CN114017615B - Self-adaptive multi-shaft electric holder device - Google Patents
Self-adaptive multi-shaft electric holder device Download PDFInfo
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- CN114017615B CN114017615B CN202111368004.1A CN202111368004A CN114017615B CN 114017615 B CN114017615 B CN 114017615B CN 202111368004 A CN202111368004 A CN 202111368004A CN 114017615 B CN114017615 B CN 114017615B
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- joint motor
- shaft
- motor
- axis
- base
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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
Abstract
The invention discloses a self-adaptive multi-axis electric pan-tilt device which comprises a base, wherein a horizontally rotating first axis joint motor is arranged in the base, a rotating shaft of the first axis joint motor is connected with a rotating table assembly, a vertically rotating second axis joint motor is arranged in the rotating table assembly, a supporting shaft is arranged on a rotating shaft of the second axis joint motor, a horizontally rotating third axis joint motor is arranged in the supporting shaft, a horizontal support is arranged at the upper end of the axis joint motor, a satellite broadband terminal device is arranged at the upper end of the support, and an inertial navigation module is arranged on the support. The joint part of the invention is driven by an integrated joint motor, and the joint motor is internally provided with a frameless torque motor, so that the load with larger load quality can be realized, and the adjustment precision of the equipment is improved.
Description
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a self-adaptive multi-shaft electric cloud platform device.
Background
The cradle head is a supporting device for mounting and fixing equipment and is divided into a fixed cradle head and an electric cradle head. The fixed cloud platform is suitable for the condition that the attitude range is not large, the horizontal and pitching angles of the equipment can be adjusted after the equipment is installed on the fixed cloud platform, and the adjusting mechanism can be locked after the best working attitude is achieved. The electric pan-tilt is suitable for carrying out posture adjustment on a large range, and can enlarge the range of freedom of motion of equipment. However, the general adjusting range of the existing fixed holder is small, manual adjustment is needed, and the use is inconvenient.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the self-adaptive multi-shaft electric holder device which has higher load capacity, higher motion precision and degree of freedom and higher stability.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the utility model provides an electronic cloud platform device of self-adaptation multiaxis, the on-line screen storage device comprises a base, be provided with horizontal rotation's primary shaft joint motor in the base, be connected with the revolving stage subassembly in the pivot of primary shaft joint motor, be provided with vertical pivoted secondary shaft joint motor in the revolving stage subassembly, be provided with the back shaft in the pivot of secondary shaft joint motor, be provided with horizontal pivoted third shaft joint motor in the back shaft, the upper end of shaft joint motor is provided with the horizontally support, the upper end of support is provided with satellite broadband terminal equipment, install inertial navigation module on the support.
Furthermore, the upper end and the lower end of the base are both provided with openings, the rotary table assembly is sleeved at the upper end of the base, a circle of convex edge is arranged at the upper end of the base, a circle of limiting ring in sliding fit with the convex edge is arranged at the lower end of the rotary table assembly, and the lower end of the base is packaged through a bottom cover.
Furthermore, the bottom of the rotary table component is provided with a mounting groove, the rotating shaft of the first shaft joint motor penetrates through the bottom of the rotary table component and extends into the mounting groove, a first conductive sliding ring is arranged in the mounting groove and is connected with the rotating shaft of the mounting groove and the first shaft joint motor, and the mounting groove is packaged through a cover plate.
Furthermore, two parallel supporting plates are arranged on the rotary table assembly, a mounting hole is formed in one supporting plate, a motor mounting shell is arranged at the end of the supporting shaft, one end of the motor mounting shell is open, a second shaft joint motor is mounted in the motor mounting shell, and a rotating shaft of the second shaft joint motor is connected with the mounting hole through a rotating structure.
Furthermore, a deep groove ball bearing is installed at an opening at the end part of the motor installation shell through a sinking platform, a bearing fixing clamping ring is sleeved on the second shaft joint motor, the second shaft joint motor and the bearing fixing clamping ring are arranged in a clearance mode, the outer ring of the bearing fixing clamping ring is matched with the inner ring of the deep groove ball bearing, a limiting step is arranged on the bearing fixing clamping ring and matched with the sinking platform arranged on the installation hole, and the limiting step is fixed on the sinking platform through a screw; the rotating shaft of the second shaft joint motor is fixedly connected with a side sealing cover plate of the mounting hole, the side sealing cover plate encapsulates the mounting hole, and a side plate is arranged on the other supporting plate.
Furthermore, the supporting shaft is of a hollow structure, the upper end of the supporting shaft is opened, the third shaft joint motor is installed in the supporting shaft, a rotating shaft of the third shaft joint motor is fixedly connected with the support, and a second conductive slip ring is arranged between the rotating shaft of the third shaft joint motor and the support.
Further, a plurality of fixing lugs are evenly arranged on the outer circumference of the bottom of the base, and bolt holes are formed in the fixing lugs.
Further, a heavy-duty connector socket is arranged on the base.
The invention has the beneficial effects that: the joint part of the invention is driven by an integrated joint motor, and the joint motor is internally provided with a frameless torque motor, so that the load with larger load quality can be realized, and the adjustment precision of the equipment is improved. The joint adopts a driving and controlling integrated technology, multi-axis linkage control is realized, and the wiring space and the line cost are saved. The current position can be locked after the movement is stopped, and the sliding cannot occur due to gravity. The inertial navigation module is arranged on the equipment fixing table board, provides feedback for a controller of the holder device, and finishes posture adjustment through an algorithm in the controller. The satellite broadband terminal equipment arranged on the satellite broadband terminal equipment can achieve the best working angle by adjusting the postures of the joints. The attitude information is measured by the inertial navigation module and is input to the controller to control the joint to automatically adjust the angle of each shaft, so that the effect of automatically adjusting the attitude is achieved.
Drawings
Fig. 1 is an exploded view of an adaptive multi-axis motorized pan and tilt head apparatus.
The satellite broadband terminal device comprises a satellite broadband terminal device 1, a satellite broadband terminal device 2, a support, a third shaft joint motor 3, a second conductive sliding ring 4, a second conductive sliding ring 5, an inertial navigation module 6, a support shaft 7, a deep groove ball bearing 8, a side sealing cover plate 9, a second shaft joint motor 10, a bearing fixing clamping ring 11, a bottom cover package 12, a first conductive sliding ring 13, a side plate 14, a rotary table assembly 15, a base 16, a battery 17, a heavy-load connector socket 18, a first shaft joint motor 19 and a bottom cover.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, the adaptive multi-axis electric pan-tilt device of the present scheme includes a base 15, a first axis joint motor 18 of horizontal rotation is arranged in the base 15, a turntable assembly 14 is connected to a rotating shaft of the first axis joint motor 18, a second axis joint motor 9 of vertical rotation is arranged in the turntable assembly 14, a supporting shaft 6 is arranged in a rotating shaft of the second axis joint motor 9, a third axis joint motor 3 of horizontal rotation is arranged in the supporting shaft 6, a horizontal support 2 is arranged at the upper end of the axis joint motor, a satellite broadband terminal device 1 is arranged at the upper end of the support 2, and an inertial navigation module 5 is arranged on the support 2. Through the multi-angle adjustment of the tripod head time of the three shaft joint motor team, a controller is arranged in the base 15 to realize automatic control, and the power is supplied by a battery 16.
The upper end and the lower extreme of base 15 are all opened, and revolving stage subassembly 14 cover is in the upper end of base 15, and the upper end of base 15 is provided with a round bead, and the lower extreme of revolving stage subassembly 14 is provided with a round and bead sliding fit's spacing collar, and the lower extreme of base 15 passes through bottom 19 encapsulation 11, and through bead and spacing collar cooperation, it is spacing to rotate between revolving stage subassembly 14 and the base 15, ensures that relative rotation is steady.
The bottom of the rotary table component 14 is provided with a mounting groove, the rotating shaft of the first shaft joint motor 18 penetrates through the bottom of the rotary table component 14 and extends into the mounting groove, a first conductive slip ring 12 is arranged in the mounting groove, the first conductive slip ring 12 is connected with the mounting groove and the rotating shaft of the first shaft joint motor 18, and the mounting groove is packaged through a cover plate. The rotating shaft of the first shaft joint motor 18 is fixedly connected with the mounting groove, good support performance and stability are provided, and the first conductive slip ring 12 transmits power and data.
The turntable assembly 14 is provided with two parallel supporting plates, one supporting plate is provided with a mounting hole, the end part of the supporting shaft 6 is provided with a motor mounting shell, one end of the motor mounting shell is opened, the second shaft joint motor 9 is mounted in the motor mounting shell, and a rotating shaft of the second shaft joint motor 9 is connected with the mounting hole through a rotating structure.
A deep groove ball bearing 7 is installed at an opening at the end part of the motor installation shell through a sinking platform, a bearing fixing clamping ring 10 is sleeved on a second shaft joint motor 9, the second shaft joint motor 9 and the bearing fixing clamping ring 10 are arranged in a clearance mode, the outer ring of the bearing fixing clamping ring 10 is matched with the inner ring of the deep groove ball bearing 7, a limiting step is arranged on the bearing fixing clamping ring 10 and matched with the sinking platform arranged on the installation hole, and the limiting step is fixed on the sinking platform through a screw; the rotating shaft of the second shaft joint motor 9 is fixedly connected with the side sealing cover plate 8 of the mounting hole, the side sealing cover plate 8 encapsulates the mounting hole, and the other supporting plate is provided with a side plate 13.
Install the motor installation shell in the backup pad through deep groove ball bearing 7, realize the free rotation to be connected between motor installation shell and the backup pad in a flexible way, the rotational stability is difficult for appearing not hard up and vibration.
The back shaft 6 is hollow structure, and the upper end opening of back shaft 6, third axle joint motor 3 install in back shaft 6, and the pivot and the support 2 fixed connection of third axle joint motor 3, and be provided with second conductive sliding ring 4 between the pivot of third axle joint motor 3 and the support 2. Evenly be provided with a plurality of fixed ears on the outer circumference of base 15 bottom, seted up the bolt hole on the fixed ear, the cloud platform of easy to assemble. A heavy-load connector socket 17 is arranged on the base 15, and signal transmission is achieved.
The joint part of the invention is driven by an integrated joint motor, and the joint motor is internally provided with a frameless torque motor, so that the load with higher load quality can be realized, and the adjustment precision of the equipment is improved. The joint adopts a driving and controlling integrated technology, multi-axis linkage control is realized, and the wiring space and the line cost are saved. The current position can be locked after the movement is stopped, and the sliding cannot occur due to gravity. An inertial navigation module 5 is installed on the equipment fixing table top and used for providing feedback for a controller of the holder device, and posture adjustment is completed through an algorithm in the controller. By adjusting the posture of the joint, the satellite broadband terminal device 1 mounted on the joint can reach the best working angle. Attitude information is measured through the inertial navigation module 5 and input to the controller to control the joints to automatically adjust the angles of all the shafts, so that the effect of automatically adjusting the attitude is achieved.
Claims (4)
1. A self-adaptive multi-axis electric pan-tilt device is characterized by comprising a base, wherein a first axis joint motor which horizontally rotates is arranged in the base, a rotary table assembly is connected to a rotary shaft of the first axis joint motor, a second axis joint motor which vertically rotates is arranged in the rotary table assembly, a support shaft is arranged on a rotary shaft of the second axis joint motor, a third axis joint motor which horizontally rotates is arranged in the support shaft, a horizontal support is arranged at the upper end of the third axis joint motor, a satellite broadband terminal device is arranged at the upper end of the support, and an inertial navigation module is arranged on the support;
the upper end and the lower end of the base are both provided with openings, the rotary table assembly is sleeved at the upper end of the base, a circle of convex edge is arranged at the upper end of the base, a circle of limiting ring in sliding fit with the convex edge is arranged at the lower end of the rotary table assembly, and the lower end of the base is packaged through a bottom cover;
the bottom of the rotary table component is provided with an installation groove, a rotating shaft of the first shaft joint motor penetrates through the bottom of the rotary table component and extends into the installation groove, a first conductive slip ring is arranged in the installation groove and is connected with the installation groove and the rotating shaft of the first shaft joint motor, and the installation groove is packaged through a cover plate;
the turntable assembly is provided with two parallel supporting plates, one supporting plate is provided with a mounting hole, the end part of the supporting shaft is provided with a motor mounting shell, one end of the motor mounting shell is opened, the second shaft joint motor is mounted in the motor mounting shell, and a rotating shaft of the second shaft joint motor is connected with the mounting hole through a rotating structure;
the deep groove ball bearing is mounted at an opening at the end part of the motor mounting shell through a sinking platform, a bearing fixing snap ring is sleeved on the second shaft joint motor, the second shaft joint motor and the bearing fixing snap ring are arranged in a clearance mode, the outer ring of the bearing fixing snap ring is matched with the inner ring of the deep groove ball bearing, a limiting step is arranged on the bearing fixing snap ring and matched with the sinking platform arranged on the mounting hole, and the limiting step is fixed on the sinking platform of the mounting hole through a screw; and a rotating shaft of the second shaft joint motor is fixedly connected with a side sealing cover plate of the mounting hole, the side sealing cover plate encapsulates the mounting hole, and the other supporting plate is provided with a side plate.
2. The adaptive multi-axis electric pan-tilt head device according to claim 1, wherein the support shaft is a hollow structure, the upper end of the support shaft is open, the third axis joint motor is installed in the support shaft, a rotating shaft of the third axis joint motor is fixedly connected with the support, and a second conductive slip ring is arranged between the rotating shaft of the third axis joint motor and the support.
3. The adaptive multi-shaft electric pan-tilt apparatus according to claim 1, wherein a plurality of fixing lugs are uniformly arranged on the outer circumference of the bottom of the base, and the fixing lugs are provided with bolt holes.
4. The adaptive multi-axis motorized pan and tilt head apparatus of claim 1, wherein a heavy-duty connector receptacle is provided on the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111368004.1A CN114017615B (en) | 2021-11-18 | 2021-11-18 | Self-adaptive multi-shaft electric holder device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111368004.1A CN114017615B (en) | 2021-11-18 | 2021-11-18 | Self-adaptive multi-shaft electric holder device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114017615A CN114017615A (en) | 2022-02-08 |
| CN114017615B true CN114017615B (en) | 2023-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111368004.1A Active CN114017615B (en) | 2021-11-18 | 2021-11-18 | Self-adaptive multi-shaft electric holder device |
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| Country | Link |
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| CN (1) | CN114017615B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203189977U (en) * | 2013-04-27 | 2013-09-11 | 焦浩 | Novel intelligent cradle head with multiple degrees of freedom |
| WO2013165045A1 (en) * | 2012-05-04 | 2013-11-07 | (주)비즈텍 | Pan-tilt device for imaging apparatus |
| CN103994311A (en) * | 2014-05-19 | 2014-08-20 | 上海大学 | Intelligent multifunctional three-freedom-degree cloud deck |
| CN207540775U (en) * | 2017-11-08 | 2018-06-26 | 西安工业大学 | A kind of revolution test table for mechanical arm |
| CN210069334U (en) * | 2019-05-13 | 2020-02-14 | 山东科技大学 | Cloud platform device with high accuracy is stabilized and is carried on equipment |
| CN111307175A (en) * | 2020-02-20 | 2020-06-19 | 哈尔滨工大航博科技有限公司 | High-dynamic three-axis simulation turntable |
-
2021
- 2021-11-18 CN CN202111368004.1A patent/CN114017615B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013165045A1 (en) * | 2012-05-04 | 2013-11-07 | (주)비즈텍 | Pan-tilt device for imaging apparatus |
| CN203189977U (en) * | 2013-04-27 | 2013-09-11 | 焦浩 | Novel intelligent cradle head with multiple degrees of freedom |
| CN103994311A (en) * | 2014-05-19 | 2014-08-20 | 上海大学 | Intelligent multifunctional three-freedom-degree cloud deck |
| CN207540775U (en) * | 2017-11-08 | 2018-06-26 | 西安工业大学 | A kind of revolution test table for mechanical arm |
| CN210069334U (en) * | 2019-05-13 | 2020-02-14 | 山东科技大学 | Cloud platform device with high accuracy is stabilized and is carried on equipment |
| CN111307175A (en) * | 2020-02-20 | 2020-06-19 | 哈尔滨工大航博科技有限公司 | High-dynamic three-axis simulation turntable |
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| Publication number | Publication date |
|---|---|
| CN114017615A (en) | 2022-02-08 |
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