CN212537300U

CN212537300U - Double-freedom-degree cradle head based on brushless DC motor

Info

Publication number: CN212537300U
Application number: CN202020735537.3U
Authority: CN
Inventors: 张振; 苏为洲; 谭敏哲; 李俊辉
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-02-12
Anticipated expiration: 2030-05-08

Abstract

The utility model discloses a two-degree-of-freedom cradle head based on a DC brushless motor, which comprises a camera, a U-shaped camera bracket, a Y-shaped bracket, a first DC brushless motor, a second DC brushless motor, a first encoder, a second encoder, a motor driving wheel, a limiting ring, an encoder driving wheel, a base and a shell; the first direct current brushless motor is fixed on the base, the first encoder is fixed on the shell, the shell is fixed on the base, a motor driving wheel fixed on the first direct current brushless motor is connected with an encoder driving wheel fixed on an output shaft of the first encoder through a conveying belt, the Y-shaped support is arranged on the motor driving wheel, the limiting ring is arranged between the Y-shaped support and the motor driving wheel, the second direct current brushless motor is fixed on one side of the Y-shaped support, the second encoder is fixed on the other side of the Y-shaped support, one side of the U-shaped camera support is connected with an output shaft of the second encoder through a flange, the other side of the U-shaped camera support is connected with a rotating part of the second direct current brushless motor.

Description

Double-freedom-degree cradle head based on brushless DC motor

Technical Field

The utility model belongs to vision servo, concretely relates to two degree of freedom cloud platforms based on direct current brushless motor.

Background

Chinese patent 201720454106.8 discloses a visual servo pan-tilt based on a stepping motor, which comprises a camera support frame, a horizontal rotation plate, a left support frame, a right support frame, an encoder fixing plate, a first and a second stepping motors, a camera, a first and a second encoders; the camera support frame is arranged between the left support frame and the right support frame, the second encoder is fixed on the outer side of the right support frame, the camera is positioned on the lower side of the camera support frame, the second stepping motor is positioned between the left support frame and the right support frame, and the upper side of the first stepping motor or the encoder fixing plate is fixed with the carrier. But this utility model an aspect structure is compact enough, the inconvenient assembly of vertical direction volume overlength, and on the other hand step motor is bulky and heavier, and response speed is slower.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a compact structure is small, response speed is very fast based on DC brushless motor's two degree of freedom cloud platform devices.

The utility model discloses at least, one of following technical scheme realizes.

A two-degree-of-freedom cradle head based on a DC brushless motor comprises a camera, a U-shaped camera support, a Y-shaped support, a first DC brushless motor, a second DC brushless motor, a first encoder, a second encoder, a motor driving wheel, a limiting ring, an encoder driving wheel, a base and a shell; the shell is arranged on the base, the first encoder is fixed on the shell, the first direct current brushless motor is fixed on the base, and the motor driving wheel is fixed on a rotating part of the first direct current brushless motor; the encoder driving wheel is fixed on an output shaft of the first encoder and is connected with the motor driving wheel through a conveyor belt; the Y-shaped bracket is arranged on the motor driving wheel; the limiting ring is arranged between the Y-shaped bracket and the motor driving wheel; the second brushless DC motor is fixed on one side of the Y-shaped bracket, and the second encoder is fixed on the other side of the Y-shaped bracket; the second direct current brushless motor is connected with the second encoder through the U-shaped camera support, and the camera is fixed in the middle of the U-shaped camera support.

Furthermore, the shell is fixed on the base through screw holes in the base, and the base is fixed on a plane through other screw holes.

Further, the Y-shaped bracket and the motor driving wheel are fixed on a rotating part of the first DC brushless motor through concentric screw holes.

Furthermore, a flange is installed at the center of one side of the U-shaped camera support, the flange sleeves the output shaft of the second encoder, and the output shaft is locked through a top thread of the flange.

Furthermore, one side surface of the Y-shaped support is provided with a screw hole, the other side surface of the Y-shaped support is provided with a circular through hole, and the circular through hole is used for installing and fixing a second encoder.

Furthermore, the shell is a groove with an edge, the edge is provided with a screw hole for fixing on the base, one side of the top surface of the groove is provided with the screw hole and a central through hole, and the other side of the top surface of the groove is a through hole.

Furthermore, first encoder passes through the screw hole of shell one side and fixes on the shell, and the encoder goes out the axle and upwards stretches out through central through-hole.

Further, the first dc brushless motor is located inside the recess and protrudes upward from the through hole of the housing.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the first direct current brushless motor is connected with the first encoder through the driving wheel, so that the cradle head is compact in structure, small in size, light in weight and simple to assemble.

2. The direct-current brushless motor and the high-precision encoder are adopted, the response speed is improved, and the pan-tilt can realize high-speed and high-precision tracking on a dynamic target.

Drawings

Fig. 1 is a schematic structural diagram of a two-degree-of-freedom pan/tilt head based on a dc brushless motor according to this embodiment;

FIG. 2 is a schematic structural view of the housing of FIG. 1;

FIG. 3 is a schematic structural view of the base of FIG. 1;

FIG. 4 is a schematic structural diagram of a driving wheel of the motor in FIG. 1;

FIG. 5 is a schematic structural view of the Y-shaped stent of FIG. 1;

FIG. 6 is a schematic structural view of the U-shaped camera bracket of FIG. 1;

wherein: the camera comprises a base, a shell, a first direct current brushless motor, a 4-Y-shaped support, a second encoder, a camera, a second direct current brushless motor, a camera support, a limiting ring, a motor driving wheel, a first encoder and an encoder driving wheel, wherein the first direct current brushless motor is 3, the second direct current brushless motor is 5, the camera support is 8U-shaped, the limiting ring.

Detailed Description

The following describes the embodiments of the present invention in further detail with reference to the following embodiments and the accompanying drawings, so that the technical solutions of the present invention can be more easily understood and grasped.

As shown in fig. 1, a two-degree-of-freedom pan/tilt based on a dc brushless motor comprises a camera 6, a U-shaped camera support 8, a Y-shaped support 4, a first dc brushless motor 3, a second dc brushless motor 7, a first encoder 11, a second encoder 5, a motor transmission wheel 10, a limit ring 9, an encoder transmission wheel 12, a base 1, and a housing 2; the encoder in the embodiment is specifically an incremental photoelectric encoder with 5000 resolution, and the precision of the encoder is 0.072 degrees, so that the high-precision position detection of the holder in the operation process is realized.

As shown in fig. 2, the base 1 is hollowed, a boss is provided thereon, the boss is provided with screw holes, the housing 2 is fixed on the base 1 through four screw holes on the base 1, and the base 1 is fixed on a plane through another screw hole.

As shown in fig. 3, the housing 2 is a groove with an edge, the edge is provided with screw holes for fixing on the base 1, one side of the top surface is provided with three screw holes and a central through hole, and the other side is a through hole; the first encoder 11 is fixed on the shell 2 through three screw holes on one side of the shell 2, and an output shaft of the encoder extends upwards through the central through hole; the first dc brushless motor 3 is fixed to a boss of the base 1 and protrudes upward from a through hole of the housing 2.

The encoder driving wheel 12 is fixed on the output shaft of the first encoder 11, as shown in fig. 4, a screw hole is arranged on the motor driving wheel 10, the side surface of the motor driving wheel 10 is of a groove structure, the motor driving wheel 10 is fixed on the first direct current brushless motor 3, and the encoder driving wheel 12 is connected with the motor driving wheel 10 through a conveying belt.

The encoder driving wheel 12 and the motor driving wheel 10 are not connected by a transmission gear, so that the problem that the angle detection is not accurate due to the gear ring jumping difference during high-frequency speed regulation is avoided.

As shown in fig. 5, a screw hole is formed in one side surface of the Y-shaped bracket 4, a circular through hole is formed in the other side surface of the Y-shaped bracket 4, the circular through hole is used for installing and fixing the second encoder 5, a boss and a screw hole are formed in the bottom of the Y-shaped bracket 4, the lower side of the Y-shaped bracket 4 and the motor driving wheel 10 are fixed to the rotating portion of the first dc brushless motor 3 through four concentric screw holes, and the limiting ring 9 is sleeved on the boss in the bottom of the Y-shaped bracket 4 and the outer side of the contact portion of the Y-shaped.

The second direct current brushless motor 7 is fixed on the Y-shaped support 4 through four screw holes on one side of the Y-shaped support 4, and the second encoder 5 is fixed on the other side of the Y-shaped support 4; the second brushless dc motor 7 is connected to the second encoder 5 through the U-shaped camera bracket 8, so that the U-shaped camera bracket 8 is suspended in the Y-shaped bracket 4.

As shown in fig. 6, a screw hole is formed in one side surface of the U-shaped camera support 8, a flange is installed at the center of the other side surface, a screw hole is formed in the bottom surface of the U-shaped camera support 8, and the U-shaped camera support 8 is as small and compact as possible, is small enough to put down the camera 6, and does not collide with the Y-shaped support 4 when freely rotating in a vertical plane.

U type camera support 8 one side is fixed on the rotating part of second DC brushless motor 7 through four screw holes, and 6mm aperture flange is installed at the opposite side center of U type camera support, and the play axle of second encoder 5 is entangled to the flange to through the jackscrew lock of flange die play axle, camera 6 is fixed in the centre of U type camera support 8. The camera 6 is fixed on the U-shaped camera support 8 through a screw hole on the bottom surface of the U-shaped camera support 8.

The cloud platform structure is reasonably arranged based on the camera 6 and the brushless direct current motor, so that the size can be reduced, the installation is convenient, the noise interference in the operation process can be reduced, and the position information of the actuating mechanism can be accurately obtained. Reasonable structure and part assembly mode can effectively guarantee the response speed and the tracking precision of the holder.

The utility model discloses a motion on the 4 horizontal direction of first DC brushless motor 3 drive Y type support, through the motion on the 8 every single move side of 7 drive U type camera supports of second DC brushless motor, when there is dynamic target in cloud platform the place ahead certain limit, according to the image information that the camera acquireed and the position value of encoder feedback, through the motion of adjustment Y type support 4 and U type camera support 8, guarantee that the moving target locks in camera field of vision center in real time to realize the dynamic tracking of high-speed high accuracy.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited thereto, and changes, modifications, substitutions, combinations, simplifications, etc. made without departing from the spirit and the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-degree-of-freedom pan-tilt based on a DC brushless motor is characterized by comprising a camera (6), a U-shaped camera support (8), a Y-shaped support (4), a first DC brushless motor (3), a second DC brushless motor (7), a first encoder (11), a second encoder (5), a motor driving wheel (10), a limiting ring (9), an encoder driving wheel (12), a base (1) and a shell (2); the shell (2) is arranged on the base (1), the first encoder (11) is fixed on the shell (2), the first direct current brushless motor (3) is fixed on the base (1), and the motor driving wheel (10) is fixed on a rotating part of the first direct current brushless motor (3); the encoder driving wheel (12) is fixed on an output shaft of the first encoder (11), and the encoder driving wheel (12) is connected with the motor driving wheel (10) through a conveying belt; the Y-shaped bracket (4) is arranged on the motor driving wheel (10); the limiting ring (9) is arranged between the Y-shaped bracket (4) and the motor driving wheel (10); the second direct-current brushless motor (7) is fixed on one side of the Y-shaped support (4), and the second encoder (5) is fixed on the other side of the Y-shaped support (4); the second direct-current brushless motor (7) is connected with the second encoder (5) through the U-shaped camera support (8), and the camera (6) is fixed in the middle of the U-shaped camera support (8).

2. The two-degree-of-freedom pan-tilt head based on a brushless dc motor according to claim 1, wherein the housing (2) is fixed on the base (1) by screw holes on the base (1), and the base (1) is fixed on a plane by other screw holes.

3. The two-degree-of-freedom dc brushless motor-based head according to claim 1, wherein the Y-shaped support (4) and the motor drive wheel (10) are fixed to the rotating part of the first dc brushless motor (3) by concentric screw holes.

4. The dual-degree-of-freedom holder based on the brushless direct current motor as claimed in claim 1, wherein a flange is installed at the center of one side of the U-shaped camera support (8), the flange is sleeved on the output shaft of the second encoder (5), and the output shaft is locked by a top thread of the flange.

5. The two-degree-of-freedom cradle head based on brushless DC motor according to claim 1, wherein the Y-shaped support (4) has a screw hole on one side and a circular through hole on the other side for installing and fixing the second encoder (5).

6. The cradle head with two degrees of freedom based on brushless DC motor of claim 1, wherein the housing (2) is a groove with edges, the edges are provided with screw holes for fixing on the base (1), one side of the top surface of the groove is provided with screw holes and central through hole, and the other side is a through hole.

7. The two-degree-of-freedom pan-tilt head based on brushless DC motor of claim 6, wherein the first encoder (11) is fixed on the housing (2) through a screw hole at one side of the housing (2), and the output shaft of the encoder is extended upwards through the central through hole.

8. A two degree-of-freedom head based on a brushless DC motor according to claim 7, wherein the first brushless DC motor (3) is located inside the recess and protrudes upwards from the through hole of the housing (2).