CN201803069U - Two-degree-of-freedom pan/tilt/zoom mechanism - Google Patents
Two-degree-of-freedom pan/tilt/zoom mechanism Download PDFInfo
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- CN201803069U CN201803069U CN201020268397XU CN201020268397U CN201803069U CN 201803069 U CN201803069 U CN 201803069U CN 201020268397X U CN201020268397X U CN 201020268397XU CN 201020268397 U CN201020268397 U CN 201020268397U CN 201803069 U CN201803069 U CN 201803069U
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- cloud terrace
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Abstract
The utility model relates to a pan/tilt/zoom mechanism, in particular to a two-degree-of-freedom pan/tilt/zoom mechanism. The pan/tilt/zoom mechanism transfers the load and is not limited by the motor load, reduces the overall height and has two degrees of freedom. The pan/tilt/zoom mechanism comprises a base, a horizontal motor and a vertical motor, wherein the vertical motor supported on the base and a pan/tilt/zoom base at one side of the base are connected by a coupling via a gear drive mechanism below the base by meshing in a rotating manner; the pan/tilt/zoom base is a moving pedestal rotating horizontally; two pivots arranged at the two sides of the upper part of the pan/tilt/zoom base are hinged with a frame type inverted U-shaped pan/tilt/zoom; the horizontal motor is fixed at one side wall in the pan/tilt/zoom; and a B gear which runs through the side wall and is driven by the horizontal motor is connected with a C gear fixed on the pivots by meshing. The pan/tilt/zoom mechanism has the following advantages: the pan/tilt/zoom mechanism is mainly used for fixing the pan/tilt/zoom of the antennas, belongs to the electric pan/tilt/zoom, adopts the ingenious structure to exert the longitudinal load on the base, ensures the motor shaft not to bear axial force, simplifies the structure to ensure the structure to be compact, reduces the height, saves the cost and expands the range of application.
Description
Technical field
The utility model relates to a kind of cradle head mechanism, is specifically related to a kind of two-degree-of-freedom cradle head mechanism.
Background technique
At present, in increasing local a kind of fixed platform that needs with two degrees of freedom, for example: the camera in the video monitoring system that is seen everywhere now is exactly to need the platform that installs and fixes with two degrees of freedom, can be for hard-wired camera, as required to its camera angle carry out automatically, angular adjustment easily and efficiently, this is two degree-of-freedom cradle head functions.Certainly be not only the fixing of camera, also have various places to need two degree-of-freedom cradle heads of a fixation, and The Cloud Terrace comes down to the mountion plate be made up of two motors, can horizontally rotate and vertical motion of waving.The Cloud Terrace is divided into fixedly two kinds of The Cloud Terraces and electric platform, and fixedly The Cloud Terrace is applicable to the situation that adjustment range is little, manual installation is fixing; Electric platform can carry out automatically, multi-angle, adjustment on a large scale quickly and easily.Aspect existing patent documentation, existing open source literature is research " two-degree-of-freedom cradle head ", its patent No. is 200610018168.0, only describing in this document is controlled payload platform, though and do not have concrete text description for the transmission of load, but that has also expressed in the drawings is gem-pure, its load is by axle, gear and bearing are transmitting step by step, the load of motor will be very big like this, the load level of product will be restricted, and do not mention for self-locking and Location accuracy problem, the carrying capacity of existing two-degree-of-freedom cradle head is an important indicator of weighing The Cloud Terrace, often design is complicated in traditional two-degree-of-freedom cradle head design, and cost is higher.The The Cloud Terrace load-carrying ability will improve greatly if the load of two-degree-of-freedom cradle head is not subjected to the influence of motor load, and this is the problem that present engineers and technicians press for solution.
Summary of the invention
, the purpose of this utility model is not subjected to motor load two-degree-of-freedom cradle head mechanism restriction, that have two-freedom, the self-locking of Location accuracy height but providing a kind of load is married again.
The utility model is achieved through the following technical solutions:
A kind of cradle head mechanism of two-freedom, comprise: base, horizontal motor and vertical machine, wherein: the motor vertical that is bearing on the base is to be rotationally connected by the engagement of the gear drive under the base by coupling with the The Cloud Terrace seat that is positioned at a side, the The Cloud Terrace seat is a movable pedestal that horizontally rotates, both sides, The Cloud Terrace seat top are provided with the two triangle fulcrum and the frame-type word of falling U The Cloud Terrace is hinged, fix a horizontal motor on the sidewall in described The Cloud Terrace, its B gear that passes the horizontal driven by motor of sidewall is connected with C gear engagement on being fixed on described triangle fulcrum.
The cradle head mechanism of two-freedom described in the utility model, wherein: described gear drive comprises that the driving gear that driven by motor vertical is by being that the intermediate gear of rotating shaft, the driven gear that is connected with the coupling of The Cloud Terrace seat lower central position setting are rotationally connected with the jack shaft.
The cradle head mechanism of two-freedom described in the utility model, wherein: described coupling outside is with an axle sleeve that plays a supportive role, the length dimension of described axle sleeve is greater than the distance between The Cloud Terrace seat and the base, and the material of described axle sleeve adopts polytetrafluoroethylmaterial material to make.
The cradle head mechanism of two-freedom described in the utility model, wherein: two symmetrical triangle fulcrums are set in described The Cloud Terrace seat both sides, bolt is fixedlyed connected with The Cloud Terrace seat screw thread by the triangle fulcrum, described bolt is to flexibly connect by unthreaded hole with being connected of described The Cloud Terrace, and described triangle fulcrum is tight connection with being connected of C gear.
The cradle head mechanism of two-freedom described in the utility model, wherein: described C gear is fixed on the The Cloud Terrace seat by fixing bolt.
The cradle head mechanism of two-freedom described in the utility model, wherein: on described The Cloud Terrace seat, the spacing position that reaches setting at the rotation angle of the relative base of The Cloud Terrace seat is provided with described A limit switch, on described base, the relative base of described The Cloud Terrace seat horizontally rotate the limit position place that angle reaches setting, one limiting stopper is set, have on its A limit switch with described limiting stopper and touch the A reed that sends rz signal, A reed and limiting stopper touch, the A limit switch sends signal, controlled motor vertical action, or stop or counterrotating.
The cradle head mechanism of two-freedom described in the utility model, wherein: on described The Cloud Terrace, the spacing position that reaches setting at the pendulum angle of the relative The Cloud Terrace seat of The Cloud Terrace is provided with described B limit switch, on described The Cloud Terrace seat, the spacing position that the pendulum angle of the relative The Cloud Terrace seat of described The Cloud Terrace reaches setting promptly is to have on fulcrum upper surface and the B limit switch of triangle fulcrum to touch the B reed that sends rz signal and touch the position of connection mutually, B reed and fulcrum upper surface touch, the B limit switch sends signal, controlled horizontal motor action, or stop or counterrotating.
The cradle head mechanism of two-freedom described in the utility model, wherein: described The Cloud Terrace is provided with at least one attachment hole that is used for fixing.
The cradle head mechanism of two-freedom described in the utility model, wherein: fix a horizontal motor on the outer side wall in described The Cloud Terrace.
Two-degree-of-freedom cradle head mechanism described in the utility model is wherein: described horizontal motor and described motor vertical are decelerating step motor, self has retarder decelerating step motor, on the motor stator He on the electric mover magnetic element that attracts each other is being installed, when motor is parked in some positions, because the power that attracting each other of magnetic element, motor itself can exist opposing external factor exciting electric output shaft to rotate.The magnetic element attraction force is smaller, but after the transmission of the speed change gear by retarder, attraction force can be exaggerated, and the power of this amplification is offset the power of external factor excitation, makes decelerating step motor have certain auto-lock function.During practice, stepping reducing motor self-lock force can recently be determined by the transmission of setting speed change gear according to the demand of reality.
The utlity model has following remarkable advantage: what the utility model was related mainly is the The Cloud Terrace that is used for fixing antenna, belong to electric platform, be to have adopted cleverly that structure has been applied to longitudinal loading on the base, make motor shaft not be subjected to axial force, simplify the structure simultaneously, make and reduced whole height simultaneously by compact structure, save cost, enlarged Applicable scope of the present utility model.
Description of drawings:
Fig. 1: be a kind of two-degree-of-freedom cradle head mechanism embodiment of the present utility model front side schematic perspective view;
Fig. 2: be pseudosection behind a kind of two-degree-of-freedom cradle head mechanism embodiment of the present utility model;
Fig. 3: be a kind of two-degree-of-freedom cradle head mechanism embodiment rear side schematic perspective view of the present utility model;
Fig. 4: be second kind of two-degree-of-freedom cradle head mechanism embodiment plan view of the present utility model;
Embodiment:
Below in conjunction with the drawings and specific embodiments the utility model is described further, but not as to qualification of the present utility model.
As shown in Figure 1: be a kind of two-degree-of-freedom cradle head mechanism embodiment of the present utility model front side schematic perspective view; In Fig. 1, a kind of cradle head mechanism of two-freedom, at base 2 upper supports motor vertical 3 is arranged, opposite side also is provided with The Cloud Terrace seat 9 on base 2, The Cloud Terrace seat 9 is a movable pedestal that horizontally rotates, The Cloud Terrace seat 9 has coupling 16 (among Fig. 2), described motor vertical 3 and The Cloud Terrace seat 9 are to be rotationally connected by 15 engagements of the gear drive under the base 2 by coupling 16, the U word two end part 28 that both sides, The Cloud Terrace seat 9 top are provided with two triangle fulcrum 27 and the frame-type word of falling U The Cloud Terrace 5 are hinged, specifically: as shown in Figures 2 and 3, fulcrum hole 29 is arranged on the triangle fulcrum 27, on the U word two end part 28 of the frame-type word of falling U The Cloud Terrace 5 stomidium 30 is arranged, undertaken fulcrum hole 29 and stomidium 30 hinged by bolt 22, bolt 22 passes the fulcrum hole 29 of triangle fulcrum 27 and The Cloud Terrace seat 9 screw threads are fixedly connected by screw thread, described stomidium 30 is unthreaded holes, does not promptly have the hole of screw thread, and described bolt 22 is to flexibly connect by two stomidiums 30 with being connected of described The Cloud Terrace 5.
As shown in Figure 1, 2, 3, fix a horizontal motor 6 on the sidewall 21 in described The Cloud Terrace 5, its motor axle journal interts on sidewall 21, and its end is provided with B gear 7, and B gear 7 is connected with a joggle with the C gear 8 that is fixed on the described triangle fulcrum 27.Be that described triangle fulcrum 27 is tight connection with being connected of C gear 8.C gear 8 maintains static with respect to The Cloud Terrace seat 9 like this, also have described C gear 8 further to be fixed on the The Cloud Terrace seat 9 by fixing bolt 24, then will make circular movement around C gear 87 rotations of B gear the time, B gear 7 is driven by the horizontal motor 6 that is fixed on the The Cloud Terrace 5, therefore, B gear 7, The Cloud Terrace 5 and horizontal motor 6 are made the circular movement of certain amplitude together simultaneously around gear 8, this circular movement is limited to, be that the front and back of realizing The Cloud Terrace in several angle swing up and down, promptly when The Cloud Terrace travel forward → The Cloud Terrace reduce whereaboutss → The Cloud Terrace in the past towards intermediary movements → The Cloud Terrace upwards risings → The Cloud Terrace move rearwards → The Cloud Terrace reduction whereabouts then, on described The Cloud Terrace 5, the spacing position that reaches setting at the pendulum angle of The Cloud Terrace 5 relative The Cloud Terrace seats 9 is provided with described B limit switch 4, on described The Cloud Terrace seat 11, the spacing position that the pendulum angle of described The Cloud Terrace 5 relative The Cloud Terrace seats 9 reaches setting promptly is to touch the position of sending rz signal having of triangle fulcrum 27, when The Cloud Terrace 5 swings to limit position, fulcrum upper surface 20 touches connection mutually with B reed 26 on the B limit switch 4, signal is sent in the action of B limit switch, 6 actions of controlling level motor are perhaps cut off the electricity supply, perhaps reverse.
Described The Cloud Terrace 5 is provided with a plurality of attachment holes that are used for fixing 23, many row's multiple row attachment holes 23 can also be set, the attachment hole 23 of present embodiment is the setting types of two rows, two row, being connected with miscellaneous equipment easily, as with being connected of equipment such as camera, antenna, radar.
In like manner, on described The Cloud Terrace seat 9, the spacing position that reaches setting at the rotation angle of The Cloud Terrace seat 9 relative bases 2 is provided with A limit switch 10, on described base 2, described The Cloud Terrace seat 9 relative bases 2 horizontally rotate the limit position place that angle reaches setting, one limiting stopper 11 is set, the limiting stopper 11 of present embodiment is the limiting stopper of a column, have on it with described limiting stopper 11 and touch the A reed 25 that sends rz signal, reach the limit position of setting when the rotation angle of The Cloud Terrace seat 9 relative bases 2, the A reed 25 of A limit switch 10 touches described limiting stopper 11, make the action of A limit switch send signal, 3 actions of control motor vertical are perhaps cut off the electricity supply, perhaps reverse.
Described gear drive 15 comprises the driving gear 1 that is driven by motor vertical 3, by being that the intermediate gear 14 of rotating shaft, the driven gear 13 that is connected with coupling 16 that The Cloud Terrace seat 9 lower central positions are provided with are rotationally connected with jack shaft 18, this kind of drive is that transmission is accurate, reliable, can change the driving torque of motor simultaneously.
Described coupling 16 outsides are with an axle sleeve that plays a supportive role 17, axle sleeve 17 is fixed on the base 2 by pressing plate 12, the material of described axle sleeve 17 adopts polytetrafluoroethylmaterial material to make, and the length dimension of described axle sleeve 17 is greater than the distance between The Cloud Terrace seat 9 and the base 2.The external force that is afforded on the The Cloud Terrace seat can be delivered on the base 2 by axle sleeve 17 like this, but not pass through coupling 16 transmitted loads to gear 13, and, the material of described axle sleeve 17 is the teflon axle sleeve, be to have selected the wear-resisting material different, guarantee that bearing capacity is delivered on the base 2 as axle sleeve with base 2 and The Cloud Terrace seat 9.
Described horizontal motor and described motor vertical that the utility model adopted are decelerating step motor, self has retarder decelerating step motor, on the motor stator He on the electric mover magnetic element that attracts each other is being installed, when motor is parked in some positions, because the power that attracting each other of magnetic element, motor itself can exist opposing external factor exciting electric output shaft to rotate.The magnetic element attraction force is smaller, but after the transmission of the speed change gear by retarder, attraction force can be exaggerated, and the power of this amplification is offset the power of external factor excitation, makes decelerating step motor have certain auto-lock function.During practice, stepping reducing motor self-lock force can recently be determined by the transmission of setting speed change gear according to the demand of reality.
Working procedure of the present utility model is as follows:
The utility model is a kind of two-degree-of-freedom cradle head mechanism (as Fig. 1, shown in 2,3), and there are two motors inside, i.e. a horizontal motor 6 and a motor vertical 3, and the front and back of being responsible for The Cloud Terrace respectively teeter and horizontally rotate the rotation of both direction degrees of freedom.When connection teetered horizontal motor 6 energisings of moving, horizontal motor 6 rotated, and drives The Cloud Terraces 5 front and back through B gear 7 and rotates up and down; When connection horizontally rotated motor vertical 3 energisings of action, motor vertical 3 rotated, and drove The Cloud Terrace seat 9 left and right horizontal by coupling 16 and rotated.In addition, two-degree-of-freedom cradle head has level and vertical two limit switches, when rotation angle reaches the spacing position of setting, this limit switch action provides control signal and gives control computer, control computer is determined the absolute position of The Cloud Terrace according to this signal, and can be manually or move to the position that needs automatically.
Detailed process is: motor vertical 3 energisings, driving gear 1 drives The Cloud Terrace seat 9 left and right horizontal by gear drive 15 and coupling 16 and rotates, if horizontally rotating of The Cloud Terrace seat 9 surpasses then 10 limited 11 jacking A of A limit switch reed 25 of predetermined angle, connect 10 actions of A limit switch and send signal to computer, computer has just been known the absolute position of current platform like this, and computer can be controlled motor vertical and moves to the position that needs or stop then.
Be second embodiment of the present utility model as shown in Figure 4, at base 2 upper supports motor vertical 3 is arranged, opposite side also is provided with The Cloud Terrace seat 9, The Cloud Terrace seat 9 is a movable pedestal that horizontally rotates, The Cloud Terrace seat 9 has coupling 16, described motor vertical 3 and The Cloud Terrace seat 9 are to be rotationally connected by 19 engagements of the belt gear under the base 2 by coupling 16, be that the small belt pulley 31 that motor vertical 3 drives drives big belt pulley 33 transmissions by belt 32, big belt pulley 33 is connected drive The Cloud Terrace seat 9 and horizontally rotates with coupling 16.Motor vertical 3 energisings, small belt pulley 31 drives The Cloud Terrace seat 9 by belt 32, big belt pulley 33 and coupling 16 and horizontally rotates, if horizontally rotating of The Cloud Terrace seat 9 surpasses then 10 limited 11 jacking A of A limit switch reed 25 of predetermined angle, connect 10 actions of A limit switch and send signal to computer, computer has just been known the absolute position of current platform like this, and computer can be controlled the position that motor vertical moves to be needed then.。
The U word two end part 28 that both sides, The Cloud Terrace seat 9 top are provided with two triangle fulcrum 27 and the frame-type word of falling U The Cloud Terrace 5 are hinged, at described The Cloud Terrace 5 internal fixation one horizontal motor 6, be connected with a joggle at its described horizontal motor 6 the B gear 7 that drives and C gear 8 that is fixed on the described triangle fulcrum 27 that passes sidewall 21 on the one sidewall 21, C gear 8 maintains static with respect to The Cloud Terrace seat 9, also have described C gear 8 further to be fixed on the The Cloud Terrace seat 9 by fixing bolt 24, then will make circular movement around C gear 87 rotations of B gear the time, it is B gear 7, The Cloud Terrace 5 and horizontal motor 6 are made the circular movement of certain amplitude together simultaneously around gear 8, be that the front and back of realizing The Cloud Terrace 5 in several angle swing up and down, promptly when The Cloud Terrace 5 travel forward → The Cloud Terrace 5 reduces whereaboutss → The Cloud Terraces 5 and moves rearwards towards intermediary movements → The Cloud Terrace 5 rising → The Cloud Terrace 5 that makes progress in the past, → then The Cloud Terrace 5 reduces, swing up and down before and after constituting, on described The Cloud Terrace 5, the spacing position that reaches setting at the pendulum angle of The Cloud Terrace 5 relative The Cloud Terrace seats 9 is provided with described B limit switch 4, on described The Cloud Terrace seat 9, the spacing position that the pendulum angle of described The Cloud Terrace 5 relative The Cloud Terrace seats 9 reaches setting promptly is to have on fulcrum upper surface 20 and the B limit switch 4 of triangle fulcrum 27 to touch the B reed 26 that sends rz signal and touch the position of connection mutually, computer obtains the absolute position of current platform by this signal, and the arbitrary position of realizing two degrees of freedom of The Cloud Terrace 5 according to this position rotates, and can be self-locking on the position that needs.
When the motor stall, because of described motor is a decelerating step motor, self has retarder, on the motor stator He on the electric mover magnetic element that attracts each other is being installed, because attracting each other of magnetic element, after the transmission of the speed change gear by retarder, attraction force can be exaggerated, motor self will stop the rotation of external force to output shaft, decelerating step motor has certain auto-lock function, two-degree-of-freedom cradle head of the present utility model has auto-lock function under the drive of decelerating step motor, during practice, stepping reducing motor self-lock force can recently be determined by the transmission of setting speed change gear according to the demand of reality.
Claims (10)
1. the cradle head mechanism of a two-freedom, comprise: base (2), horizontal motor (6) and motor vertical (3), it is characterized in that: the The Cloud Terrace seat (9) that is bearing in the described motor vertical (3) on the described base (2) and is positioned at a side is to be rotationally connected by the engagement of the gear drive (15) under the described base (2) by coupling (16), described The Cloud Terrace seat (9) is a movable pedestal that horizontally rotates, described The Cloud Terrace seat (9) both sides, top are provided with two triangle fulcrum (27) and are hinged with the frame-type word of falling U The Cloud Terrace (5), fix a horizontal motor (6) on the sidewall (21) in described The Cloud Terrace (5), its horizontal motor (6) that passes sidewall (21) drives B gear (7) and is connected with a joggle with the C gear (8) that is fixed on the described triangle fulcrum (27).
2. the cradle head mechanism of two-freedom according to claim 1 is characterized in that: described gear drive comprises that the driving gear (1) that driven by motor vertical (3) is by being that the intermediate gear (14) of rotating shaft, the driven gear (13) that is connected with the coupling (16) of The Cloud Terrace seat (9) lower central position setting are rotationally connected with jack shaft (18).
3. the cradle head mechanism of two-freedom according to claim 2, it is characterized in that: described coupling (16) outside is with an axle sleeve that plays a supportive role (17), and the length dimension of described axle sleeve (17) is greater than the distance between The Cloud Terrace seat (9) and the base (2).
4. the cradle head mechanism of two-freedom according to claim 3, it is characterized in that: two symmetrical triangle fulcrums (27) are set in described The Cloud Terrace seat (9) both sides, bolt (22) is fixedlyed connected with The Cloud Terrace seat (9) screw thread by triangle fulcrum (27), described bolt (22) is to flexibly connect by unthreaded hole with being connected of described The Cloud Terrace (5), and described triangle fulcrum (27) is tight connection with being connected of C gear (8).
5. the cradle head mechanism of two-freedom according to claim 4, it is characterized in that: described C gear (8) is fixed on the The Cloud Terrace seat (9) by fixing bolt (24) and bolt (22).
6. the cradle head mechanism of two-freedom according to claim 5, it is characterized in that: on described The Cloud Terrace seat (9), relatively described A limit switch (10) is set the rotation angle of base (2) the spacing position that reaches setting at The Cloud Terrace seat (9), on described base (2), described The Cloud Terrace seat (9) relatively base (2) horizontally rotate the place, limit position that angle reaches setting, one limiting stopper (11) is set, has on its A limit switch (10) with described limiting stopper (11) and touch the A reed (25) that sends rz signal.
7. the cradle head mechanism of two-freedom according to claim 6, it is characterized in that: on described The Cloud Terrace (5), relatively described B limit switch (4) is set the pendulum angle of The Cloud Terrace seat (9) the spacing position that reaches setting at The Cloud Terrace (5), on described The Cloud Terrace seat (9), described The Cloud Terrace (5) the relatively pendulum angle of The Cloud Terrace seat (9) the spacing position that reaches setting promptly is to have on fulcrum upper surface (20) and the B limit switch (4) of triangle fulcrum (27) to touch the B reed (26) that sends rz signal and touch the position of connection mutually.
8. the cradle head mechanism of two-freedom according to claim 7, it is characterized in that: described The Cloud Terrace (5) is provided with at least one attachment hole that is used for fixing (23).
9. the cradle head mechanism of two-freedom according to claim 8 is characterized in that: fix a horizontal motor (6) on the outer side wall (21) in described The Cloud Terrace (5).
10. the cradle head mechanism of two-freedom according to claim 9, it is characterized in that: described horizontal motor (6) and described motor vertical (3) are decelerating step motor, self has retarder decelerating step motor, motor stator and electric mover all are equipped with magnetic element, and promptly motor self has self-locking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020268397XU CN201803069U (en) | 2010-07-20 | 2010-07-20 | Two-degree-of-freedom pan/tilt/zoom mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020268397XU CN201803069U (en) | 2010-07-20 | 2010-07-20 | Two-degree-of-freedom pan/tilt/zoom mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN201803069U true CN201803069U (en) | 2011-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020268397XU Expired - Fee Related CN201803069U (en) | 2010-07-20 | 2010-07-20 | Two-degree-of-freedom pan/tilt/zoom mechanism |
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| CN (1) | CN201803069U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183867A (en) * | 2011-05-21 | 2011-09-14 | 辽宁省颅面复原技术重点实验室 | Three-dimension Pan/Tilt/Zoom (PTZ) camera |
| CN104155015A (en) * | 2014-08-25 | 2014-11-19 | 浙江群力电气有限公司 | Carrier moving device for electrical equipment temperature monitoring |
| CN104551866A (en) * | 2015-01-29 | 2015-04-29 | 周玉红 | Automatically-view-finding camera for assembly line |
| CN106003008A (en) * | 2016-06-15 | 2016-10-12 | 上海未来伙伴机器人有限公司 | Intelligent motor device of humanoid robot |
| CN110082359A (en) * | 2019-05-10 | 2019-08-02 | 宝山钢铁股份有限公司 | The location structure mechanical device of steel tube screw thread detection system based on image detection |
| CN110101970A (en) * | 2019-05-05 | 2019-08-09 | 西安电子科技大学 | A kind of TMS automatic therapeutic equipment based on parallel robot |
| CN110199235A (en) * | 2017-04-21 | 2019-09-03 | 深圳市大疆创新科技有限公司 | A kind of antenna module and UAV system for UAV Communication |
-
2010
- 2010-07-20 CN CN201020268397XU patent/CN201803069U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183867A (en) * | 2011-05-21 | 2011-09-14 | 辽宁省颅面复原技术重点实验室 | Three-dimension Pan/Tilt/Zoom (PTZ) camera |
| CN102183867B (en) * | 2011-05-21 | 2012-10-10 | 辽宁省颅面复原技术重点实验室 | Three-dimension Pan/Tilt/Zoom (PTZ) camera |
| CN104155015A (en) * | 2014-08-25 | 2014-11-19 | 浙江群力电气有限公司 | Carrier moving device for electrical equipment temperature monitoring |
| CN104551866A (en) * | 2015-01-29 | 2015-04-29 | 周玉红 | Automatically-view-finding camera for assembly line |
| CN106003008A (en) * | 2016-06-15 | 2016-10-12 | 上海未来伙伴机器人有限公司 | Intelligent motor device of humanoid robot |
| CN110199235A (en) * | 2017-04-21 | 2019-09-03 | 深圳市大疆创新科技有限公司 | A kind of antenna module and UAV system for UAV Communication |
| US11205841B2 (en) | 2017-04-21 | 2021-12-21 | SZ DJI Technology Co., Ltd. | Antenna assembly for communicating with unmanned aerial vehicle (UAV) and UAV system |
| CN110101970A (en) * | 2019-05-05 | 2019-08-09 | 西安电子科技大学 | A kind of TMS automatic therapeutic equipment based on parallel robot |
| CN110101970B (en) * | 2019-05-05 | 2021-09-28 | 西安电子科技大学 | TMS automatic therapeutic instrument based on parallel robot |
| CN110082359A (en) * | 2019-05-10 | 2019-08-02 | 宝山钢铁股份有限公司 | The location structure mechanical device of steel tube screw thread detection system based on image detection |
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Assignee: Zhengzhou micro nano technology Co., Ltd. Assignor: Zhou Huixing Contract record no.: 2011410000063 Denomination of utility model: Two-degree-of-freedom tripod head mechanism Granted publication date: 20110420 License type: Exclusive License Record date: 20110526 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110420 Termination date: 20160720 |