CN210462235U - Cloud platform lift rotation mechanism and inspection robot thereof - Google Patents
Cloud platform lift rotation mechanism and inspection robot thereof Download PDFInfo
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- CN210462235U CN210462235U CN201921279513.5U CN201921279513U CN210462235U CN 210462235 U CN210462235 U CN 210462235U CN 201921279513 U CN201921279513 U CN 201921279513U CN 210462235 U CN210462235 U CN 210462235U
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Abstract
The utility model discloses a cloud platform lift rotation mechanism and inspection robot thereof, this cloud platform lift rotation mechanism, which comprises a bracket, follow vertical rotatory guide cylinder that is provided with on the support, be provided with the crane in the rotatory guide cylinder, the crane with be provided with vertical leading part between the rotatory guide cylinder, be provided with on the support and be used for driving the lift frame and carry out elevating movement's lift driver part along vertical leading part in the rotatory guide cylinder, still be provided with on the support and be used for driving the gyration driver part of rotatory guide cylinder at the support upper level gyration, rotatory guide cylinder drives the synchronous gyration of crane through vertical leading part when the level gyration. The utility model provides a cloud platform lift rotation mechanism can drive the cloud platform and go up and down and turn around to satisfy the camera and shoot height and position demand, overall structure is simple, and goes up and down and the stable easy control of gyration.
Description
Technical Field
The utility model relates to the technical field of robots, concretely relates to cloud platform lift rotation mechanism and inspection robot thereof.
Background
The patrol robot carries the camera, can replace the prison on duty personnel to carry out night patrol of the prison room, check the work and rest condition and night activity of the prison personnel, reduce the working pressure of the prison on duty, reduce the danger of the prison police, and improve the safety supervision level of the prison. The tripod head is a supporting device for mounting and fixing the camera, and in order to enable the camera to have a larger shooting range, a tripod head lifting and rotating mechanism is needed so as to drive the tripod head to realize lifting and rotating functions, and further meet the requirements of the camera on shooting height and direction.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at: in order to enable the inspection robot camera to have a larger shooting range, the problems of lifting and rotating functions of a tripod head are needed to be solved, and the tripod head lifting and rotating mechanism is provided and can drive the tripod head to lift and rotate, so that the requirements of the camera on shooting height and direction are met.
In order to realize the purpose, the utility model discloses a technical scheme be:
the utility model provides a cloud platform lift rotation mechanism, includes the support, be provided with rotatory guide cylinder along vertical on the support, be provided with the crane in the rotatory guide cylinder, the crane with be provided with vertical guide part between the rotatory guide cylinder, be provided with on the support and be used for driving the lift frame and carry out the lift drive part of elevating movement along vertical guide part in the rotatory guide cylinder, still be provided with on the support and be used for driving the rotation driving part of rotatory guide cylinder at the support upper level gyration, rotatory guide cylinder drives the synchronous gyration of crane through vertical guide part when the level gyration.
The utility model discloses an along vertical rotatory guide cylinder that sets up on the support, be provided with the crane in rotatory guide cylinder, and be provided with vertical leading part between crane and rotatory guide cylinder, drive the crane and carry out elevating movement along vertical leading part in rotatory guide cylinder through setting up the lift driver part, the gyration driver part drives rotatory guide cylinder and revolves at the support upper level simultaneously, and this rotatory guide cylinder drives the synchronous gyration of crane through vertical leading part when the horizontal gyration, this cloud platform lift rotation mechanism can drive the cloud platform and go up and down and turn round, thereby satisfy the camera and shoot height and position demand, the overall structure is simple, and go up and down and turn round stably easy control.
As the utility model discloses an optimal scheme, the guide block of rotatory guide cylinder inner wall is located including the symmetry to vertical guide part to and the corresponding gib block of locating on the crane, set up the guide way with the gib block adaptation on the guide block. Through set up the guide block at the rotary guide section of thick bamboo inner wall to set up the gib block on the crane, and the gib block and the guide way adaptation on the guide block, when the crane is in the lifting motion in the rotary guide section of thick bamboo, this vertical guide part is used for carrying out vertical direction to the crane.
As the utility model discloses an optimal scheme, the lift drive part includes along vertical lead screw motor and the screw-nut of setting on the support, even there is the shift fork that the level was arranged on the screw-nut, the shift fork with but the crane lower extreme swivelling joint. Through setting up lead screw motor and screw-nut, because even there is the shift fork of level arrangement on the screw-nut, and but shift fork and crane lower extreme swivelling joint, when screw-nut moves along the lead screw, drive shift fork elevating movement, and then drive the crane through the shift fork and carry out elevating movement, and the crane has the horizontal gyration degree of freedom for the shift fork for the crane can be along with the synchronous gyration of rotary guide section of thick bamboo.
As the preferred scheme of the utility model, the shift fork with still be equipped with the bearing that the level was arranged between the crane lower extreme. Through set up the bearing between shift fork and crane lower extreme, can be so that the crane is more nimble steady when the horizontal gyration, and reduced the frictional force of crane when for the shift fork gyration.
As the utility model discloses an optimal scheme, cloud platform lift rotation mechanism is still including the stop device who is used for controlling crane extreme displacement, stop device is including locating the photoelectric switch of two places about the support to and locate the lift tablet on the shift fork. Through two places set up photoelectric switch about the support to set up lift tablet on the shift fork, when screw-nut drove shift fork elevating movement, lift tablet can be sensed by photoelectric switch, and then realizes the control to crane limit displacement.
As the utility model discloses a preferred scheme, the rotation driving part is including locating the ring gear of rotatory guide cylinder outer wall to and locate the driving motor on the support, be equipped with the gear with ring gear engaged with on the driving motor output shaft. The gear ring is arranged on the outer wall of the rotary guide cylinder, the driving motor is arranged on the support, and the gear meshed with the gear ring is arranged on the output shaft of the driving motor, so that the rotary guide cylinder is driven to horizontally rotate on the support.
As the utility model discloses a preferred scheme, the support includes bottom plate, medium plate and the roof that parallel interval set up be provided with a plurality of spliced poles between bottom plate and the medium plate, between medium plate and the roof, all spliced poles are located the periphery of rotary guide section of thick bamboo and crane, just rotary guide section of thick bamboo is installed on roof and medium plate. By adopting the bracket, the structure is simple, and the processing and the manufacturing are easy.
As the preferred scheme of the utility model, the rotary guide section of thick bamboo outer wall still be equipped with roof, the corresponding copper sheathing of medium plate position. Through set up the copper sheathing at rotatory guide cylinder outer wall, can increase the wearability of rotatory guide cylinder for support roof, medium plate.
As the utility model discloses an optimal scheme, the crane includes the curb plate of two parallel interval settings to and locate the connecting plate between the board of both sides, the crane lower extreme still is equipped with the end plate. Adopt above-mentioned crane, simple structure easily manufacturing.
The utility model also provides a tour robot, including above cloud platform lift rotation mechanism. After the cloud platform lifting and rotating mechanism is adopted on a patrol robot, the robot can drive the cloud platform to lift and rotate through the mechanism when patrolling, so that the requirements of the camera on shooting height and direction are met, the camera can have a larger shooting range, abnormal conditions and potential hidden dangers in patrolling can be found in time, and the safety supervision level of prisons is improved.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model discloses a along vertical rotatory guide cylinder that sets up on the support, be provided with the crane in rotatory guide cylinder, and be provided with vertical guide part between crane and rotatory guide cylinder, drive the crane to carry out the elevating movement along vertical guide part in rotatory guide cylinder through setting up the lift drive part, the gyration drive part drives rotatory guide cylinder and horizontally revolves on the support simultaneously, and this rotatory guide cylinder drives the crane synchronous revolution through vertical guide part when horizontal revolution, this cloud platform lift rotation mechanism can drive the cloud platform and go up and down and revolve, thereby satisfy camera shooting height and position demand, overall structure is simple, and go up and down and revolve stably easy control;
2. the utility model arranges the guide block on the inner wall of the rotary guide cylinder, and arranges the guide strip on the lifting frame, and the guide strip is matched with the guide groove on the guide block, when the lifting frame moves up and down in the rotary guide cylinder, the vertical guide part is used for vertically guiding the lifting frame;
3. the utility model has the advantages that by arranging the lead screw motor and the lead screw nut, as the lead screw nut is connected with the shifting fork which is horizontally arranged and the shifting fork can be rotatablely connected with the lower end of the lifting frame, when the lead screw nut moves along the lead screw, the shifting fork is driven to move up and down, and then the lifting frame is driven to move up and down through the shifting fork, and the lifting frame has horizontal rotation freedom degree relative to the shifting fork, so that the lifting frame can synchronously rotate along with the rotary guide cylinder;
4. the utility model can make the lifting frame more flexible and stable when horizontally rotating by arranging the bearing between the lower ends of the shifting fork and the lifting frame, and reduce the friction force of the lifting frame when rotating relative to the shifting fork;
5. the utility model discloses a set up the ring gear at rotatory guide cylinder outer wall, set up driving motor on the support to set up the gear with ring gear engaged with on the driving motor output shaft, thereby the rotatory guide cylinder of drive is horizontal gyration on the support.
Drawings
Fig. 1 is a perspective view of the tripod head lifting and rotating mechanism of the present invention.
Fig. 2 is a sectional view of the tripod head lifting and rotating mechanism of the present invention.
FIG. 3 is a partial schematic view of the rotary guide cylinder of FIG. 2.
Fig. 4 is a partial schematic view of the fork of fig. 2.
Fig. 5 is a perspective view of the rotary guide cylinder.
Fig. 6 is a perspective view of the lifting frame.
The labels in the figure are: 1-bracket, 11-bottom plate, 12-middle plate, 13-top plate, 14-connecting column, 15-spacer bush, 16-press ring, 2-rotary guide cylinder, 21-flange, 3-lifting frame, 31-side plate, 32-connecting plate, 33-end plate, 41-guide block, 42-guide strip, 43-stop block, 51-screw rod motor, 52-screw rod nut, 53-shifting fork ring, 54-shifting fork, 55-bearing, 56-isolation ring, 57-press plate, 58-press ring, 61-photoelectric switch, 62-lifting induction plate, 71-gear ring, 72-drive motor, 73-gear, 74-baffle plate, 75-support ring and 8-copper bush.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
The embodiment provides a tripod head lifting slewing mechanism;
as shown in fig. 1-6, the pan/tilt/swing mechanism in this embodiment includes a support 1, a rotary guide cylinder 2 is vertically disposed on the support 1, a lifting frame 3 is disposed in the rotary guide cylinder 2, a vertical guide component is disposed between the lifting frame 3 and the rotary guide cylinder 2, a lifting drive component for driving the lifting frame 3 to perform lifting motion in the rotary guide cylinder 2 along the vertical guide component is disposed on the support 1, a swing drive component for driving the rotary guide cylinder 2 to horizontally swing on the support 1 is further disposed on the support 1, and the rotary guide cylinder 2 drives the lifting frame 3 to synchronously swing through the vertical guide component when horizontally swinging.
The utility model discloses an along vertical rotatory guide cylinder that sets up on the support, be provided with the crane in rotatory guide cylinder, and be provided with vertical leading part between crane and rotatory guide cylinder, drive the crane and carry out elevating movement along vertical leading part in rotatory guide cylinder through setting up the lift driver part, the gyration driver part drives rotatory guide cylinder and revolves at the support upper level simultaneously, and this rotatory guide cylinder drives the synchronous gyration of crane through vertical leading part when the horizontal gyration, this cloud platform lift rotation mechanism can drive the cloud platform and go up and down and turn round, thereby satisfy the camera and shoot height and position demand, the overall structure is simple, and go up and down and turn round stably easy control.
In this embodiment, the support 1 includes a bottom plate 11, a middle plate 12 and a top plate 13, which are arranged in parallel at intervals, a plurality of connecting columns 14 are arranged between the bottom plate 11 and the middle plate 12 and between the middle plate 12 and the top plate 13, all the connecting columns 14 are located at the peripheries of the rotary guide cylinder 2 and the lifting frame 3, and the rotary guide cylinder 2 is installed on the top plate 13 and the middle plate 12. In this embodiment, the outer wall of the rotary guide cylinder 2 is further provided with a copper sleeve 8 corresponding to the top plate 13 and the middle plate 12. Through set up the copper sheathing at rotatory guide cylinder outer wall, can increase the wearability of rotatory guide cylinder for support roof, medium plate.
In this embodiment, an annular flange 21 is provided on the outer wall of the rotary guide cylinder 2, the copper bush 8 on the upper portion of the rotary guide cylinder 2 is attached to the lower side of the flange 21, the annular spacer 15 is provided on the top plate 13, the spacer 15 is used to support the copper bush 8 on the upper portion of the rotary guide cylinder 2, the annular pressing ring 16 is provided on the spacer 15, the pressing ring 16 is used to limit the flange 21, and the middle plate 12 supports the copper bush 8 on the lower portion of the rotary guide cylinder 2.
In this embodiment, the lifting frame 3 includes two side plates 31 arranged in parallel at intervals, and a connecting plate 32 arranged between the two side plates 31, and the lower end of the lifting frame 3 is further provided with an end plate 33. Adopt above-mentioned crane, simple structure easily manufacturing.
In this embodiment, the vertical guide component includes the guide block 41 symmetrically arranged on the inner wall of the rotary guide cylinder 2 and two guide bars 42 correspondingly arranged on two sides of the lifting frame 3, and a guide groove adapted to the guide bars 42 is formed on the guide block 41. The number of the guide blocks 41 is four, and two guide blocks 41 are provided at the upper and lower portions of the rotary guide cylinder 2, and the guide block 41 at the lower portion is supported by a stopper 43, and the stopper 43 is coupled to the inner wall of the rotary guide cylinder 2 by a bolt. Through set up the guide block at the rotary guide section of thick bamboo inner wall to set up the gib block on the crane, and the gib block and the guide way adaptation on the guide block, when the crane is in the lifting motion in the rotary guide section of thick bamboo, this vertical guide part is used for carrying out vertical direction to the crane.
In this embodiment, the lifting driving part comprises a screw motor 51 and a screw nut 52 which are vertically arranged on the support 1, the screw nut 52 is connected with a horizontally arranged shifting fork 54 through a shifting fork ring 53, and the shifting fork 54 is rotatably connected with the lower end of the lifting frame 3. Through setting up lead screw motor and screw-nut, because even there is the shift fork of level arrangement on the screw-nut, and but shift fork and crane lower extreme swivelling joint, when screw-nut moves along the lead screw, drive shift fork elevating movement, and then drive the crane through the shift fork and carry out elevating movement, and the crane has the horizontal gyration degree of freedom for the shift fork for the crane can be along with the synchronous gyration of rotary guide section of thick bamboo.
In the embodiment, a bearing 55 horizontally arranged is further arranged between the shifting fork 54 and the lower end of the lifting frame 3, specifically, the bearing 55 is arranged on the shifting fork 54, an isolation ring 56 is arranged on the inner ring of the bearing 55, the upper end of the isolation ring 56 is connected with the end plate 33 at the lower end of the lifting frame 3, a pressure plate 57 is arranged at the lower end of the isolation ring 56, the pressure plate 57 and the isolation ring 56 jointly position the inner ring of the bearing 55, and the pressure plate 57 is connected with the isolation ring 56 and the lifting frame end plate 33 into a whole through bolts; the outer ring of the bearing 55 is provided with a pressing ring 58, the pressing ring 58 is connected with the shifting fork 54 through a bolt, and the pressing ring 58 and the shifting fork 54 jointly position the outer ring of the bearing 55. Through set up the bearing between shift fork and crane lower extreme, can be so that the crane is more nimble steady when the horizontal gyration, and reduced the frictional force of crane when for the shift fork gyration.
In this embodiment, the tripod head lifting and rotating mechanism further includes a limiting device for controlling the extreme displacement of the lifting frame 3, and the limiting device includes photoelectric switches 61 arranged at the upper and lower positions of the support 1, and a lifting induction plate 62 arranged on the shifting fork 54. Through two places set up photoelectric switch about the support to set up lift tablet on the shift fork, when screw-nut drove shift fork elevating movement, lift tablet can be sensed by photoelectric switch, and then realizes the control to crane limit displacement.
In this embodiment, the rotation driving component includes a gear ring 71 disposed on the outer wall of the rotary guide cylinder 2, and a driving motor 72 disposed on the bracket 1, and a gear 73 engaged with the gear ring 71 is disposed on an output shaft of the driving motor 72; the upper side and the lower side of the gear ring 71 are correspondingly provided with a baffle plate 74 and a supporting ring 75, and the gear ring 71, the baffle plate 74 and the supporting ring 75 are connected with the rotary guide cylinder 2 into a whole through bolts. The gear ring is arranged on the outer wall of the rotary guide cylinder, the driving motor is arranged on the support, and the gear meshed with the gear ring is arranged on the output shaft of the driving motor, so that the rotary guide cylinder is driven to horizontally rotate on the support.
Example 2
The embodiment also provides a patrol robot, which comprises the holder lifting and slewing mechanism in the embodiment 1. After the cloud platform lifting and rotating mechanism is adopted on a patrol robot, the robot can drive the cloud platform to lift and rotate through the mechanism when patrolling, so that the requirements of the camera on shooting height and direction are met, the camera can have a larger shooting range, abnormal conditions and potential hidden dangers in patrolling can be found in time, and the safety supervision level of prisons is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. The utility model provides a cloud platform lift rotation mechanism, its characterized in that, includes the support, be provided with the rotary guide section of thick bamboo along vertical on the support, be provided with the crane in the rotary guide section of thick bamboo, the crane with be provided with vertical leading part between the rotary guide section of thick bamboo, be provided with on the support and be used for driving the lift frame and carry out the lift drive part of elevating movement along vertical leading part in the rotary guide section of thick bamboo, still be provided with on the support and be used for driving the rotary drive part of rotary guide section of thick bamboo at the support upper level gyration, the rotary guide section of thick bamboo drives the synchronous gyration of crane through vertical leading part when horizontal gyration.
2. The tripod head lifting and slewing mechanism of claim 1, wherein the vertical guiding members comprise guiding blocks symmetrically disposed on an inner wall of the rotary guiding cylinder and guiding bars correspondingly disposed on the lifting frame, and the guiding blocks are provided with guiding grooves adapted to the guiding bars.
3. A tripod head lifting and turning mechanism as claimed in claim 1 or 2, wherein the lifting driving means comprises a lead screw motor and a lead screw nut vertically disposed on the support, and the lead screw nut is connected with a horizontally disposed shifting fork, and the shifting fork is rotatably connected with the lower end of the lifting frame.
4. The tripod head lifting and slewing mechanism of claim 3, wherein a horizontally disposed bearing is further disposed between the shifting fork and the lower end of the lifting frame.
5. A tripod head lifting and slewing mechanism according to claim 3, further comprising a limiting device for controlling the extreme displacement of the lifting frame, wherein the limiting device comprises photoelectric switches disposed at the upper and lower positions of the support, and a lifting sensing plate disposed on the shifting fork.
6. A tripod head lifting and slewing mechanism according to claim 1 or 2, wherein the slewing drive member comprises a gear ring provided on an outer wall of the rotary guide drum, and a drive motor provided on the support, and a gear engaged with the gear ring is provided on an output shaft of the drive motor.
7. The tripod head lifting and slewing mechanism of claim 1, wherein said support comprises a bottom plate, a middle plate and a top plate arranged in parallel at intervals, a plurality of connecting columns are arranged between said bottom plate and said middle plate and between said middle plate and said top plate, all connecting columns are located at the periphery of the rotary guide cylinder and said lifting frame, and said rotary guide cylinder is mounted on said top plate and said middle plate.
8. The tripod head elevating and slewing mechanism of claim 7, wherein the outer wall of said rotating guide cylinder is further provided with a copper sleeve corresponding to the position of said top plate and middle plate.
9. The tripod head lifting and slewing mechanism of claim 1, wherein the lifting frame comprises two side plates spaced apart from each other in parallel, and a connecting plate disposed between the two side plates, and an end plate is further disposed at a lower end of the lifting frame.
10. A patrol robot comprising the pan-tilt swing mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279513.5U CN210462235U (en) | 2019-08-08 | 2019-08-08 | Cloud platform lift rotation mechanism and inspection robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279513.5U CN210462235U (en) | 2019-08-08 | 2019-08-08 | Cloud platform lift rotation mechanism and inspection robot thereof |
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| Publication Number | Publication Date |
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| CN210462235U true CN210462235U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921279513.5U Active CN210462235U (en) | 2019-08-08 | 2019-08-08 | Cloud platform lift rotation mechanism and inspection robot thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110425389A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of holder up-down swing mechanism and its inspecting robot |
| CN115195940A (en) * | 2022-09-16 | 2022-10-18 | 苏州海鱼电子科技有限责任公司 | Convenient sonar jack for type ship |
-
2019
- 2019-08-08 CN CN201921279513.5U patent/CN210462235U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110425389A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of holder up-down swing mechanism and its inspecting robot |
| CN115195940A (en) * | 2022-09-16 | 2022-10-18 | 苏州海鱼电子科技有限责任公司 | Convenient sonar jack for type ship |
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