degree-of-freedom holder device - Google Patents
Two-degree-of-freedom holder device Download PDFInfo
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- CN112728364A CN112728364A CN202110002209.1A CN202110002209A CN112728364A CN 112728364 A CN112728364 A CN 112728364A CN 202110002209 A CN202110002209 A CN 202110002209A CN 112728364 A CN112728364 A CN 112728364A
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- 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 9
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
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- 238000000034 method Methods 0.000 description 8
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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- 229910052742 iron Inorganic materials 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 239000011435 rock Substances 0.000 description 1
- 238000005303 weighing Methods 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
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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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
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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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
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a two-degree-of-freedom holder device, which comprises a base, a left support plate, a right support plate, a cylindrical slide rail and a holder seat, wherein the left support plate is connected with one side of the upper surface of the base along the vertical direction; the top of the cloud pedestal is provided with a camera, and the bottom of the cloud pedestal is connected with a first driving mechanism for driving the cloud pedestal to rotate for 360 degrees; a second driving mechanism for driving the cylinder sliding rail to rotate in a pitching manner is connected to the outer wall of the cylinder sliding rail which is rotatably connected with the right supporting plate, one side of a driving end of the second driving mechanism is connected with the first driving mechanism, the other side of the driving end of the second driving mechanism is connected with the outer wall of the cylinder sliding rail, and the second driving mechanism is installed on the right supporting plate; the bottom of base is installed and is used for the removal wheelset that the base removed. The device has the advantages of quick response effect and stable operation.
Description
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a two-freedom cloud platform device.
Background
The holder device is a device for supporting shooting equipment such as a camera and a video camera, and the conventional holder device is generally realized by adopting a complex motion mechanism for enabling a holder to adjust the rotation and pitch angles of the shooting equipment, so that the manufacturing difficulty of the holder device is increased, and the cost is increased.
Chinese patent No. CN103883854 discloses a holder device, which includes a cover body, an adjusting member, a supporting member and a locking member. The cover body is provided with a first adjusting opening. The adjusting piece comprises a spherical adjusting portion and a connecting portion fixedly connected with the adjusting portion, the adjusting portion is contained in the cover body, and the connecting portion extends out of the cover body along the first adjusting opening. The adjusting piece is adjusted through the rotation of the adjusting part relative to the cover body, and the position and the angle of the connecting part relative to the cover body are adjusted. The supporting part is used for supporting the adjusting part. The locking piece is used for locking the adjusting piece between the supporting piece and the cover body or unlocking the adjusting piece. The cloud disk of the camera with a larger gap at the joint part has poor stability when rotating up and down, left and right for adjustment; the friction noise generated by the machined metal piece during rotation is over standard aiming at the use environment of the medical appliance; when the combined rotating structure of the holder is remotely controlled by induction on an operation interface, images shot by a camera are not stable, and the images are scratched by slight friction; for a rotating assembly supported by the cradle head, the problem of attractive appearance is considered, the gravity center is not positioned at the center of the cradle head, so that when the rotating gravity center is seriously offset, the torsion of a rotating mechanism of the cradle head is instantly increased, and the rotating friction force among parts is increased; aiming at the X, Y, Z, R combined machine type, when the R axis is configured with the cloud platform, the total weight of the metal iron main body is offset, and the load is increased when the metal iron main body moves, so that the stable definition of the imaging of the image is influenced.
The Chinese patent with the patent application number of CN201720253879.X discloses a holder device, which comprises a base, an installation base, a rotating shaft, a first gear, a second gear and a first motor, wherein the base is connected with the installation base through the rotating shaft, and the first motor drives the first gear and the second gear to drive the base to rotate around the rotating shaft along a first direction; the camera comprises a support, a camera corner support, a pitching rotating shaft, a third gear, a fourth gear and a second motor, wherein the second motor drives the third gear and the fourth gear to drive the camera corner support to rotate around the pitching rotating shaft along a second direction. The utility model discloses a cloud platform device, 15 degrees about the rotation angle amplitude of oscillation can reach, 15 degrees about, the dead weight is light, durable, has solved the problem in the above-mentioned CN103883854 patent document, but, the cloud platform in the CN201720253879.X patent document has too big hysteresis error, and the accumulated chi side effect of cloud platform device transfer distance is more obvious the farther, is difficult to carry out very accurate quick response to the target tracking seizure.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the two-degree-of-freedom holder device which is quick in response effect, stable in operation, simple and reliable in structure, and realizes very accurate quick response for target tracking capture by adjusting the two-degree-of-freedom function of the holder through the first driving mechanism and the second driving mechanism.
In order to achieve the purpose, the invention adopts the technical scheme that:
a two-degree-of-freedom holder device comprises a base, a left supporting plate connected with one side of the upper surface of the base along the vertical direction, a right supporting plate connected with the upper surface of the base opposite to the left supporting plate along the vertical direction, a cylindrical slide rail rotatably connected between the left supporting plate and the right supporting plate, and a holder seat penetrating through the cylinder center of the cylindrical slide rail and rotatably connected with the cylindrical slide rail along the circumferential direction of the inner wall of the cylindrical slide rail by 360 degrees;
the top of the cloud pedestal is provided with a camera, and the bottom of the cloud pedestal is connected with a first driving mechanism for driving the cloud pedestal to rotate for 360 degrees;
the outer wall of the cylinder sliding rail is connected with a second driving mechanism for driving the first driving mechanism and the cylinder sliding rail to rotate in a pitching mode, and the second driving mechanism is installed on the right supporting plate;
the bottom of base is installed and is used for the removal wheelset that the base removed.
Further, the first driving mechanism comprises a stepping motor, a first gear fixedly connected with an output shaft of the stepping motor and an inner gear ring in meshed connection with the first gear;
the inner gear ring is fixedly connected with the bottom of the holder seat;
the stepping motor is fixedly connected to the second driving mechanism through a motor base.
Furthermore, a second arc groove is formed in the outer wall of the lower portion of the cloud platform seat in the circumferential direction, and a plurality of groups of rollers which are uniformly distributed at intervals are embedded in the second arc groove in the circumferential direction;
a groove is formed in the circumferential direction of the inner wall of the cylindrical sliding rail;
each roller is located in the groove and is in rolling abutting joint with the groove. Furthermore, the second driving mechanism comprises a sector gear fixedly connected with the outer wall of the cylinder slide rail, a second gear meshed with the sector gear and a pitching motor which penetrates through a second gear core and is fixedly connected with the second gear;
the pitching motor is connected with the right supporting plate;
one side of the sector gear is fixedly connected with the motor base, and the center of the other side of the sector gear is fixedly connected with a sliding shaft;
a first arc groove which is matched with the sliding shaft and has an upward opening at the radian is formed in the right supporting plate;
the sliding shaft penetrates through the first arc groove and is in sliding butt joint with the first arc groove.
Furthermore, a graduated scale used for recording the pitching swinging angle of the sector gear is arranged on the side wall of the sector gear below the sliding shaft, and an observation hole used for observing the graduation of the graduated scale is arranged on the right support plate.
Furthermore, two symmetrical rotating shafts are arranged on the outer wall of the cylindrical sliding rail;
the left support plate is provided with a first rotating hole which is rotatably connected with one rotating shaft through a bearing, the right support plate is provided with a second rotating hole which is rotatably connected with the other rotating shaft through a bearing, and the first rotating hole and the second rotating hole are symmetrically arranged.
Furthermore, the moving wheel set comprises at least one moving wheel arranged on one side of the lower surface of the base and at least two driving wheel assemblies arranged on the other side of the lower surface of the base, and the at least one moving wheel and the at least two driving wheel assemblies are uniformly and symmetrically distributed on the lower surface of the base.
Further, the at least one moving wheel is a universal wheel.
Further, the at least two driving wheel assemblies respectively comprise a supporting seat fixedly connected with the lower surface of the base, a driving motor fixedly installed with the supporting seat and a driving wheel fixedly installed with an output shaft of the driving motor.
Compared with the prior art, the invention has the beneficial effects that:
the first driving mechanism drives the holder seat to rotate 360 degrees along the circumferential direction of the inner wall of the cylinder slide rail, and drives the camera to rotate 360 degrees; simultaneously, the second driving mechanism drives the cylinder slide rail to do pitching motion, the pitching motion of the cylinder slide rail drives the pitching motion of the cloud platform seat, and the pitching motion of the cloud platform seat drives the pitching motion of the camera, so that the two-degree-of-freedom function of the cloud platform camera is adjusted, very accurate quick response is captured for target tracking, and the device has the advantages of stable operation and simple and reliable structure.
Further, the stepping motor is powered on to start the stepping motor, the stepping motor is started to drive the output shaft of the stepping motor to rotate, the output shaft of the stepping motor rotates to drive the first gear to rotate, the first gear rotates to drive the inner gear ring to rotate for 360 degrees, the inner gear ring rotates for 360 degrees to drive the cloud platform base to rotate for 360 degrees, the camera is further driven to rotate for 360 degrees, the degree of freedom of the cloud platform camera is adjusted for 360 degrees, meanwhile, the angle of the cloud platform camera is precisely controlled through the stepping motor, and therefore the very precise quick response of the degree of freedom of the cloud platform camera to target tracking and capturing is further achieved.
Furthermore, the multiple groups of rollers which are uniformly distributed at intervals are embedded in the second arc groove and roll along the groove, the cradle head seat is driven to rotate 360 degrees along the groove in the circumferential direction of the inner wall of the cylinder slide rail, and the cradle head camera is further driven to rotate 360 degrees, so that the cradle head camera is guaranteed to be more stable in the 360-degree rotation process, the cradle head camera can be prevented from shaking in the 360-degree freedom adjustment process, and stable and clear image imaging is guaranteed.
Furthermore, the pitching motor is powered on to start the pitching motor, the pitching motor is started to drive the output shaft of the pitching motor to rotate, the output shaft of the pitching motor rotates to drive the second gear to rotate, the second gear rotates to drive the sector gear to pitch and swing, the sector gear pitch and swing drives the motor base and the cylinder slide rail to pitch and swing, the motor base pitch and swing realizes the pitch and swing of the first driving mechanism, and the cylinder slide rail pitch and swing drives the holder camera to pitch and swing, so that the adjustment of the holder camera on the pitch degree of freedom is realized.
Furthermore, the cylindrical sliding rail can rotate on the left supporting plate and the right supporting plate through the matching of the rotating shaft, the bearing and the first rotating hole and the second rotating hole.
Further, the present invention achieves smooth movement of the base by mounting at least one moving wheel and at least two driving wheel assemblies and uniform, balanced distribution.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic structural diagram of a cloud platform and a plurality of sets of rollers embedded in the cloud platform according to the present invention;
FIG. 4 is a schematic structural diagram of the cylindrical slide rail, the rotating shaft, the motor base, the sector gear and the slide shaft of the present invention;
in the figure: 1. a base; 2. a universal wheel; 3. a supporting seat; 4. a drive wheel; 5. a drive motor; 6. a left support plate; 7. a right support plate; 8. a cylindrical slide rail; 9. a cloud pedestal; 10. a camera; 11. a motor base; 12. a stepping motor; 13. a rotating shaft; 14. a first arc groove; 15. a slide shaft; 16. a pitch motor; 17. an inner gear ring; 18. a sector gear; 19. a first gear; 20. a roller; 21. a second arc groove; 22. a groove; 23. an observation hole; 24. a graduated scale.
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are not intended to limit the invention thereto.
As shown in fig. 1 and 2, the two-degree-of-freedom pan-tilt device comprises a base 1, wherein a universal wheel 2 is installed at the center of the front part of the lower surface of the base 1 through a screw, two symmetrical supporting seats 3 are fixed at the rear part of the lower surface of the base 1 through bolts, a driving motor 5 is fixedly installed on each supporting seat 3, a driving wheel 4 is fixedly installed on an output shaft of each driving motor 5, and the installed universal wheel 2 and the two symmetrical driving wheels 4 are in an isosceles triangle shape so as to ensure that the base 1 can move stably.
The welding of base 1's upper surface left side has left support plate 6, the welding of right side has right branch fagging 7 relative with left support plate 6, first rotation hole has been seted up in the left support plate, set up the second rotation hole of weighing with first rotation hole in the right support plate, first rotation hole and second rotate downthehole all inlay and be equipped with the bearing, all rotate on every bearing and be connected with axis of rotation 13, the welding has drum slide rail 8 between two axis of rotation 13, wear to be equipped with on drum slide rail 8's the core and rotate cloud platform seat 9 of being connected with 360 rotations of drum slide rail 8 inner wall circumference.
Referring to fig. 2-4, a second arc groove 21 is formed in the circumferential direction of the outer wall of the lower portion of the holder seat 9, and three groups of rollers 20 are embedded in the second arc groove 21 along the circumferential direction and are uniformly distributed at intervals; grooves 22 are formed in the circumferential direction of the inner wall of the cylindrical sliding rail 8, and each roller 20 is located in the groove 22 and is in rolling contact with the groove 22.
An observation hole 23 is formed in the right support plate 7 above the pitching motor 16, a graduated scale 24 for recording the pitching and swinging angle of the sector gear 18 is formed in the side wall of the sector gear 18 opposite to the observation hole 23, and an operator can observe the pitching and swinging angle of the sector gear 18 through the observation hole 23 to further acquire the pitching angle of the camera 10.
A first arc groove 14 with an upward radian opening is formed in the right support plate 7 above the observation hole 23, a sliding shaft 15 penetrates through the middle of the first arc groove 14, one end of the sliding shaft 15 is welded with the side wall of the sector gear 18, and the other end of the sliding shaft penetrates through the first arc groove 14 and is in sliding butt joint with the first arc groove 14.
The working process is as follows: an operator energizes the driving motor 5 to start the driving motor 5, an output shaft of the driving motor 5 rotates to drive the driving wheel 4 to rotate, the driving wheel 4 rotates to drive the base 1 to move forward and backward, the base 1 moves forward and backward to drive the universal wheel 2 to move forward and backward, and the stopping function of the base 1 is realized through the brake pad on the universal wheel 2.
When a tracking target is found, the stepping motor 12 is electrified to start the stepping motor 12, the stepping motor 12 is started to drive the output shaft of the stepping motor 12 to rotate, the output shaft of the stepping motor 12 drives the first gear 19 to rotate, the first gear 19 rotates to drive the inner gear ring 17 to realize 360-degree rotation, the inner gear ring 17 realizes 360-degree rotation to drive the cloud platform base 9 to realize 360-degree rotation, and further the cloud platform camera 10 is driven to realize 360-degree rotation; meanwhile, the pitching motor 16 is electrified to start the pitching motor 16, the pitching motor 16 is started to drive the output shaft of the pitching motor 16 to rotate, the output shaft of the pitching motor 16 rotates to drive the second gear to rotate, the second gear rotates to drive the sector gear 18 to pitch and swing, the sector gear 18 pitches and swings to drive the motor base 11 and the cylinder slide rail 8 to pitch and swing, the motor base 11 pitches and swings to realize the pitch and swing of the first driving mechanism, the cylinder slide rail 8 pitches and swings to drive the cloud platform base 9 to pitch and swing, the cloud platform base 9 pitches and swings to drive the cloud platform camera 10 to pitch, and therefore the adjustment of the two-degree-of-freedom function of the.
Wherein, through the 360 pivoted angles of step motor 12 accurate control cloud platform camera to and sector gear 18 and the accurate every single move angle of adjusting cloud platform camera 10 of scale 24, realize that cloud platform camera 10 is in 360 degrees of freedom and every single move freedom to the target tracking on catch very accurate quick response.
Simultaneously through the even interval distribution's of multiunit gyro wheel 20 inlay and establish and roll along recess 22 in second circular arc groove 21, drive cloud platform seat 9 and do 360 rotations on 8 inner wall week of drum slide rail along recess 22, and then drive cloud platform camera 10 and do 360 rotations, guarantee cloud platform camera 10 more steady at the rotation in-process, can prevent that cloud platform camera 10 from rotating the in-process through gear engagement and producing and rocking, guarantee the stable definition of image formation. And through sliding shaft 15 and the first arc groove 14 butt that slides for sliding shaft 15 can only slide along first arc groove 14, first arc groove 14 has a limiting displacement to sliding shaft 15, guarantees that sector gear 18 and second gear meshing rotation in-process can not take place to rock, effectively prevents rocking that cloud platform camera 10 produced in every single move accommodation process, guarantees the stable definition of image formation. And then the cloud platform camera 10 can track and catch a very accurate and fast response aiming at a target and is more stable in the process of adjusting the two-degree-of-freedom function, and the definition of image imaging is improved.
In conclusion, the invention has the advantages of quick response effect, stable operation, simple and reliable structure.
Claims (9)
1. A two-degree-of-freedom holder device is characterized in that: the device comprises a base (1), a left support plate (6) connected with one side of the upper surface of the base (1) along the vertical direction, a right support plate (7) connected with the upper surface of the base (1) opposite to the left support plate (6) along the vertical direction, a cylindrical slide rail (8) rotatably connected between the left support plate (6) and the right support plate (7), and a tripod head seat (9) which is arranged on the cylinder center of the cylindrical slide rail (8) in a penetrating way and is rotatably connected with the inner wall of the cylindrical slide rail (8) along the circumferential direction of 360 degrees;
the top of the cloud platform base (9) is provided with a camera (10), and the bottom of the cloud platform base is connected with a first driving mechanism for driving the cloud platform base (9) to rotate for 360 degrees;
the outer wall of the cylinder sliding rail (8) is connected with a second driving mechanism for driving the first driving mechanism and the cylinder sliding rail (8) to rotate in a pitching mode, and the second driving mechanism is installed on the right supporting plate (7);
the bottom of base (1) is installed and is used for the removal of base (1) wheelset.
2. A two degree-of-freedom head apparatus according to claim 1, wherein: the first driving mechanism comprises a stepping motor (12), a first gear (19) fixedly connected with an output shaft of the stepping motor (12) and an inner gear ring (17) in meshed connection with the first gear (19);
the inner gear ring (17) is fixedly connected with the bottom of the holder seat (9);
the stepping motor (12) is fixedly connected to the second driving mechanism through a motor base (11).
3. A two degree-of-freedom head apparatus according to claim 2, wherein: a second arc groove (21) is formed in the circumferential direction of the outer wall of the lower portion of the cloud pedestal (9), and a plurality of groups of rollers (20) which are uniformly distributed at intervals are embedded in the second arc groove (21) along the circumferential direction;
a groove (22) is formed in the circumferential direction of the inner wall of the cylindrical sliding rail (8);
each roller (20) is positioned in the groove (22) and is in rolling contact with the groove (22).
4. A two degree-of-freedom head apparatus according to claim 3, wherein: the second driving mechanism comprises a sector gear (18) fixedly connected with the outer wall of the cylinder sliding rail (8), a second gear meshed with the sector gear (18) and a pitching motor (16) penetrating through a gear core of the second gear and fixedly connected with the second gear;
the pitching motor (16) is connected with the right supporting plate (7);
one side of the sector gear (18) is fixedly connected with the motor base (11), and the center of the other side of the sector gear is fixedly connected with a sliding shaft (15);
a first arc groove (14) which is matched with the sliding shaft (15) and has an upward opening in radian is formed in the right supporting plate (7);
the sliding shaft (15) penetrates through the first arc groove (14) to be in sliding butt joint with the first arc groove (14).
5. A two degree of freedom head apparatus according to claim 4, wherein: a graduated scale (24) used for recording the pitching and swinging angle of the sector gear (18) is arranged on the side wall of the sector gear (18) below the sliding shaft (15), and an observation hole (23) used for observing the scales of the graduated scale (24) is arranged on the right support plate (7).
6. A two degree of freedom head arrangement according to any one of claims 1 to 5, wherein: two symmetrical rotating shafts (13) are arranged on the outer wall of the cylindrical sliding rail (8);
the left support plate (6) is provided with a first rotating hole which is rotatably connected with one rotating shaft (13) through a bearing, the right support plate (7) is provided with a second rotating hole which is rotatably connected with the other rotating shaft (13) through a bearing, and the first rotating hole and the second rotating hole are symmetrically arranged.
7. A two degree of freedom head arrangement according to any one of claims 1 to 6, wherein: the movable wheel set comprises at least one movable wheel arranged on one side of the lower surface of the base (1) and at least two driving wheel assemblies arranged on the other side of the lower surface of the base (1), and the at least one movable wheel and the at least two driving wheel assemblies are uniformly and symmetrically distributed on the lower surface of the base (1).
8. A two degree-of-freedom head apparatus according to claim 7, wherein: the at least one moving wheel is a universal wheel (2).
9. A two degree-of-freedom head apparatus according to claim 8, wherein: the two driving wheel assemblies respectively comprise a supporting seat (3) fixedly connected with the lower surface of the base (1), a driving motor (5) fixedly installed with the supporting seat (3) and a driving wheel (4) fixedly installed with an output shaft of the driving motor (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110002209.1A CN112728364A (en) | 2021-01-04 | 2021-01-04 | Two-degree-of-freedom holder device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110002209.1A CN112728364A (en) | 2021-01-04 | 2021-01-04 | Two-degree-of-freedom holder device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112728364A true CN112728364A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110002209.1A Pending CN112728364A (en) | 2021-01-04 | 2021-01-04 | Two-degree-of-freedom holder device |
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| CN (1) | CN112728364A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375020A (en) * | 2021-06-08 | 2021-09-10 | 浙江工业大学 | All-round control patrol robot structure |
| CN115370883A (en) * | 2022-07-22 | 2022-11-22 | 聊城民昊测绘有限公司 | Ground level surveying instrument for urban construction planning and surveying |
| CN115681732A (en) * | 2022-12-20 | 2023-02-03 | 山东省地质测绘院 | Angular displacement resetting device of geological surveying instrument |
| CN117135427A (en) * | 2023-10-24 | 2023-11-28 | 杭州海康威视数字技术股份有限公司 | Tripod head camera |
| CN117146141A (en) * | 2023-10-24 | 2023-12-01 | 杭州海康威视数字技术股份有限公司 | Tripod head camera |
-
2021
- 2021-01-04 CN CN202110002209.1A patent/CN112728364A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375020A (en) * | 2021-06-08 | 2021-09-10 | 浙江工业大学 | All-round control patrol robot structure |
| CN115370883A (en) * | 2022-07-22 | 2022-11-22 | 聊城民昊测绘有限公司 | Ground level surveying instrument for urban construction planning and surveying |
| CN115370883B (en) * | 2022-07-22 | 2023-07-14 | 聊城民昊测绘有限公司 | Ground levelness mapping instrument for urban construction planning and mapping |
| CN115681732A (en) * | 2022-12-20 | 2023-02-03 | 山东省地质测绘院 | Angular displacement resetting device of geological surveying instrument |
| CN117135427A (en) * | 2023-10-24 | 2023-11-28 | 杭州海康威视数字技术股份有限公司 | Tripod head camera |
| CN117146141A (en) * | 2023-10-24 | 2023-12-01 | 杭州海康威视数字技术股份有限公司 | Tripod head camera |
| CN117135427B (en) * | 2023-10-24 | 2024-01-26 | 杭州海康威视数字技术股份有限公司 | Tripod head camera |
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