CN204062367U - A kind of ball-type wind resistance The Cloud Terrace - Google Patents
A kind of ball-type wind resistance The Cloud Terrace Download PDFInfo
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- CN204062367U CN204062367U CN201420252637.5U CN201420252637U CN204062367U CN 204062367 U CN204062367 U CN 204062367U CN 201420252637 U CN201420252637 U CN 201420252637U CN 204062367 U CN204062367 U CN 204062367U
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Abstract
The utility model relates to a kind of ball-type wind resistance The Cloud Terrace, and be provided with lightning-protection surge plate on base cavity top, base top is provided with middle cavity, and middle cavity adopts axle and bearing to be connected with support arm; Spheroid is arranged between middle cavity and support arm.Middle inside cavity is provided with horizontal conveyor drive unit.The spherical crown of spheroid both sides is connected with support arm, carries out up and down ± the rotation of 45 ° under the driving of the intermediate portion vertical driving motor of spheroid.The drum type cavity portion of spheroid intermediate portion is equipment compartment, and the main load bearing equipment on The Cloud Terrace is all arranged on drum type inside cavity, and the front panel of drum type cavity front portion is provided with various kinds of sensors window.The utility model device not only reaches the demand of special wind resistance demand and high accuracy number echo location, the multiple long-distance video sensor of accessible site simultaneously, complete various extraordinary condition monitoring task, for the associated monitoring cause such as land and sea border defense, forest-fire prevention, smart city of China provides more convenient condition.
Description
Technical field
The utility model relates to a kind of ball-type wind resistance The Cloud Terrace, belongs to safety monitoring technical field.
Background technique
At present, having remote monitoring demand, is be related to national economy mostly, the important department of national security and place.As forestry, public security, maritime affairs, frontier defense etc., the video monitoring system that they install is one of their important means of doing one's duty.If equipment is unstable or do not reach demand, adverse influence will be caused to these important industries and department.Otherwise, if can provide effective for these important departments, stable equipment, the working efficiency and task that greatly improve them are completed ability, thus is that national economy, national security etc. make remarkable contribution, therefore, the research and development success of this kind equipment is significantly.
From technological layer, long focus bigbore camera lens must be equipped with when realizing remote monitoring, require higher to the carrying capacity of The Cloud Terrace, but because viewing angle during remote monitoring is very little, slight shake, the impact gathered long-distance video is all very large, therefore just very high to the requirement of cradle head control.So, configure high-precision digital echo ball-type wind resistance The Cloud Terrace and just seem very necessary.The core technology of novel high-precision numeral echo The Cloud Terrace is control system, transmission system and surface structure, realize high positioning precision and facilitate easy-to-use using effect, first will optimize former driving mechanism, the The Cloud Terrace that existing market uses mainly adopts ac synchronous motor to add gear reduced drive.Its shortcoming is mainly difficult to eliminate due to gear transmission clearance, causes the positioning precision of The Cloud Terrace inadequate, is difficult to improve.Secondly because this kind of drive is difficult to realize large velocity ratio, make The Cloud Terrace progress angle large, thus cause positioning precision poor, control software design system supporting with it is also realize high-precision key point, needs and mechanism's close fit, coordinate operation.For meeting the needs of remote monitoring, The Cloud Terrace and integrated product needed set up outdoor lofty perch position, equipment also needs to consider that wind carries problem, therefore, when designing the surface structure of The Cloud Terrace product, emphasis to consider the firm of structure and wind load resistance ability, when requiring that equipment is out of service, effectively can lock current location, avoid wind speed and direction to change and the flating that causes.
Meanwhile, the The Cloud Terrace product of existing market supply, due to factor restrictions such as traditional structure and transmission systems, does not reach the usage requirement of remote monitoring, thus researches and develops the special The Cloud Terrace product being applicable to overlength distance monitoring very necessary.
Model utility content
The purpose of this utility model is to provide a kind of ball-type wind resistance The Cloud Terrace, adopt with Worm Wheel System is the transmission system of core and balance load structure, pass through optimal design, effective reduction air resistance coefficient, thus the torque requirement reduced driving progressive motor, adopt simultaneously the highi degree of accuracy progress motor of high torque (HT) drive with realize low-speed high-torque, positioning precision high, without the advantage of cumulative error.
To achieve these goals, the technical solution of the utility model is as follows.
A kind of ball-type wind resistance The Cloud Terrace, comprise four major components, base, middle cavity, spheroid and support arm respectively, wherein, base mainly plays support and the fixation of whole equipment, and be provided with the conversion of whole device power supply (DPS) in the cavity of chassis interior and supply interface with power supply, base cavity top is provided with lightning-protection surge plate, base top is provided with middle cavity, and middle cavity adopts axle and bearing to be connected with support arm; Spheroid is arranged between middle cavity and support arm.Circuit part needs to carry out 360 ° of continuous rotations because of whole support arm and spherical part, is thus provided with the connection of conducting slip ring realizing circuit.Middle inside cavity is provided with horizontal conveyor drive unit, and in can driving, cavity and support arm and spheroid realize 360 ° of continuous rotations.The spherical crown of spheroid both sides is connected with support arm, carries out up and down ± the rotation of 45 ° under the driving of the intermediate portion vertical driving motor of spheroid.The drum type cavity portion of spheroid intermediate portion is equipment compartment, and the main load bearing equipment on The Cloud Terrace is all arranged on drum type inside cavity, and the front panel of drum type cavity front portion is provided with various kinds of sensors window.
Drum type inside cavity is provided with drive mechanism, wherein, drum type cavity inner wall is fixed with electric machine support A and electric machine support B, electric machine support A and electric machine support B is provided with stepper motor, stepper motor is connected with toothed pulley B, toothed pulley B arranges synchronous belt, synchronous belt is connected with toothed pulley A, toothed pulley A is connected with worm screw supporting base, worm screw supporting base is fixedly installed worm screw, and worm screw is engaged with worm gear; Worm gear mandrel on worm gear connects with ball-crown body, thus achieves the transmission of the Vertical direction of ball-crown body.
One end of worm screw is provided with worm screw and disappears gap screw, and for eliminating the gap that worm screw radial direction coordinates with worm screw supporting base, worm screw supporting base is fixed on housing, can finely tune the position of engaging with worm gear by adjusting screw, in order to eliminate the gap that worm and wheel engages.
Worm gear is provided with spacing light even, on spacing light is even, is provided with the even plectrum of spacing light; The effect of spacing light idol is when equipment runs arrival specified position, provides an on-off model, simultaneously for control software design provides a position reference point to control panel.The transmission of substantially horizontal is substantially identical with Vertical direction.
Spheroid adopts the design of IP classification of waterproof, and transmission output shaft is all provided with waterproof sealing parts.No matter spherical pan head horizontally rotates or Vertical direction rotation, and rotating part is coloured silk balancing load mode all, because this eliminating static torque.Bearing in wind carries, because of the Streamline Design of complete machine, effectively reduce air resistance coefficient.Adopt axial symmetric design, in high wind speed environment, do not produce harmful torque, therefore picture steadiness significantly improves.
In said apparatus, control system comprises hardware and scheme, hardware use take SFM.32.XX as the central processing unit (CPU) of core, motor drives the voltage-type driving chip using special 128 segmentations, this chip built-in control system, inner integrated 24 high-speed counter, motor driving part divides the 128 Multi-level microstep systems being integrated with hardware, and independently completes the on off control of motor and the monitoring management of acceleration and deceleration process.Use the chip that this height is integrated, simplify the control of upper-position unit, the accurate control to stepper motor can be realized.
MCU adopts 32 AIM core processors, and Processing capacity is strong, and interface resource enriches, completely can the standby requirement of real-time control of the section of meeting.This MCU needs and carries out multiple communication need with external chip, as the SPI communication of needs 2 road, 2 road RS422 communications, carries out parallel communications etc. with VGA, this MCU can both realize, and without the need to expansion.
In addition, be strengthen human-computer dialogue ability, controller hardware be provided with Video Character Superpose circuit, can by Full Featured character menu remotely changing function setting parameter, realize long-range operation and assessment is provided convenience to arranging.Device security performance is the important guarantee of equipment working stability.The machine hardware devises multiple security protection system: (1) anti-lightning strike anti-surge circuit subtense angle, the thunderbolt of anti-10KV/S and the inrush current ability of 1000A/S can be reached.(2) arrange the multiple anti-deadlock electric power such as hardware watchdog and software watchdog to ensure, in any case, equipment all can not crash out of control.(3) arrange that machinery is firmly spacing, electronics is firmly spacing with software limit triple safe caging system, ensure that the work safety of equipment.
Consider the feature of convenience and the customized product produced, the riding modular design of complete machine electronic section, complete machine communication bus is RS422, so plug-in function module is very convenient.Owing to adopting bus design, circuit pack is simple, and function debugging is very fast convenient.Complete machine is commonly used module and is mainly seen lighting protection plate, main communication decoding deck, motor control panel, lens control plate, thermal imaging control panel, spectroscope control panel, laser current constant control plate etc.
Software scenario: the software of ball-type wind resistance The Cloud Terrace is embedded software, adopt modular design, main functional modules comprises: the management of Electric Machine Control, Communication Control, protocol-decoding, character module, the management of digital echo, E
2rOM management, spacingly correct with benchmark function modules such as managing.
Communication Control and Electric Machine Control are two Core Features that whole master control borad will complete, communication module is mainly decoded to the communication instruction of upper-position unit, according to the feature of the machine, the expansion that we carry out PELCO-D agreement, equipment is made to add the function of much necessity, Electric Machine Control is the core of whole equipment, directly solves the height of equipment operation and positioning precision.
Electric Machine Control part, we adopt New-type electric machine control chip, this motor control chip is integrated with a digital control kernel, chip is by the Motion curves order of SPI interface MCU, motion is automatically performed according to preset acceleration and velocity curve, its control logic circuit is a state machine that can arrange, and can receive and preserve all kinds of parameters relevant to motor movement.By can realize 128 segmentations of stepper motor to the accurate control of phase current, digital control kernel inside is integrated with 22 absolute position counters, and MCU is by the absolute position of instructions query current motor.This chip adopts complicated compensation voltage control mode to control motor torque, and more traditional current control mode step motor control is more accurate.Torque and speed is added while reducing running noise.In general, adopt this control mode that Systematical control can be made to become more smooth and easy.
While main chamber plate completes Electric Machine Control and communication decoding, after also needing that all kinds of Operational Limits is carried out calculation process, fixing data format is become to upload to upper-position unit data compilation.Master control borad carries out length of run control by keyboard, can directly directly operate equipment integrated on The Cloud Terrace, change parameters.Also by every parameters of Full Featured on-screen menu query facility, or various functions setting can be changed.
The control software design system of numeral wind resistance The Cloud Terrace is except completing above-mentioned all controlling functions, the function also supported has, and the scanning of the presetting bit function of platform-lens, automatic cruising function, apple skin, automatically keeps watch bit function, AB two spot scan, 3D manipulation function, clicks locating function and arrive the function of specified position according to upper-position unit instruction.
The beneficial effect of this model utility is: the lock in place that the know-why that this programme relates to mainly contains worm and gear self-locking transmission principle, balance wind carries anti-jitter principle and progressive motor with without cumulative error principle.The key technology of this programme in structural design is that requirement reaches Zero-drive Chain gap, and for eliminating drive gap, we are provided with three-dimensional dual free dimension transmission gap adjusting mechanism, effectively eliminate drive gap, thus ensure that the high position precision of The Cloud Terrace.This high accuracy number echo ball-type wind resistance The Cloud Terrace not only reaches the demand of special wind resistance demand and high accuracy number echo location, the multiple long-distance video sensor of accessible site simultaneously, complete various extraordinary condition monitoring task, for the associated monitoring cause such as land and sea border defense, forest-fire prevention, smart city of China provides more convenient condition.
Accompanying drawing explanation
Fig. 1 is institute's operative installations drive mechanism schematic diagram in the utility model embodiment.
Fig. 2 is institute's operative installations external structure schematic diagram in the utility model embodiment.
Description of symbols in figure: 1, worm screw supporting base; 2, worm screw; 3, toothed pulley A; 4, synchronous belt; 5, electric machine support A; 6, toothed pulley B; 7, stepper motor; 8, electric machine support B; 9, the even seat of spacing light; 10, worm gear; 11, the even plectrum of spacing light; 12, spacing light is even; 13, worm screw disappears gap screw; 14, base; 15, middle cavity; 16, spheroid; 17, support arm; 18, drum type cavity.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described, better to understand the utility model.
Spherical pan head as shown in Figure 1 and Figure 2, it comprises four major components, is base 14, middle cavity 15, spheroid 16 and support arm 17 respectively, and wherein, base 14 mainly plays support and the fixation of whole equipment.Be provided with the conversion of whole device power supply (DPS) in the cavity of base 14 inside and supply interface with power supply, base 14 cavity top is provided with lightning-protection surge plate, and base 14 top is provided with middle cavity 15, and middle cavity 15 adopts axle and bearing to be connected with support arm 17; Spheroid 16 is arranged between middle cavity 15 and support arm 17.Circuit part needs to carry out 360 ° of continuous rotations with spheroid 16 part because of whole support arm 17, is thus provided with the connection of conducting slip ring realizing circuit.Middle cavity 15 inside is provided with horizontal conveyor drive unit, and in can driving, cavity 15 and support arm 17 and spheroid 16 realize 360 ° of continuous rotations.The spherical crown of spheroid 16 both sides is connected with support arm 17, carries out up and down ± the rotation of 45 ° under the driving of the intermediate portion vertical driving motor of spheroid 16.Drum type cavity 18 part of spheroid 16 intermediate portion is equipment compartment, and it is inner that the main load bearing equipment on The Cloud Terrace is all arranged on drum type cavity 18, and the front panel of drum type cavity 18 front portion is provided with various kinds of sensors window.
Drum type cavity 18 inside is provided with drive mechanism, wherein, drum type cavity 18 inwall is fixed with electric machine support A5 and electric machine support B8, electric machine support A5 and electric machine support B8 is provided with stepper motor 7, stepper motor 7 is connected with toothed pulley B6, toothed pulley B6 is arranged synchronous belt 4, synchronous belt 4 is connected with toothed pulley A3, toothed pulley A3 is connected with worm screw supporting base 1, worm screw supporting base 1 is fixedly installed worm screw 2, worm screw 2 is engaged with worm gear 10; Worm gear mandrel on worm gear 10 connects with ball-crown body, thus achieves the transmission of the Vertical direction of ball-crown body.
One end of worm screw 2 is provided with worm screw and disappears gap screw 13, for eliminating the gap that worm screw 2 radial direction coordinates with worm screw supporting base 1, worm screw supporting base 1 is fixed on housing, can be finely tuned the position of engaging with worm gear 10 by adjusting screw, in order to eliminate the gap that worm screw 2 engages with worm gear 10.
Worm gear 10 is provided with spacing light even 12, spacing light even 12 is provided with the even plectrum 11 of spacing light; The effect of spacing light even 12 is when equipment runs arrival specified position, provides an on-off model, simultaneously for control software design provides a position reference point to control panel.The transmission of substantially horizontal is substantially identical with Vertical direction.
Spheroid 16 adopts IP67 classification of waterproof to design, and transmission output shaft is all provided with waterproof sealing parts.No matter spherical pan head horizontally rotates or Vertical direction rotation, and rotating part is coloured silk balancing load mode all, because this eliminating static torque.Bearing in wind carries, because of the Streamline Design of complete machine, effectively reduce air resistance coefficient.Adopt axial symmetric design, in high wind speed environment, do not produce harmful torque, therefore picture steadiness significantly improves.
In said apparatus, control system comprises hardware and scheme, hardware use take SFM.32.XX as the central processing unit (CPU) of core, motor drives the voltage-type driving chip using special 128 segmentations, this chip built-in control system, inner integrated 24 high-speed counter, motor driving part divides the 128 Multi-level microstep systems being integrated with hardware, and independently completes the on off control of motor and the monitoring management of acceleration and deceleration process.Use the chip that this height is integrated, simplify the control of upper-position unit, the accurate control to stepper motor can be realized.
MCU adopts 32 AIM core processors, and Processing capacity is strong, and interface resource enriches, and can meet the requirement of real-time control of equipment completely.This MCU needs and carries out multiple communication need with external chip, as the SPI communication of needs 2 road, 2 road RS422 communications, carries out parallel communications etc. with VGA, this MCU can both realize, and without the need to expansion.
In addition, be strengthen human-computer dialogue ability, controller hardware be provided with Video Character Superpose circuit, can by Full Featured character menu remotely changing function setting parameter, realize long-range operation and assessment is provided convenience to arranging.Device security performance is the important guarantee of equipment working stability.The machine hardware devises multiple security protection system: (1) anti-lightning strike anti-surge circuit subtense angle, the thunderbolt of anti-10KV/S and the inrush current ability of 1000A/S can be reached.(2) arrange the multiple anti-deadlock electric power such as hardware watchdog and software watchdog to ensure, in any case, equipment all can not crash out of control.(3) arrange that machinery is firmly spacing, electronics is firmly spacing with software limit triple safe caging system, ensure that the work safety of equipment.
Consider the feature of convenience and the customized product produced, the riding modular design of complete machine electronic section, complete machine communication bus is RS422, so plug-in function module is very convenient.Owing to adopting bus design, circuit pack is simple, and function debugging is very fast convenient.Complete machine is commonly used module and is mainly seen lighting protection plate, main communication decoding deck, motor control panel, lens control plate, thermal imaging control panel, spectroscope control panel, laser current constant control plate etc.
Software scenario: the software of ball-type wind resistance The Cloud Terrace is embedded software, adopt modular design, main functional modules comprises: the management of Electric Machine Control, Communication Control, protocol-decoding, character module, the management of digital echo, E
2rOM management, spacingly correct with benchmark function modules such as managing.
Communication Control and Electric Machine Control are two Core Features that whole master control borad will complete, communication module is mainly decoded to the communication instruction of upper-position unit, according to the feature of the machine, the expansion that we carry out PELCO-D agreement, equipment is made to add the function of much necessity, Electric Machine Control is the core of whole equipment, directly solves the height of equipment operation and positioning precision.
Electric Machine Control part, we adopt New-type electric machine control chip, this motor control chip is integrated with a digital control kernel, chip is by the Motion curves order of SPI interface MCU, motion is automatically performed according to preset acceleration and velocity curve, its control logic circuit is a state machine that can arrange, and can receive and preserve all kinds of parameters relevant to motor movement.By can realize 128 segmentations of stepper motor to the accurate control of phase current, digital control kernel inside is integrated with 22 absolute position counters, and MCU is by the absolute position of instructions query current motor.This chip adopts complicated compensation voltage control mode to control motor torque, and more traditional current control mode step motor control is more accurate.Torque and speed is added while reducing running noise.In general, adopt this control mode that Systematical control can be made to become more smooth and easy.
While master control borad completes Electric Machine Control and communication decoding, after also needing that all kinds of Operational Limits is carried out calculation process, fixing data format is become to upload to upper-position unit data compilation.Master control borad carries out length of run control by keyboard, can directly directly operate equipment integrated on The Cloud Terrace, change parameters.Also by every parameters of Full Featured on-screen menu query facility, or various functions setting can be changed.
The control software design system of numeral wind resistance The Cloud Terrace is except completing above-mentioned all controlling functions, the function also supported has, and the scanning of the presetting bit function of platform-lens, automatic cruising function, apple skin, automatically keeps watch bit function, AB two spot scan, 3D manipulation function, clicks locating function and arrive the function of specified position according to upper-position unit instruction.
The above is preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications are also considered as protection domain of the present utility model.
Claims (2)
1. a ball-type wind resistance The Cloud Terrace, comprise four major components, base, middle cavity, spheroid and support arm respectively, it is characterized in that: the conversion of whole device power supply (DPS) is installed in the cavity of described chassis interior and supplies interface with power supply, described base cavity top is provided with lightning-protection surge plate, described base top is provided with middle cavity, and described middle cavity adopts axle and bearing to be connected with support arm; Described spheroid is arranged between middle cavity and support arm; Described middle inside cavity is provided with horizontal conveyor drive unit; The spherical crown of described spheroid both sides is connected with support arm, and the intermediate portion of described spheroid is provided with vertical driving motor; The drum type cavity portion of described spheroid intermediate portion is equipment compartment, and the front panel of described drum type cavity front portion is provided with various kinds of sensors window.
2. spherical wind resistance The Cloud Terrace according to claim 1, it is characterized in that: described drum type cavity inner wall is fixed with electric machine support A and electric machine support B, described electric machine support A and electric machine support B is provided with stepper motor, described stepper motor is connected with toothed pulley B, described toothed pulley B arranges synchronous belt, described synchronous belt is connected with toothed pulley A, described toothed pulley A is connected with worm screw supporting base, described worm screw supporting base is fixedly installed worm screw, and described worm screw is engaged with worm gear; Worm gear mandrel on described worm gear connects with ball-crown body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420252637.5U CN204062367U (en) | 2014-05-19 | 2014-05-19 | A kind of ball-type wind resistance The Cloud Terrace |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420252637.5U CN204062367U (en) | 2014-05-19 | 2014-05-19 | A kind of ball-type wind resistance The Cloud Terrace |
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| CN204062367U true CN204062367U (en) | 2014-12-31 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106870892A (en) * | 2017-03-30 | 2017-06-20 | 北京索斯克科技开发有限公司 | It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking |
| CN107111322A (en) * | 2016-12-12 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Head and its operating method, control method, and use its movable equipment |
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN110260115A (en) * | 2019-06-11 | 2019-09-20 | 北京理工大学 | A kind of integrated microminiature general holder |
| US11036228B2 (en) | 2016-12-12 | 2021-06-15 | SZ DJI Technology Co., Ltd. | Method and system for stabilizing a payload |
| CN114151529A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Spherical harmonic reducer holder |
-
2014
- 2014-05-19 CN CN201420252637.5U patent/CN204062367U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107111322A (en) * | 2016-12-12 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Head and its operating method, control method, and use its movable equipment |
| US11036228B2 (en) | 2016-12-12 | 2021-06-15 | SZ DJI Technology Co., Ltd. | Method and system for stabilizing a payload |
| CN106870892A (en) * | 2017-03-30 | 2017-06-20 | 北京索斯克科技开发有限公司 | It is a kind of can be from the compact high precision worm and gear self-locking head of motion tracking |
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN110260115A (en) * | 2019-06-11 | 2019-09-20 | 北京理工大学 | A kind of integrated microminiature general holder |
| CN114151529A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Spherical harmonic reducer holder |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20150519 |
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| EXPY | Termination of patent right or utility model |