CN212617263U

CN212617263U - AGV dolly camera drive arrangement

Info

Publication number: CN212617263U
Application number: CN202021383219.1U
Authority: CN
Inventors: 金理健; 李伟; 陈刚
Original assignee: Suzhou Sawyer Robotics Co ltd
Current assignee: Suzhou Sawyer Robotics Co ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-02-26
Anticipated expiration: 2030-07-14

Abstract

The utility model relates to an AGV trolley assembly and discloses an AGV trolley camera driving device, which comprises a turntable, a vertical bracket and a camera bracket; the bottom of the turntable is provided with a rotating device for driving the turntable to rotate; the vertical bracket is arranged on the turntable; a screw rod and a slide rail are vertically arranged on the vertical bracket; the camera bracket is connected with the screw rod through a screw rod nut; the top end of the screw rod is arranged on the vertical bracket through a bearing; the other end of the screw rod is provided with a lifting motor; the camera bracket is connected with the slide rail through the slide block; the top of the camera support is horizontally provided with a mounting platform. The rotating device comprises a driven gear ring, a driving gear and a rotating motor; the driven gear ring is meshed with the driving gear; the driving teeth are driven by a rotating motor; the driven gear ring is fixedly arranged at the bottom of the turntable. The bottom of the screw rod penetrates through the turntable to be connected with the lifting motor. The screw rod is concentric with the driven gear ring. The camera can be driven to vertically lift and rotate around the Z axis, and the rotation center is close to the camera, so that the image construction error is reduced.

Description

AGV dolly camera drive arrangement

Technical Field

The utility model relates to a AGV dolly subassembly, in particular to AGV dolly camera drive arrangement.

Background

Present AGV has widely been applied to each trade field, and present AGV moves the location and navigation on chassis mainly has three kinds of modes: magnetic strip type, radar type and visual type. The magnetic strip type can move along the magnetic strip which is pasted in advance, and is basically eliminated at present because of insufficient flexibility and convenience and high maintenance cost; the radar type realizes positioning by emitting ultrasonic waves and laser light in a plane where the laser radar and the ultrasonic radar are located and measuring the distance and the position of the surrounding environment by calculating the reflected laser light and the reflected ultrasonic light. The visual type is through using monocular or binocular, through shooting the image, handles the environment that the dolly is located to the gained image, needs scan the scene earlier before using and builds the picture. The AGV trolley can ride on the camera to move along three axes X, Y, Z in the space and also can rotate around the Z axis; the method mainly adopts double-wheel or four-wheel differential drive for the conventional AGV, realizes that the AGV turns to move to drive the camera to rotate by controlling two stepping motors to adjust the rotating speed of the left and right wheels or two pairs of wheels, and can not ensure that the camera is positioned at the rotating center, so that the error exists in the map building.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem provide a AGV dolly camera drive arrangement, can drive the vertical lift of camera and rotatory round the Z axle, and the rotation center is close to camera itself, reduces and builds the picture error.

The utility model provides a technical scheme that its technical problem adopted is: an AGV trolley camera driving device comprises a turntable, a vertical support and a camera support; the bottom of the turntable is provided with a rotating device for driving the turntable to rotate; the vertical bracket is arranged on the turntable; the vertical bracket is vertically provided with a screw rod and a slide rail; the camera bracket is connected with the screw rod through a screw rod nut; the top end of the screw rod is arranged on the vertical bracket through a bearing; the other end of the screw rod is provided with a lifting motor; the camera bracket is connected with the sliding rail through a sliding block; the top of the camera support is horizontally provided with a mounting platform.

Further, the method comprises the following steps: the rotating device comprises a driven gear ring, a driving gear and a rotating motor; the driven gear ring is meshed with the driving gear; the driving teeth are driven by a rotating motor; the driven gear ring is fixedly arranged at the bottom of the turntable.

Further, the method comprises the following steps: the bottom of the screw rod penetrates through the turntable to be connected with the lifting motor.

Further, the method comprises the following steps: the screw rod is concentric with the driven gear ring.

The utility model has the advantages that: the camera is arranged on the turntable and is driven to rotate by driving the turntable, so that the camera can rotate independently of the AGV trolley body, and the flexibility of the camera is improved; the centre of a circle of driven ring gear is the rotation center promptly, sets up the mounted position of camera in this position, reduces the rotatory scanning surveying and mapping error that leads to of camera, reduces the degree of difficulty of follow-up image processing, improves work efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a camera driving device.

Labeled as: 100. a turntable; 101. a driven gear ring; 110. a lifting motor; 120. a drive tooth; 130. a rotating electric machine; 200. a vertical support; 210. a screw rod; 220. a slide rail; 230. a camera support; 231. and (7) mounting the platform.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

An AGV trolley camera driving device comprises a turntable 100, a vertical support 200 and a camera support 230; the bottom of the turntable 100 is provided with a rotating device for driving the turntable 100 to rotate; the vertical support 200 is mounted on the turntable 100; the vertical bracket 200 is vertically provided with a screw rod 210 and a slide rail 220; the camera bracket 230 is connected with the screw rod 210 through a screw nut; the top end of the screw rod 210 is mounted on the vertical bracket 200 through a bearing; the other end of the screw rod 210 is provided with a lifting motor 110; the camera bracket 230 is connected with the slide rail 220 through a slider; the camera bracket 230 is horizontally provided with a mounting platform 231 at the top.

The rotating means comprises a driven gear ring 101, driving teeth 120 and a rotating motor 130; the driven gear ring 101 is meshed with the driving gear 120; the drive teeth 120 are driven by a rotary motor 130; the driven gear ring 101 is fixedly arranged at the bottom of the turntable 100; the bottom of the screw rod 210 penetrates through the turntable 100 and is connected with the lifting motor 110; the screw 210 is concentric with the driven ring gear 101.

The lifting motor 110 drives the screw rod 210 to rotate, and drives the camera bracket 230 to lift along the slide rail 220, so as to realize the lifting action of the camera on the Z axis; the rotating motor 130 drives the driving gear 120 to rotate, and drives the driven gear ring 101 and the turntable 100 to rotate, so that the camera rotates around the Z axis; the motion of the camera on the X, Y axis is driven by the AGV trolley, and the camera can move freely in a three-dimensional space. The camera is arranged on the turntable 100, and the turntable 100 is driven to rotate to drive the camera to rotate, so that the camera can rotate independently of the AGV car body, and the flexibility of the camera is improved; the centre of a circle of driven ring gear 101 is the rotation center promptly, sets up the mounted position of camera in this position, reduces the rotatory scanning surveying and mapping error that leads to of camera, reduces the degree of difficulty of follow-up image processing, improves work efficiency.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a AGV dolly camera drive arrangement which characterized in that: comprises a turntable (100), a vertical bracket (200) and a camera bracket (230); the bottom of the turntable (100) is provided with a rotating device for driving the turntable (100) to rotate; the vertical bracket (200) is arranged on the turntable (100); a screw rod (210) and a slide rail (220) are vertically arranged on the vertical bracket (200); the camera bracket (230) is connected with the screw rod (210) through a screw rod nut; the top end of the screw rod (210) is mounted on the vertical bracket (200) through a bearing; the other end of the screw rod (210) is provided with a lifting motor (110); the camera bracket (230) is connected with the sliding rail (220) through a sliding block; the top of the camera bracket (230) is horizontally provided with a mounting platform (231).

2. The AGV cart camera drive of claim 1, further comprising: the rotating device comprises a driven gear ring (101), a driving gear (120) and a rotating motor (130); the driven gear ring (101) is meshed with the driving gear (120); the drive teeth (120) are driven by a rotary motor (130); the driven gear ring (101) is fixedly arranged at the bottom of the turntable (100).

3. The AGV cart camera drive of claim 1, further comprising: the bottom of the screw rod (210) penetrates through the turntable (100) to be connected with the lifting motor (110).

4. The AGV cart camera drive of claim 2, further comprising: the screw rod (210) is concentric with the driven gear ring (101).