CN113021366B

CN113021366B - Video information acquisition robot

Info

Publication number: CN113021366B
Application number: CN202110214559.4A
Authority: CN
Inventors: 李丹; 钟裕山; 沈重; 张鲲; 钟志霖; 钟颖锋
Original assignee: Shenzhen Runan Science And Technology Development Co ltd
Current assignee: Shenzhen Runan Science And Technology Development Co ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2022-03-25
Anticipated expiration: 2041-02-25
Also published as: CN113021366A

Abstract

The invention relates to video information acquisition, in particular to a video information acquisition robot, which comprises a device bracket, an object taking mechanism, a rotating mechanism, an extrusion mechanism, an acquisition bracket, an object clamping mechanism, an acquisition mechanism and a limiting mechanism, the object can be clamped by the fetching mechanism, the fetching mechanism places the object between the two object clamping mechanisms, the rotating mechanism drives the extruding mechanism to rotate, the extruding mechanism moves the extruding mechanism clamped with the object to the collecting mechanism side, the limiting mechanism moves, the limiting mechanism limits the front side and the rear side of the object, meanwhile, according to the length of the object, the limiting mechanism limits the movement of the collecting mechanism, the collecting mechanism is guaranteed to move only in the length of the object, the extruding mechanism can adjust the distance between the object and the collecting mechanism according to use requirements, and the collecting mechanism is provided with a camera to comprehensively collect video information of the object.

Description

Video information acquisition robot

Technical Field

The invention relates to video information acquisition, in particular to a video information acquisition robot.

Background

For example, a video information acquisition system with publication number CN205490929U belongs to the field of electronic technology, and includes a camera, a controller, a wireless communication device, a positioning device and a storage battery, wherein the camera, the wireless communication device, the positioning device and the storage battery are respectively electrically connected with the controller; the video information acquisition system also comprises a mains supply connection unit for connecting a mains supply, and the mains supply connection unit is respectively and electrically connected with the storage battery and the controller; the utility model has the defect that the comprehensive video information collection can not be carried out on the objects with different shapes.

Disclosure of Invention

The invention aims to provide a video information acquisition robot which can be used for comprehensively acquiring video information of objects with different shapes.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a video information acquisition robot, includes the device support, gets thing mechanism, slewing mechanism, extrusion mechanism, gathers the support, presss from both sides thing mechanism, collection mechanism and stop gear, the front end of device support is connected with gets thing mechanism, and the middle part of device support is connected with slewing mechanism, and last fixedly connected with extrusion mechanism of slewing mechanism is connected with a plurality of collection supports in the extrusion mechanism, all is connected with on every collection support and presss from both sides thing mechanism, and the rear end of device support is connected with collection mechanism, and the rear end of device support is connected with stop gear.

According to the video information acquisition robot, the device support comprises a connecting support, a first limiting support, a sliding support, a mounting support, moving supports, a crawler mechanism and transverse motors, the first limiting support is fixedly connected to the left side and the right side of the connecting support, the sliding support and the mounting support are fixedly connected to the rear end of the connecting support, the moving supports are fixedly connected to the front ends and the rear ends of the two first limiting supports, the crawler mechanisms are connected to the four moving supports, and the two transverse motors are fixedly connected to the lower side of the connecting support.

As further optimization of the technical scheme, the invention relates to a video information acquisition robot, the object taking mechanism comprises an object taking support, an object taking motor, an object taking arm I, a telescopic mechanism I, an object taking arm II, a telescopic mechanism II and an object taking side plate, the object taking support is slidably connected between two first limiting supports, the object taking motor is fixedly connected to the object taking support, the left side and the right side of the object taking support are respectively rotatably connected with the object taking arm I, the two object taking arms I are respectively connected with an output shaft of the object taking motor in a transmission mode, the two object taking arms I are respectively and fixedly connected with the telescopic mechanism I, the telescopic ends of the two telescopic mechanisms I are respectively and fixedly connected with the object taking arm II, the two object taking arms II are respectively and fixedly connected with the telescopic mechanism II, the telescopic ends of the two telescopic mechanisms II are respectively and fixedly connected with the object taking side plate, and the object taking support is connected to a transverse moving motor located on the front side through threads.

As a further optimization of the technical scheme, the video information acquisition robot comprises a rotating mechanism and a rotating belt wheel, wherein the rotating mechanism comprises a rotating motor and a rotating belt wheel, the rotating motor is fixedly connected to the middle of the connecting support, the rotating belt wheel is rotatably connected to the middle of the connecting support, and an output shaft of the rotating motor is in transmission connection with the rotating belt wheel.

As a further optimization of the technical scheme, the video information acquisition robot comprises two extrusion cylinders, two extrusion motors, two extrusion rings, two extrusion columns, two extrusion sliding blocks and two extrusion connecting rods, wherein the two extrusion cylinders are fixedly connected with the extrusion motors, the extrusion rings are fixedly connected onto the extrusion rings, the extrusion cylinders on the lower side are fixedly connected onto a rotating belt wheel, the two extrusion cylinders are internally and slidably connected with the extrusion sliding blocks, the two extrusion sliding blocks are respectively connected onto two ends of an output shaft of the extrusion motor through threads, the thread turning directions of two ends of the output shaft of the extrusion motor are opposite, and the two extrusion rings are hinged with the four extrusion connecting rods.

As a further optimization of the technical scheme, the video information acquisition robot comprises an acquisition barrel, an acquisition frame, a motor support, a driving motor and driving wheels, wherein the acquisition barrel is fixedly connected with the acquisition frame, the acquisition barrel is slidably connected with the motor support, a compression spring I is fixedly connected between the motor support and the acquisition barrel, the motor support is fixedly connected with the driving motor, an output shaft of the driving motor is fixedly connected with the driving wheels, the four extrusion columns are all slidably connected with the acquisition barrel, and the outer ends of eight extrusion connecting rods are respectively hinged to the four acquisition frames.

As a further optimization of the technical scheme, the video information acquisition robot comprises a telescopic mechanism III, object clamping blocks, object clamping connecting rods and object clamping wheels, wherein the telescopic end of the telescopic mechanism III is fixedly connected with the object clamping blocks, the object clamping blocks are hinged with the four object clamping connecting rods, the four object clamping connecting rods are rotatably connected with the object clamping wheels, a torsion spring is fixedly connected between each object clamping connecting rod and each object clamping block, and the upper end and the lower end of each acquisition frame are fixedly connected with the telescopic mechanism III.

According to the video information acquisition robot, the acquisition mechanism comprises an acquisition motor, an acquisition arm, an acquisition push post, an acquisition sliding plate, a mounting plate and an acquisition sliding block, the acquisition motor is fixedly connected to the mounting support, the acquisition arm is fixedly connected to an output shaft of the acquisition motor, the acquisition push post is slidably connected to the acquisition arm, a compression spring II is fixedly connected between the acquisition push post and the acquisition arm, the mounting plate and the acquisition sliding block are fixedly connected to the acquisition sliding plate, the acquisition sliding block is slidably connected to the sliding support, and a camera is detachably and fixedly connected to the mounting plate.

As a further optimization of the technical scheme, the video information acquisition robot comprises a second limiting support, a limiting motor, limiting arms, a telescopic mechanism iv and limiting columns, wherein the second limiting support is slidably connected between the two first limiting supports, the second limiting support is connected to an output shaft of a transverse moving motor on the rear side of the displacement through threads, the limiting motor is fixedly connected to the second limiting support, the two limiting arms are rotatably connected to the second limiting support, the two limiting arms are in transmission connection with the output shaft of the limiting motor, the telescopic mechanism iv is fixedly connected to the two limiting arms, the telescopic ends of the two telescopic mechanisms iv are fixedly connected to the limiting columns, and the two limiting columns are respectively located on two sides of the acquisition sliding plate.

As a further optimization of the technical scheme, the video information acquisition robot further comprises a sensing push plate, wherein the sensing push plate is fixedly connected to the connecting support, the acquisition support further comprises sensors, the lower side of each acquisition frame is fixedly connected with the sensors, and the four sensors are respectively connected with the four driving motors.

The video information acquisition robot has the beneficial effects that:

according to the video information acquisition robot, an object can be clamped through the object taking mechanism, the object is placed between the two object clamping mechanisms through the object taking mechanism, the rotating mechanism drives the extruding mechanism to rotate, the extruding mechanism moves the extruding mechanism clamped with the object to the side of the acquisition mechanism, the limiting mechanism moves and limits the front side and the rear side of the object, meanwhile, according to the length of the object, the limiting mechanism limits the movement of the acquisition mechanism, the acquisition mechanism is guaranteed to move only within the length of the object, the distance between the object and the acquisition mechanism can be adjusted through the extruding mechanism according to use requirements, and the acquisition mechanism is provided with the camera to comprehensively acquire video information of the object.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic view of the overall structure of a video information acquisition robot according to the present invention;

FIG. 2 is a schematic view of a partial structure of a video information acquisition robot according to the present invention;

FIG. 3 is a schematic view of the device support structure of the present invention;

FIG. 4 is a schematic view of the picking mechanism of the present invention;

FIG. 5 is a schematic view of the rotating mechanism of the present invention;

FIG. 6 is a schematic view of the pressing mechanism of the present invention;

FIG. 7 is a schematic view of the acquisition stent structure of the present invention;

FIG. 8 is a schematic view of the object clamping mechanism of the present invention;

FIG. 9 is a schematic view of the acquisition mechanism of the present invention;

fig. 10 is a schematic structural diagram of the limiting mechanism of the present invention.

In the figure: a device holder 1; a connecting bracket 101; a first spacing bracket 102; a sliding bracket 103; a mounting bracket 104; a motion bracket 105; a crawler 106; a traverse motor 107; a sensing push plate 108; a fetching mechanism 2; an object-taking bracket 201; a fetching motor 202; a fetching arm I203; a telescoping mechanism I204; a fetching arm II 205; a telescoping mechanism II 206; a fetching side plate 207; a rotating mechanism 3; a rotating motor 301; a rotating pulley 302; an extrusion mechanism 4; a container 401; a squeeze motor 402; a squeeze ring 403; an extrusion column 404; a squeeze block 405; a compression link 406; a collecting bracket 5; a collection cylinder 501; an acquisition framework 502; a motor bracket 503; a drive motor 504; a drive wheel 505; a sensor 506; an object clamping mechanism 6; a telescoping mechanism III 601; an object clamping block 602; a clamp link 603; an object clamping wheel 604; an acquisition mechanism 7; a collection motor 701; an acquisition arm 702; collecting the push pillars 703; a collection sled 704; a mounting plate 705; a collection slider 706; a limiting mechanism 8; a second limit bracket 801; a limit motor 802; a spacing arm 803; a telescopic mechanism IV 804; and a retaining post 805.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.

The first embodiment is as follows:

the embodiment is described below with reference to fig. 1 to 10, and a video information acquisition robot includes a device support 1, a fetching mechanism 2, a rotating mechanism 3, an extruding mechanism 4, an acquisition support 5, a clamping mechanism 6, an acquisition mechanism 7 and a limiting mechanism 8, wherein the front end of the device support 1 is connected with the fetching mechanism 2, the middle part of the device support 1 is connected with the rotating mechanism 3, the rotating mechanism 3 is fixedly connected with the extruding mechanism 4, the extruding mechanism 4 is connected with a plurality of acquisition supports 5, each acquisition support 5 is connected with the clamping mechanism 6, the rear end of the device support 1 is connected with the acquisition mechanism 7, and the rear end of the device support 1 is connected with the limiting mechanism 8; can carry out the clamping to the object through getting thing mechanism 2, get thing mechanism 2 and place the object between two

clamp thing mechanisms

6, 3 drive extrusion mechanism 4 of slewing mechanism rotate, extrusion mechanism 4 has the extrusion mechanism 6 of object to move to the collection mechanism 7 side of clamping, stop gear 8 moves, stop gear 8 carries on spacingly to both sides around the object, simultaneously according to the length of object, stop gear 8 carries on spacingly to the motion of collection mechanism 7, guarantee that collection mechanism 7 only moves in the length of object, extrusion mechanism 4 can be according to user demand adjustment object and the distance between collection mechanism 7, install the camera on the collection mechanism 7, carry out comprehensive collection to the video information of object.

The second embodiment is as follows:

the present embodiment is described below with reference to fig. 1 to 10, and the present embodiment further describes the first embodiment, where the apparatus bracket 1 includes a connecting bracket 101, a first limiting bracket 102, a sliding bracket 103, a mounting bracket 104, a moving bracket 105, a crawler mechanism 106, and a traverse motor 107, the first limiting bracket 102 is fixedly connected to both left and right sides of the connecting bracket 101, the sliding bracket 103 and the mounting bracket 104 are fixedly connected to the rear end of the connecting bracket 101, the moving brackets 105 are fixedly connected to both front and rear ends of two first limiting brackets 102, the crawler mechanisms 106 are connected to four moving brackets 105, and two traverse motors 107 are fixedly connected to the lower side of the connecting bracket 101; starting the telescopic mechanisms IV 804, limiting the left side and the right side of an object by the telescopic ends of the two telescopic mechanisms IV 804, as shown in FIG. 10, wherein the limiting column 805 and the telescopic ends of the telescopic mechanisms IV 804 are at the same position, so that the limiting column 805 limits the position of the acquisition sliding plate 704, the sensor 506 is in contact with the sensing push plate 108, the sensor 506 can be a contact sensor or an extrusion sensor, the sensor 506 and the driving motor 504 are connected through an electric control means which is commonly used in the field, the driving motor 504 is controlled to rotate when the sensor 506 is extruded, the driving motor 504 drives the driving wheel 505 to rotate, the driving wheel 505 drives the object to rotate among the object clamping wheels 604, and the camera is installed on the installation plate 705 in advance.

The third concrete implementation mode:

the second embodiment is further described with reference to fig. 1 to 10, in which the object-fetching mechanism 2 includes an object-fetching support 201, an object-fetching motor 202, an object-fetching arm i 203, a telescopic mechanism i 204, an object-fetching arm ii 205, a telescopic mechanism ii 206 and an object-fetching side plate 207, the object-fetching support 201 is slidably connected between two first limiting supports 102, the object-fetching motor 202 is fixedly connected to the object-fetching support 201, the object-fetching arms i 203 are rotatably connected to the left and right sides of the object-fetching support 201, the two object-fetching arms i 203 are both in transmission connection with an output shaft of the object-fetching motor 202, the telescopic mechanisms i 204 are both fixedly connected to the two object-fetching arms i 203, the object-fetching arms ii 205 are both fixedly connected to the telescopic ends of the two object-fetching arms i 204, the telescopic mechanisms ii 206 are both fixedly connected to the two object-fetching arms ii 205, and the telescopic ends of the two telescopic mechanisms ii 206 are both fixedly connected to the object-fetching side plate 207, the fetching bracket 201 is connected with the traversing motor 107 positioned on the front side through screw threads; when the device is used, the crawler mechanisms 106 are started, the four crawler mechanisms 106 move to drive the device to move, when the device moves to one side of an object, the traversing motor 107 on the front side is started, the output shaft of the traversing motor 107 drives the object taking support 201 to move through threads, the object taking support 201 drives the object taking mechanism 2 to move, so that the two object taking side plates 207 respectively move to two sides of the object, the telescopic mechanism II 206 is started, the telescopic mechanism II 206, the telescopic mechanism I204, the telescopic mechanism III 601 and the telescopic mechanism IV 804 can be hydraulic cylinders or electric push rods, the telescopic end of the telescopic mechanism II 206 drives the object taking side plates 207 to move, the two object taking side plates 207 squeeze and clamp two sides of the object, the telescopic mechanism I204 is started, the telescopic end of the telescopic mechanism I204 drives the object taking arm II 205 to move, the object taking arm II 205 drives the telescopic mechanism II 206 to move, the telescopic mechanism II 206 drives the object taking side plates 207 to move, get thing curb plate 207 and drive the object and move, and then adjust the position of object, start and get thing motor 202, the output shaft that gets thing motor 202 drives two and gets thing arm I203 and move, two get thing arm I203 and drive the corresponding thing curb plate 207 that gets and move respectively, get thing curb plate 207 and drive the object and move, and then adjust the position of object for the object of clamping moves between two clamp mechanisms 6.

The fourth concrete implementation mode:

the present embodiment is described below with reference to fig. 1 to 10, and the third embodiment is further described in the present embodiment, where the rotating mechanism 3 includes a rotating motor 301 and a rotating pulley 302, the rotating motor 301 is fixedly connected to the middle of the connecting bracket 101, the rotating pulley 302 is rotatably connected to the middle of the connecting bracket 101, and an output shaft of the rotating motor 301 is in transmission connection with the rotating pulley 302; in-process of device motion, start rotation motor 301, the output shaft that rotates motor 301 drives and rotates band pulley 302, it rotates to rotate band pulley 302 and drives extrusion mechanism 4, extrusion mechanism 4 drives a plurality of collection support 5 and rotates, a plurality of collection support 5 drive two on it respectively and press from both sides thing mechanism 6 and rotate, and then accomplish the change of object position, at the in-process of device motion, start slewing mechanism 3, the cooperation is got thing mechanism 2 and is placed the object of difference in proper order between a plurality of clamp thing mechanisms 6, the shape diverse of object.

The fifth concrete implementation mode:

the fourth embodiment is described below with reference to fig. 1 to 10, and the fourth embodiment is further described in this embodiment, where the extrusion mechanism 4 includes two extrusion cylinders 401, two extrusion motors 402, two extrusion rings 403, two extrusion columns 404, two extrusion sliders 405, and two extrusion connecting rods 406, the two extrusion cylinders 401 are fixedly connected to the extrusion motors 402, the extrusion rings 403 are fixedly connected to the extrusion columns 404, the lower extrusion cylinder 401 is fixedly connected to the rotating pulley 302, the two extrusion cylinders 401 are each slidably connected to the extrusion slider 405, the two extrusion sliders 405 are each connected to two ends of an output shaft of the extrusion motor 402 through a screw, the screw directions of the two ends of the output shaft of the extrusion motor 402 are opposite, and the two extrusion rings 403 are each hinged to four extrusion connecting rods 406; in the process of shooing, start extrusion motor 402 according to the user demand, the output shaft of extrusion motor 402 begins to rotate, the output shaft of extrusion motor 402 passes through the screw thread and drives two extrusion sliders 405 and be close to each other or keep away from, two extrusion sliders 405 drive a plurality of extrusion connecting rods 406 respectively and move, a plurality of extrusion connecting rods 406 promote to gather support 5 and move, and then the position of gathering support 5 is gathered in the adjustment, adjust the distance between object and the camera, satisfy different user demands.

The sixth specific implementation mode:

the present embodiment is described below with reference to fig. 1 to 10, and the fifth embodiment is further described in the present embodiment, where the collecting bracket 5 includes a collecting barrel 501, a collecting frame 502, a motor bracket 503, a driving motor 504 and a driving wheel 505, the collecting barrel 501 is fixedly connected with the collecting frame 502, the collecting barrel 501 is slidably connected with the motor bracket 503, a compression spring i is fixedly connected between the motor bracket 503 and the collecting barrel 501, the motor bracket 503 is fixedly connected with the driving motor 504, an output shaft of the driving motor 504 is fixedly connected with the driving wheel 505, the four squeezing columns 404 are each slidably connected with the collecting barrel 501, and outer ends of the eight squeezing links 406 are respectively hinged to the four collecting frames 502; meanwhile, it is noted that the driving wheel 505 is pushed by the compression spring I to contact with an object, the driving motor 504 is started, the output shaft of the driving motor 504 drives the driving wheel 505 to rotate, the driving wheel 505 is contacted with the object, the driving wheel 505 pushes the object to rotate, and the object is pushed by the driving wheel 505 to rotate between extrusion limit positions of the object clamping wheels 604, so that the shape of the object can be relatively complex, and the device can acquire video shape information of the object with a complex shape.

The seventh embodiment:

the present embodiment is described below with reference to fig. 1 to 10, and the sixth embodiment is further described in the present embodiment, where the object clamping mechanism 6 includes a telescopic mechanism iii 601, an object clamping block 602, object clamping connecting rods 603 and object clamping wheels 604, the telescopic end of the telescopic mechanism iii 601 is fixedly connected with the object clamping block 602, the object clamping block 602 is hinged with four object clamping connecting rods 603, the four object clamping connecting rods 603 are rotatably connected with the object clamping wheels 604, a torsion spring is fixedly connected between each object clamping connecting rod 603 and the object clamping block 602, and the upper and lower ends of the four collecting frames 502 are fixedly connected with the telescopic mechanism iii 601; the telescopic mechanism III 601 is started, the two telescopic mechanisms III 601 on the same acquisition frame 502 are started simultaneously, the telescopic ends of the two telescopic mechanisms III 601 move close to each other, the telescopic ends of the two telescopic mechanisms III 601 respectively drive the two object clamping blocks 602 to move close to each other, the two object clamping blocks 602 drive the plurality of object clamping connecting rods 603 to move close to each other, the plurality of object clamping connecting rods 603 drive the plurality of object clamping wheels 604 to move close to each other, and the plurality of object clamping wheels 604 are in contact with an object, as shown in fig. 8, a plurality of object clamping connecting rods 603 are obliquely arranged, torsion springs are arranged between the object clamping connecting rods 603 and the object clamping blocks 602, further ensuring that when the plurality of object clamping connecting rods 603 are contacted with the object, the plurality of object clamping connecting rods 603 generate reaction force under the action of the torsion spring, the object is pressed so that the object is pressed between the two object clamping mechanisms 6, as shown in fig. 8, and the plurality of object clamping wheels 604 are in contact with the object.

The specific implementation mode is eight:

the present embodiment is described below with reference to fig. 1 to 10, and the seventh embodiment is further described in this embodiment, where the collecting mechanism 7 includes a collecting motor 701, a collecting arm 702, a collecting push column 703, a collecting slide plate 704, a mounting plate 705 and a collecting slider 706, the collecting motor 701 is fixedly connected to the mounting bracket 104, the collecting arm 702 is fixedly connected to an output shaft of the collecting motor 701, the collecting push column 703 is slidably connected to the collecting arm 702, a compression spring ii is fixedly connected between the collecting push column 703 and the collecting arm 702, the mounting plate 705 and the collecting slider 706 are fixedly connected to the collecting slide plate 704, the collecting slider 706 is slidably connected to the slide bracket 103, and a camera is detachably and fixedly connected to the mounting plate 705; the collection motor 701 is started, the output shaft of the collection motor 701 drives the collection arm 702 to move, the collection arm 702 pushes the collection push post 703 to move, the collection push post 703 pushes the collection sliding plate 704 to move transversely, the collection sliding plate 704 drives the mounting plate 705 to move transversely, the mounting plate 705 drives the camera to move transversely, meanwhile, the object rotates, under the cooperation of transverse movement and rotation, the camera can comprehensively shoot the object, the video information collection of the object shape is carried out, meanwhile, the transverse displacement of the collection sliding plate 704 is limited by the two limiting posts 805, the camera can only move in the length of the object, and other unnecessary shooting is avoided.

The specific implementation method nine:

the following describes the present embodiment with reference to fig. 1 to 10, which further describes an eighth embodiment, where the limiting mechanism 8 includes a second limiting bracket 801, a limiting motor 802, limiting arms 803, a telescopic mechanism iv 804 and limiting posts 805, the second limiting bracket 801 is slidably connected between the two first limiting brackets 102, the second limiting bracket 801 is connected to an output shaft of the traversing motor 107 on the rear side of the displacement by a thread, the second limiting bracket 801 is fixedly connected to a limiting motor 802, the second limiting bracket 801 is rotatably connected to two limiting arms 803, the two limiting arms 803 are both in transmission connection with the output shaft of the limiting motor 802, the two limiting arms 803 are both fixedly connected to a telescopic mechanism iv 804, the telescopic ends of the two telescopic mechanisms iv 804 are both fixedly connected to limiting posts 805, and the two limiting posts 805 are respectively located on two sides of the collecting sliding plate 704; after the collection of the object is completed, when the video information collection needs to be performed on the shape of the object, the rotating mechanism 3 is started, so that the corresponding object moves to the rear side of the device, the traversing motor 107 located at the rear side is started, the output shaft of the traversing motor 107 drives the limiting mechanism 8 to move through threads, and then the position of the limiting mechanism 8 is adjusted, so that when two limiting posts 805 move to the positions shown in fig. 1, the two limiting posts can be in contact with the two sides of the collecting sliding plate 704, when the video information collection of the object is not performed, the limiting arm 803 is placed down without blocking the movement of the rotating mechanism 3, the limiting motor 802 is started, the output shaft of the limiting motor 802 drives the limiting arm 803 to move, the limiting arm 803 drives the telescopic mechanism iv 804 and the limiting posts 805 to move, and the limiting mechanism 8 moves to the positions shown in fig. 1.

The detailed implementation mode is ten:

the present embodiment is described below with reference to fig. 1 to 10, and the present embodiment further describes an embodiment nine, where the apparatus support 1 further includes a sensing push plate 108, the sensing push plate 108 is fixedly connected to the connecting support 101, the collecting support 5 further includes sensors 506, a sensor 506 is fixedly connected to a lower side of each collecting frame 502, and the four sensors 506 are respectively connected to the four driving motors 504.

The invention relates to a video information acquisition robot, which has the working principle that:

when the device is used, the crawler mechanisms 106 are started, the four crawler mechanisms 106 move to drive the device to move, when the device moves to one side of an object, the traversing motor 107 on the front side is started, the output shaft of the traversing motor 107 drives the object taking support 201 to move through threads, the object taking support 201 drives the object taking mechanism 2 to move, so that the two object taking side plates 207 respectively move to two sides of the object, the telescopic mechanism II 206 is started, the telescopic mechanism II 206, the telescopic mechanism I204, the telescopic mechanism III 601 and the telescopic mechanism IV 804 can be hydraulic cylinders or electric push rods, the telescopic end of the telescopic mechanism II 206 drives the object taking side plates 207 to move, the two object taking side plates 207 squeeze and clamp two sides of the object, the telescopic mechanism I204 is started, the telescopic end of the telescopic mechanism I204 drives the object taking arm II 205 to move, the object taking arm II 205 drives the telescopic mechanism II 206 to move, the telescopic mechanism II 206 drives the object taking side plates 207 to move, the fetching side plate 207 drives the object to move so as to adjust the position of the object, the fetching motor 202 is started, an output shaft of the fetching motor 202 drives two fetching arms I203 to move, the two fetching arms I203 respectively drive the corresponding fetching side plates 207 to move, the fetching side plates 207 drive the object to move so as to adjust the position of the object, and the clamped object moves between the two object clamping mechanisms 6; the telescopic mechanism III 601 is started, the two telescopic mechanisms III 601 on the same acquisition frame 502 are started simultaneously, the telescopic ends of the two telescopic mechanisms III 601 move close to each other, the telescopic ends of the two telescopic mechanisms III 601 respectively drive the two object clamping blocks 602 to move close to each other, the two object clamping blocks 602 drive the plurality of object clamping connecting rods 603 to move close to each other, the plurality of object clamping connecting rods 603 drive the plurality of object clamping wheels 604 to move close to each other, and the plurality of object clamping wheels 604 are in contact with an object, as shown in fig. 8, a plurality of object clamping connecting rods 603 are obliquely arranged, torsion springs are arranged between the object clamping connecting rods 603 and the object clamping blocks 602, further ensuring that when the plurality of object clamping connecting rods 603 are contacted with the object, the plurality of object clamping connecting rods 603 generate reaction force under the action of the torsion spring, pressing the object so that the object is pressed between the two object clamping mechanisms 6, as shown in fig. 8, and the plurality of object clamping wheels 604 are in contact with the object; meanwhile, the driving wheel 505 is pushed by the compression spring I to contact with an object, the driving motor 504 is started, the output shaft of the driving motor 504 drives the driving wheel 505 to rotate, the driving wheel 505 is contacted with the object, the driving wheel 505 pushes the object to rotate, and the object is pushed by the driving wheel 505 to rotate among the extrusion limit positions of the object clamping wheels 604, so that the shape of the object can be relatively complex, and the device can acquire video shape information of the object with a complex shape; in the moving process of the device, the rotating motor 301 is started, an output shaft of the rotating motor 301 drives the rotating belt wheel 302 to rotate, the rotating belt wheel 302 drives the extrusion mechanism 4 to rotate, the extrusion mechanism 4 drives the plurality of acquisition supports 5 to rotate, the plurality of acquisition supports 5 respectively drive the two object clamping mechanisms 6 thereon to rotate, and then the position of an object is changed; after the collection of the object is completed, when the video information collection needs to be performed on the shape of the object, the rotating mechanism 3 is started, so that the corresponding object moves to the rear side of the device, the traversing motor 107 located at the rear side is started, the output shaft of the traversing motor 107 drives the limiting mechanism 8 to move through threads, the position of the limiting mechanism 8 is further adjusted, when two limiting columns 805 move to the position shown in fig. 1, the two limiting columns can be in contact with the two sides of the collecting sliding plate 704, when the video information collection is not performed on the object, the limiting arm 803 is placed down without blocking the movement of the rotating mechanism 3, the limiting motor 802 is started, the output shaft of the limiting motor 802 drives the limiting arm 803 to move, the limiting arm 803 drives the telescopic mechanism iv 804 and the limiting columns 805 to move, and the limiting mechanism 8 moves to the position shown in fig. 1; starting the telescopic mechanisms IV 804, limiting the left side and the right side of an object by telescopic ends of the two telescopic mechanisms IV 804, wherein as shown in FIG. 10, a limiting column 805 and the telescopic ends of the telescopic mechanisms IV 804 are at the same position, so that the limiting column 805 limits the position of the acquisition sliding plate 704 in motion, the sensor 506 is in contact with the sensing push plate 108, the sensor 506 can be a contact sensor or an extrusion sensor, the sensor 506 is connected with the driving motor 504 through a conventional electric control means in the field, the driving motor 504 is controlled to rotate when the sensor 506 is extruded, the driving motor 504 drives the driving wheel 505 to rotate, the driving wheel 505 drives the object to rotate among the object clamping wheels 604, and the camera is mounted on the mounting plate 705 in advance; the acquisition motor 701 is started, an output shaft of the acquisition motor 701 drives the acquisition arm 702 to move, the acquisition arm 702 pushes the acquisition push post 703 to move, the acquisition push post 703 pushes the acquisition sliding plate 704 to move transversely, the acquisition sliding plate 704 drives the mounting plate 705 to move transversely, the mounting plate 705 drives the camera to move transversely, and meanwhile, the object rotates, under the cooperation of transverse movement and rotation, the camera can shoot the object comprehensively and acquire video information of the shape of the object, and meanwhile, the two limit posts 805 limit the transverse displacement of the acquisition sliding plate 704, so that the camera can only move within the length of the object, and other unnecessary shooting is avoided; in the process of shooing, start extrusion motor 402 according to the user demand, the output shaft of extrusion motor 402 begins to rotate, the output shaft of extrusion motor 402 passes through the screw thread and drives two extrusion sliders 405 and be close to each other or keep away from, two extrusion sliders 405 drive a plurality of extrusion connecting rods 406 respectively and move, a plurality of extrusion connecting rods 406 promote to gather support 5 and move, and then the position of gathering support 5 is gathered in the adjustment, adjust the distance between object and the camera, satisfy different user demands.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. The utility model provides a video information acquisition robot, includes device support (1), gets thing mechanism (2), slewing mechanism (3), extrusion mechanism (4), gathers support (5), presss from both sides thing mechanism (6), gathers mechanism (7) and stop gear (8), its characterized in that: the front end of the device support (1) is connected with a fetching mechanism (2), the middle part of the device support (1) is connected with a rotating mechanism (3), an extruding mechanism (4) is fixedly connected onto the rotating mechanism (3), the extruding mechanism (4) is connected with a plurality of collecting supports (5), each collecting support (5) is connected with a clamping mechanism (6), the rear end of the device support (1) is connected with a collecting mechanism (7), and the rear end of the device support (1) is connected with a limiting mechanism (8);

the device support (1) comprises connecting supports (101), first limiting supports (102), sliding supports (103), mounting supports (104), moving supports (105), crawler mechanisms (106) and transverse moving motors (107), wherein the first limiting supports (102) are fixedly connected to the left side and the right side of each connecting support (101), the sliding supports (103) and the mounting supports (104) are fixedly connected to the rear ends of the connecting supports (101), the moving supports (105) are fixedly connected to the front ends and the rear ends of the two first limiting supports (102), the crawler mechanisms (106) are connected to the four moving supports (105), and the two transverse moving motors (107) are fixedly connected to the lower sides of the connecting supports (101);

the fetching mechanism (2) comprises a fetching support (201), a fetching motor (202), a fetching arm I (203), a telescopic mechanism I (204), a fetching arm II (205), a telescopic mechanism II (206) and a fetching side plate (207), wherein the fetching support (201) is connected between two first limiting supports (102) in a sliding manner, the fetching motor (202) is fixedly connected to the fetching support (201), the fetching arm I (203) is rotatably connected to the left side and the right side of the fetching support (201), the fetching arms I (203) are connected with an output shaft of the fetching motor (202) in a transmission manner, the telescopic mechanisms I (204) are fixedly connected to the fetching arms I (203), the fetching arms II (205) are fixedly connected to the telescopic ends of the two fetching mechanisms I (204), the telescopic ends of the two fetching arms II (205) are fixedly connected to the telescopic mechanisms II (206), and the fetching side plate (207) is fixedly connected to the telescopic ends of the two telescopic mechanisms II (206), the fetching bracket (201) is connected to a traversing motor (107) positioned on the front side through threads;

the rotating mechanism (3) comprises a rotating motor (301) and a rotating belt wheel (302), the rotating motor (301) is fixedly connected to the middle of the connecting support (101), the rotating belt wheel (302) is rotatably connected to the middle of the connecting support (101), and an output shaft of the rotating motor (301) is in transmission connection with the rotating belt wheel (302);

the extrusion mechanism (4) comprises two extrusion cylinders (401), two extrusion motors (402), two extrusion rings (403), two extrusion columns (404), two extrusion sliding blocks (405) and two extrusion connecting rods (406), the two extrusion cylinders (401) are fixedly connected with the extrusion motors (402), the extrusion rings (403) are fixedly connected onto the extrusion rings (404), the extrusion cylinders (401) on the lower side are fixedly connected onto the rotating belt wheel (302), the extrusion sliding blocks (405) are respectively connected into the two extrusion cylinders (401) in a sliding manner, the two extrusion sliding blocks (405) are respectively connected onto two ends of an output shaft of the extrusion motors (402) through threads, the thread turning directions of two ends of the output shaft of the extrusion motors (402) are opposite, and the two extrusion rings (403) are respectively hinged with the four extrusion connecting rods (406);

the collecting support (5) comprises a collecting barrel (501), a collecting frame (502), a motor support (503), a driving motor (504) and a driving wheel (505), the collecting barrel (501) is fixedly connected with the collecting frame (502), the collecting barrel (501) is connected with the motor support (503) in a sliding mode, a compression spring I is fixedly connected between the motor support (503) and the collecting barrel (501), the motor support (503) is fixedly connected with the driving motor (504), an output shaft of the driving motor (504) is fixedly connected with the driving wheel (505), the four extrusion columns (404) are all connected with the collecting barrel (501) in a sliding mode, and the outer ends of the eight extrusion connecting rods (406) are hinged to the four collecting frames (502) respectively;

the object clamping mechanism (6) comprises a telescopic mechanism III (601), object clamping blocks (602), object clamping connecting rods (603) and object clamping wheels (604), the telescopic ends of the telescopic mechanism III (601) are fixedly connected with the object clamping blocks (602), the object clamping blocks (602) are hinged with four object clamping connecting rods (603), the four object clamping connecting rods (603) are all rotatably connected with the object clamping wheels (604), each object clamping connecting rod (603) and each object clamping block (602) are fixedly connected with a torsion spring, and the upper ends and the lower ends of the four acquisition frames (502) are all fixedly connected with the telescopic mechanism III (601).

2. The video information collecting robot according to claim 1, wherein: gather mechanism (7) including gathering motor (701), gather arm (702), gather jack-prop (703), gather slide (704), mounting panel (705) and gather slider (706), gather motor (701) fixed connection on installing support (104), fixedly connected with gathers arm (702) on the output shaft of gathering motor (701), sliding connection has on gathering arm (702) gathers jack-prop (703), gather fixedly connected with compression spring II between jack-prop (703) and gathering arm (702), fixedly connected with mounting panel (705) and gathering slider (706) on gathering slide (704), gather slider (706) sliding connection on sliding support (103), can dismantle fixedly connected with camera on mounting panel (705).

3. The video information collecting robot according to claim 2, wherein: the limiting mechanism (8) comprises a second limiting bracket (801), a limiting motor (802), a limiting arm (803), a telescopic mechanism IV (804) and a limiting column (805), second spacing support (801) sliding connection is between two first spacing supports (102), second spacing support (801) are connected on the output shaft of displacement rear side sideslip motor (107) through threaded connection, spacing motor (802) of fixedly connected with on second spacing support (801), it is connected with two spacing arms (803) to rotate on second spacing support (801), two spacing arms (803) all are connected with the output shaft transmission of spacing motor (802), equal fixedly connected with telescopic machanism IV (804) on two spacing arms (803), equal fixedly connected with spacing post (805) on the flexible end of two telescopic machanism IV (804), two spacing posts (805) are located the both sides of gathering slide (704) respectively.

4. A video information acquisition robot according to claim 3, wherein: the device support (1) further comprises a sensing push plate (108), the connecting support (101) is fixedly connected with the sensing push plate (108), the collecting support (5) further comprises sensors (506), the lower side of each collecting frame (502) is fixedly connected with the sensors (506), and the four sensors (506) are respectively connected with the four driving motors (504).