CN112797270A - Camera device of two-degree-of-freedom cradle head - Google Patents
Camera device of two-degree-of-freedom cradle head Download PDFInfo
- Publication number
- CN112797270A CN112797270A CN202011635476.4A CN202011635476A CN112797270A CN 112797270 A CN112797270 A CN 112797270A CN 202011635476 A CN202011635476 A CN 202011635476A CN 112797270 A CN112797270 A CN 112797270A
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- Prior art keywords
- freedom
- module
- camera
- pitching
- rolling
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- 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
- F16M7/00—Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
Abstract
The invention relates to a camera device of a two-degree-of-freedom tripod head, which comprises a base, a camera rolling freedom degree module, a camera pitching freedom degree module and a camera module, wherein the camera rolling freedom degree module, the camera pitching freedom degree module and the camera module are arranged on the base; the base is provided with a pitching freedom module support mounting bearing, the pitching freedom module support mounting bearing is provided with a pitching freedom module support, the camera module is assembled in the pitching freedom module support, the pitching freedom module is assembled on the left side face of the camera module, and the camera rolling freedom module and the camera module are arranged on one side of the base at intervals side by side. Every degree of freedom of this two degree of freedom cloud platform camera systems is relatively independent to modular design, the easy access is maintained and is changed, can be used to the hand eye camera system and the detection, the control in narrow and small space of special robots such as nuclear industry, and the accessible two or more two degree of freedom cloud platform camera systems can realize all-round no dead angle and detect and control.
Description
Technical Field
The invention belongs to the technical field of visual identification and safety detection monitoring of nuclear industrial robots, and relates to a camera device with a two-degree-of-freedom holder.
Background
Nuclear facility operation and maintenance of nuclear industry detects, control and nuclear facility retires, all will involve a large amount of environment visual identification and monitoring, be applied to a large amount of robots and the automation equipment of nuclear industry, the vision system that equally needs is as visual feedback, realize environmental perception and the three-dimensional reconsitution to nuclear environment, therefore, to the robot and the automation equipment and the demand of safety monitoring of nuclear industry, on the basis that current fixed mounting camera can not satisfy all-round environment visual information acquisition, through developing two degree of freedom cloud platform cameras, can further promote the full range visual identification and the perception ability of environment, acquire more environment three-dimensional information, promote the operation accuracy, reliability and security.
Disclosure of Invention
Aiming at the problems, the invention provides a two-degree-of-freedom holder camera system suitable for detecting and safely monitoring a nuclear industrial robot and a nuclear facility.
According to the technical scheme of the invention: a camera device of a two-degree-of-freedom pan-tilt is characterized in that,
the camera device comprises a rolling freedom degree base, a camera rolling freedom degree module, a camera pitching freedom degree module and a camera module, wherein the camera rolling freedom degree module, the camera pitching freedom degree module and the camera module are arranged on the rolling freedom degree base;
a pitching freedom module bracket mounting bearing is assembled on the rolling freedom base, a pitching freedom module bracket is assembled on the pitching freedom module bracket mounting bearing, the camera module is assembled in the pitching freedom module bracket, the pitching freedom module is assembled on the left side surface of the camera module,
the camera rolling freedom degree module 1 and the camera module are arranged on one side of the rolling freedom degree base at intervals side by side.
Furthermore, the camera rolling freedom module comprises a rolling freedom module direct-current brush motor, a motor sealing protection shell, a motor output gear bearing, a reversing idle wheel bearing and a rolling freedom module rolling gear;
the rolling freedom module DC brush motor is fixed with the motor output gear through a set screw, the motor output gear is arranged on the rolling freedom base through a motor output gear bearing, in addition, the motor is externally provided with a motor sealing protection shell, the motor sealing shell is circumferentially fixed in a corresponding hole on the rolling freedom base, a reversing idler is arranged on the rolling freedom base in a manner of rotating and supporting through a reversing idler bearing and is meshed with the motor output gear, the rolling freedom module rolling gear is fixed at the bottom of a pitching freedom module bracket, the whole body formed by the rolling freedom module bracket is arranged on the rolling freedom base in a manner of supporting through the pitching freedom module bracket mounting bearing, the rolling freedom module rolling gear is meshed with the reversing idler, the rolling freedom module DC brush motor is arranged on the rolling freedom base through the motor output gear, The reversing idle wheel and the rolling degree of freedom module are meshed with each other in sequence, and finally the whole rolling motion of the camera is achieved.
Furthermore, the pitching freedom degree module comprises a pitching freedom degree module direct current brush motor and a pitching freedom degree transmission bevel gear pair;
the pitching freedom degree module direct current brush motor is arranged on the left side surface of the pitching freedom degree module bracket 13 through the mounting shell component,
the pitch degree of freedom transmission bevel gear pair comprises a first bevel gear and a second bevel gear assembled with the first bevel gear,
the mounting housing assembly includes an upper housing and a lower housing,
the first bevel gear is installed on an output shaft of the motor, an extension shaft of the first bevel gear is installed on the upper shell through a first four-point contact bearing, the second bevel gear is installed on the pitching freedom module support through a four-point contact bearing, the pitching freedom module direct current brush motor is fixed on the lower shell in a fastening connection mode, the pitching freedom module support is installed on the rolling freedom base through a bearing, and the pitching axis of the camera is rotated through a bevel gear pair by the output shaft of the pitching freedom module direct current brush motor.
Furthermore, the camera module comprises a camera shell, a camera glass window, a camera circuit board, a visual imaging lens and a cable sealing connector,
the whole camera module adopts a sealing mode of complete water and dust prevention, the components are fixedly assembled together to form an assembly, the assembly is arranged on the pitching freedom module bracket through the pitching freedom module bracket mounting bearing,
the camera glass window is arranged at the top of the camera shell, the camera circuit board is assembled in an inner cavity of the camera shell, a visual imaging lens is further installed in the inner cavity, and the cable sealing connector is installed on the right side of the pitching freedom degree module support and supported by the support through a sliding shaft sleeve.
Has the advantages that:
the two-degree-of-freedom tripod head adopts a compact structural design, takes waterproof and dustproof sealing into consideration structurally, adopts an irradiation-resistant design idea for local design of the camera, constructs an ionization-radiation-resistant camera system with small volume, light weight, flexible movement and high precision by selecting an ionization-resistant drum tongue camera glass window, a stainless steel camera shell and an ionization-radiation-resistant visual sensor assembly, and constructs a stereoscopic vision system or a whole-area dead-angle-free monitoring system by matching two or more two-degree-of-freedom camera systems. In addition, the two-degree-of-freedom holder camera system is small in size, light in weight and suitable for being used for a hand-eye vision system of a nuclear industrial robot.
Drawings
FIG. 1 is a schematic layout of the present invention.
Fig. 2 is a sectional view of the camera device.
Fig. 3 is a front view of the camera device.
Fig. 4 is an isometric view of a pitch degree of freedom module support.
Fig. 5 is an isometric view of a camera module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, common embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
As shown in fig. 1-5: a camera device of a two-degree-of-freedom tripod head comprises a rolling freedom degree base 4, a camera rolling freedom degree module 1, a pitching freedom degree module 2 and a camera module 3 which are arranged on the base;
a pitching degree-of-freedom module support mounting bearing 12 is assembled on the rolling degree-of-freedom base 4, a pitching degree-of-freedom module support 13 is assembled on the pitching degree-of-freedom module support mounting bearing 12, the camera module 3 is assembled in the pitching degree-of-freedom module support 13, the pitching degree-of-freedom module 2 is assembled on the left side surface of the camera module 3,
the camera rolling freedom degree module 1 and the camera module 3 are arranged on one side of the rolling freedom degree base 4 at intervals side by side.
The camera rolling freedom module 1 comprises a rolling freedom module direct current brush motor (comprising a speed reducer) 7, a motor sealing protective shell 6, a motor output gear 8, a motor output gear bearing 5, a reversing idle gear 9, a reversing idle gear bearing 10 and a rolling freedom module rolling gear 11;
the rolling freedom module direct current brush motor 7 is fixed with a motor output gear 8 through a set screw, the motor output gear 8 is installed on a rolling freedom base 4 through a motor output gear bearing 5, in addition, a motor sealing protection shell 6 is installed outside the motor, the motor sealing shell 6 is circumferentially fixed in a corresponding hole on the rolling freedom base 4 through a screw, a reversing idler 9 is installed on the rolling freedom base 4 in a rotating supporting mode through a reversing idler bearing 10 and is meshed with the motor output gear 8, a rolling gear 11 of the rolling freedom module is fixed at the bottom of a pitching freedom module bracket 13 through a screw, a whole body formed by the rolling freedom module bracket 13 is installed on the rolling freedom base 4 in a supporting mode through a pitching freedom module bracket installation bearing 12, and the rolling gear 11 of the rolling freedom module is meshed with the reversing idler 9, the rolling freedom degree module direct current brush motor 7 is meshed with the rolling gear 11 through the motor output gear 8, the reversing idle gear 9 and the rolling freedom degree module in sequence, and finally the rolling motion of the whole camera is achieved.
The pitching freedom degree module 2 comprises a pitching freedom degree module direct current brush motor 15 and a pitching freedom degree transmission bevel gear pair;
a pitching freedom degree module direct current brush motor 15 is arranged on the left side surface of the pitching freedom degree module bracket 13 through an installation shell component,
the pitch degree of freedom driving bevel gear pair comprises a first bevel gear 16 and a second bevel gear 19 fitted thereto,
the mounting housing assembly includes an upper housing 18 and a lower housing 14,
the first bevel gear 16 is installed on the output shaft of the motor, the extension shaft of the first bevel gear 16 is installed on the upper shell 18 through a first four-point contact bearing 17, the second bevel gear 19 is also installed on the pitching freedom module support 13 through a four-point contact bearing 20, the pitching freedom module direct current brush motor (including a speed reducer) 15 is fixed on the lower shell 18 through a screw fastening connection mode, the pitching freedom module support installation bearing 12 is installed on the rolling freedom base 4, and the pitching freedom module direct current brush motor (including a speed reducer) 15 output shaft realizes the rotation of the pitching shaft of the camera through a bevel gear pair.
The camera module 3 comprises a camera shell 21, a camera glass window 22, a camera circuit board 24, a vision imaging lens 23 and a cable sealing connector 25,
the whole camera module adopts a sealing mode of complete water and dust prevention, the components are fixedly assembled together to form an assembly, the assembly is arranged on a pitching freedom module bracket 13 through a pitching freedom module bracket mounting bearing 12,
the top of the camera shell 21 is provided with a camera glass window 22, a camera circuit board 24 is assembled in an internal cavity of the camera shell, a visual imaging lens 23 is further installed in the internal cavity, and a cable sealing connector 25 is installed on the right side of the pitching freedom module support 13 and supported by the support through a sliding shaft sleeve 26. The auxiliary motor end supporting shaft improves the supporting rigidity and strength of the camera and ensures the rotation precision of the camera.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (4)
1. A camera device of a two-degree-of-freedom pan-tilt is characterized in that,
the camera device comprises a rolling freedom degree base (4), a camera rolling freedom degree module (1), a pitching freedom degree module (2) and a camera module (3) which are arranged on the base;
a pitching freedom module support mounting bearing (12) is assembled on the rolling freedom base (4), a pitching freedom module support (13) is assembled on the pitching freedom module support mounting bearing (12), the camera module (3) is assembled in the pitching freedom module support (13), the pitching freedom module (2) is assembled on the left side surface of the camera module (3),
the camera rolling freedom degree module (1) and the camera module (3) are arranged on one side of the rolling freedom degree base (4) side by side at intervals.
2. The camera device of a two degree-of-freedom pan/tilt head of claim 1,
the camera rolling freedom module (1) comprises a rolling freedom module direct-current brush motor (7), a motor sealing protective shell (6), a motor output gear (8), a motor output gear bearing (5), a reversing idle gear (9), a reversing idle gear bearing (10) and a rolling gear (11) of the rolling freedom module;
the rolling freedom module direct current brush motor (7) is fixed with a motor output gear (8) through a set screw, the motor output gear (8) is installed on a rolling freedom base (4) through a motor output gear bearing (5), in addition, a motor sealing protective shell (6) is installed outside the motor, the motor sealing shell (6) is circumferentially fixed in a corresponding hole on the rolling freedom base (4), a reversing idler wheel (9) is installed on the rolling freedom base (4) in a mode of rotatably supporting through a reversing idler wheel bearing (10) and is meshed with the motor output gear (8), the rolling freedom module rolling gear (11) is fixed at the bottom of a pitching freedom module support (13), and the whole body formed by the pitching freedom module support (13) is installed on the rolling freedom base (4) in a mode of supporting through a pitching freedom module support installation bearing (12), the rolling gear (11) of the rolling freedom module is meshed with the reversing idle gear (9), the direct current brush motor (7) of the rolling freedom module is sequentially meshed with the rolling gear (11) of the motor output gear (8), the reversing idle gear (9) and the rolling freedom module, and finally the integral rolling motion of the camera is achieved.
3. The camera device of a two degree-of-freedom pan/tilt head of claim 2,
the pitching freedom degree module (2) comprises a pitching freedom degree module direct current brush motor (15) and a pitching freedom degree transmission bevel gear pair;
a pitching freedom degree module direct current brush motor (15) is arranged on the left side surface of the pitching freedom degree module bracket (13) through a mounting shell component,
the pitch degree of freedom transmission bevel gear pair comprises a first bevel gear (16) and a second bevel gear (19) assembled with the first bevel gear,
the mounting housing assembly includes an upper housing (18) and a lower housing (14),
the camera comprises a motor output shaft, a first bevel gear (16), a second bevel gear (19), a pitching freedom module support (13), a pitching freedom module direct current brush motor (15), a pitching freedom module support mounting bearing (12), a pitching freedom module direct current brush motor (15), a rolling freedom base (4), a motor output shaft, an extension shaft, a first four-point contact bearing (17), a second four-point contact bearing (17), a pitching freedom module support (13), a pitching freedom module direct current brush motor (15), a pitching axis and a pitching axis of the camera, wherein the first bevel gear (16) is mounted on the motor output shaft, the extension shaft of the first bevel gear (16) is mounted on the upper housing (18), the second bevel gear (19) is mounted on the pitching freedom module support (13) through a four-.
4. The camera device of a two degree-of-freedom pan/tilt head of claim 1,
the camera module (3) comprises a camera shell (21), a camera glass window (22), a camera circuit board (24), a visual imaging lens (23) and a cable sealing connector (25),
the whole camera module adopts a sealing mode of complete water and dust prevention, the components are fixedly assembled together to form an assembly, the assembly is arranged on a pitching freedom module bracket (13) through a pitching freedom module bracket mounting bearing (12),
the top of the camera shell (21) is provided with a camera glass window (22), a camera circuit board (24) is assembled in an inner cavity of the camera shell, a visual imaging lens (23) is further installed in the inner cavity, and a cable sealing connector (25) is installed on the right side of the pitching freedom degree module support (13) and supported by a sliding shaft sleeve (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011635476.4A CN112797270A (en) | 2020-12-31 | 2020-12-31 | Camera device of two-degree-of-freedom cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011635476.4A CN112797270A (en) | 2020-12-31 | 2020-12-31 | Camera device of two-degree-of-freedom cradle head |
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| Publication Number | Publication Date |
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| CN112797270A true CN112797270A (en) | 2021-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011635476.4A Pending CN112797270A (en) | 2020-12-31 | 2020-12-31 | Camera device of two-degree-of-freedom cradle head |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113422909A (en) * | 2021-05-21 | 2021-09-21 | 智能移动机器人(中山)研究院 | High-freedom-degree extensible visual perception device |
| CN113431995A (en) * | 2021-05-31 | 2021-09-24 | 安徽工业大学 | Two-degree-of-freedom cradle head for embedded semi-submersible mobile robot |
| CN114776955A (en) * | 2022-03-25 | 2022-07-22 | 北京天必达科技有限公司 | Steering engine diaxon cloud platform of underwater robot |
-
2020
- 2020-12-31 CN CN202011635476.4A patent/CN112797270A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113422909A (en) * | 2021-05-21 | 2021-09-21 | 智能移动机器人(中山)研究院 | High-freedom-degree extensible visual perception device |
| CN113422909B (en) * | 2021-05-21 | 2022-03-22 | 智能移动机器人(中山)研究院 | High-freedom-degree extensible visual perception device |
| CN113431995A (en) * | 2021-05-31 | 2021-09-24 | 安徽工业大学 | Two-degree-of-freedom cradle head for embedded semi-submersible mobile robot |
| CN114776955A (en) * | 2022-03-25 | 2022-07-22 | 北京天必达科技有限公司 | Steering engine diaxon cloud platform of underwater robot |
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