CN216505245U - Hang rail formula and patrol and examine robot visual system anti-shake device - Google Patents
Hang rail formula and patrol and examine robot visual system anti-shake device Download PDFInfo
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- CN216505245U CN216505245U CN202122922896.7U CN202122922896U CN216505245U CN 216505245 U CN216505245 U CN 216505245U CN 202122922896 U CN202122922896 U CN 202122922896U CN 216505245 U CN216505245 U CN 216505245U
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Abstract
The utility model relates to an anti-shake device of a visual system of a rail-mounted inspection robot, which comprises a base, a longitudinal moving unit, a transverse moving unit and a pitching unit, wherein the base is provided with a plurality of guide rails; the bottom of the base is provided with a first bracket; the longitudinal moving unit comprises a second bracket and a longitudinal driving mechanism, and the second bracket is connected with the first bracket in a vertically sliding manner; the transverse moving unit comprises a third bracket and a transverse driving mechanism, and the third bracket and the second bracket are connected in a left-right sliding manner; the pitching unit comprises a fourth support and a pitching driving mechanism, and the fourth support is rotatably connected with the third support; the inspection camera is arranged on the fourth bracket; the utility model has 6 degrees of freedom, can realize motion control in a larger range and prevent and control the shake generated in the moving process of the rail-mounted robot, thereby effectively controlling the camera to keep stable relative to the ground in a complex and irregular shake environment, realizing the anti-shake purpose of the camera system of the rail-mounted inspection robot and further obtaining a clearer image at one time.
Description
Technical Field
The utility model relates to the technical field of rail-mounted inspection robots, in particular to an anti-shake device for a rail-mounted inspection robot vision system.
Background
With the improvement of safety consciousness, a great number of occasions are applied to rail-mounted robot inspection systems, such as banks, markets, transformer substations and other places. Taking a transformer substation distribution room as an example, in order to realize unattended operation, a rail-mounted robot inspection system is usually arranged in the transformer substation distribution room, a monitoring picture in the transformer substation distribution room is acquired, and whether abnormal conditions such as personnel invasion and flame generation occur in the transformer substation distribution room or not is judged by analyzing the acquired monitoring picture.
However, the accuracy of the abnormal condition judgment result depends on the quality of the acquired picture, and if the camera shakes under the influence of the movement of the rail-mounted robot, the condition shown by the acquired image deviates from the actual condition, which may cause false alarm. However, the current video surveillance technology cannot effectively eliminate the effect of jitter.
SUMMERY OF THE UTILITY MODEL
Based on the above description, the utility model provides the anti-shake device for the visual system of the rail-mounted inspection robot, which can eliminate shake of the camera system of the rail-mounted inspection robot in real time through a mechanical means so as to achieve the effects of stable movement of the visual system and obtaining clearer images at one time.
The technical scheme for solving the technical problems is as follows: a rail-mounted inspection robot vision system anti-shake device comprises a base, a longitudinal moving unit, a transverse moving unit and a pitching unit; the base is used for being connected with the rail-mounted robot, and a first support is arranged at the bottom of the base; the longitudinal moving unit comprises a second bracket and a longitudinal driving mechanism, the second bracket is connected with the first bracket in a sliding mode, and the longitudinal driving mechanism is used for driving the second bracket to move up and down; the transverse moving unit comprises a third bracket and a transverse driving mechanism, the third bracket is connected with the second bracket in a sliding manner, and the transverse driving mechanism is used for driving the third bracket to move left and right; the pitching unit comprises a fourth support and a pitching driving mechanism, the fourth support is rotatably connected with the third support, and the pitching driving mechanism is used for driving the fourth support to rotate around a horizontal rotating shaft extending left and right; and the inspection camera is arranged on the fourth support.
On the basis of the technical scheme, the utility model can be further improved as follows.
Furthermore, a longitudinal sliding rail extending up and down is arranged on one side face of the second support, and a longitudinal sliding block in sliding fit with the longitudinal sliding rail is arranged on one side of the first support.
Furthermore, an upper baffle and a lower baffle are arranged on one side, close to the first support, of the second support; the upper baffle is arranged on the upper side of the longitudinal sliding block and used for limiting the farthest distance of the upward sliding of the longitudinal sliding block; the lower baffle is arranged on the lower side of the longitudinal sliding block and used for limiting the farthest distance of downward sliding of the longitudinal sliding block.
Further, the longitudinal driving mechanism comprises a first motor and a longitudinal synchronous belt; the longitudinal synchronous belt is fixed on the first bracket through two longitudinal belt pulleys arranged up and down; the first motor is fixed on the first support, is in transmission connection with one of the longitudinal belt pulleys and is used for driving the longitudinal synchronous belt to rotate; the end parts of the upper baffle and the lower baffle are provided with first fixing blocks connected with the same side of the longitudinal synchronous belt.
Furthermore, a transverse sliding rail extending left and right is arranged at the top of the third support, and a transverse sliding block in sliding fit with the transverse sliding rail is arranged at the bottom of the second support.
Furthermore, a left baffle and a right baffle which extend upwards are arranged at the top of the third bracket; the left baffle is arranged on the left side of the second bracket and used for limiting the farthest distance of leftward sliding of the second bracket; the right baffle is arranged on the right side of the second support and used for limiting the farthest distance of the second support sliding rightwards.
Further, the transverse driving mechanism comprises a second motor and a transverse synchronous belt; the transverse synchronous belt is fixed on the first support through two transverse belt wheels arranged on the left and right, and the transverse belt wheels can be connected to the first support in a vertically sliding manner; the second motor is fixed on the second support, is in transmission connection with one transverse belt wheel and is used for driving the transverse synchronous belt to rotate; the left baffle with the right baffle respectively through the second fixed block with one side of horizontal hold-in range is connected.
Furthermore, the third support is of a frame structure, the fourth support is of a concave structure with an upward opening, the fourth support is positioned in the third support, the left side and the right side of the fourth support are rotatably connected with the third support through the horizontal rotating shafts, and the two horizontal rotating shafts are collinear; the inspection camera is installed in the fourth frame, and is perpendicular to the horizontal rotating shaft.
Further, the pitching driving mechanism comprises a double-output motor and two concentric pulleys; the two concentric belt wheels are respectively and concentrically fixed at the end parts of the two horizontal rotating shafts in the fourth bracket, the horizontal rotating shafts are fixedly connected to the fourth bracket, and the horizontal rotating shafts are connected with the third bracket through bearings; the double-output motor is parallel to the horizontal rotating shaft and is fixed on the inner wall of the top of the third support, and two output ends of the double-output motor are in transmission connection with the two concentric belt wheels respectively.
Compared with the prior art, the technical scheme of the application has the following beneficial technical effects:
the utility model has 6 degrees of freedom by arranging the longitudinal moving unit, the transverse moving unit and the pitching unit, realizes motion control in a larger range and prevents and controls the shake generated in the moving process of the rail-mounted robot, thereby effectively controlling the camera to keep stable relative to the ground in a complex and irregular shake environment, realizing the anti-shake purpose of the rail-mounted inspection robot camera system and further obtaining a clearer image at one time.
Drawings
Fig. 1 is a schematic structural diagram of an anti-shake device of a rail-mounted inspection robot vision system according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
in the drawings, the components represented by the respective reference numerals are listed below:
1. a base; 11. a first bracket; 111. a longitudinal slide block; 21. a second bracket; 211. an upper baffle plate; 212. a lower baffle plate; 213. a first fixed block; 214. a longitudinal slide rail; 215. a transverse slide block; 22. a first motor; 23. a longitudinal pulley; 24. a longitudinal synchronous belt; 31. a third support; 311. a left baffle; 312. A right baffle; 313. a second fixed block; 314. a transverse slide rail; 32. a second motor; 33. a transverse pulley; 34. a transverse synchronous belt; 41. a fourth bracket; 42. a dual output motor; 43. a horizontal rotating shaft; 44. A concentric pulley; 5. patrol and examine the camera.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The utility model provides a hang rail formula and patrol and examine robot vision system anti-shake device, includes base 1, vertical mobile unit, lateral shifting unit and every single move unit. The longitudinal moving unit, the transverse moving unit and the pitching unit are all installed below the base 1 and are respectively used for driving the inspection camera 5 to move up and down, move left and right and swing up and down. The base 1 is used for connecting the rail-mounted robot, so that the inspection camera 5 is hung at the bottom of the rail-mounted robot through the anti-shaking device.
The longitudinal moving unit includes a second bracket 21 and a longitudinal driving mechanism. A longitudinal slide rail 214 extending up and down is arranged on one side surface of the second bracket 21, the first bracket 11 is arranged at the bottom of the base 1, and a longitudinal slide block 111 in sliding fit with the longitudinal slide rail 214 is arranged on one side of the first bracket 11, so that the second bracket 21 can be connected to the base 1 in a vertically sliding manner. An upper baffle 211 and a lower baffle 212 are arranged on one side of the second bracket 21 close to the first bracket 11. The upper baffle 211 is disposed on the upper side of the longitudinal slider 111 for limiting the farthest distance of the longitudinal slider 111 sliding upwards on the longitudinal slide rail 214. The lower baffle 212 is disposed at the lower side of the longitudinal slider 111 for limiting the farthest distance of the longitudinal slider 111 sliding downwards on the longitudinal slide rail 214.
The longitudinal drive mechanism includes a first motor 22 and a longitudinal timing belt 24. The longitudinal timing belt 24 is fixed to the first bracket 11 by two longitudinal pulleys 23 disposed up and down. The first motor 22 is fixed to the first bracket 11, and is in transmission connection with one of the longitudinal pulleys 23, and is used for driving the longitudinal timing belt 24 to rotate. The ends of the upper and lower baffles 211 and 212 are each provided with a first fixing block 213 connected to the same side of the longitudinal timing belt 24. The longitudinal driving mechanism drives the second support 21 to correspondingly move up and down, so that the influence of the up-and-down shaking of the rail-mounted robot on the inspection camera 5 can be eliminated.
The top of the third bracket 31 is provided with a lateral slide rail 314 extending from left to right, and the bottom of the second bracket 21 is provided with a lateral slide block 215 slidably engaged with the lateral slide rail 314, so that the third bracket 31 can be slidably connected to the second bracket 21 from left to right. The top of the third bracket 31 is provided with a left baffle 311 and a right baffle 312 which protrude upward. The left baffle 311 is disposed at the left side of the second bracket 21 for limiting the farthest distance that the second bracket 21 slides leftwards on the transverse slide rail 314. The right baffle 312 is disposed at the right side of the second bracket 21 for limiting the farthest distance that the second bracket 21 slides rightwards on the transverse slide rail 314.
The transverse drive mechanism includes a second motor 32 and a transverse timing belt 34. The transverse timing belt 34 is connected to the first bracket 11 via two transverse pulleys 33 disposed on the left and right, and the transverse pulleys 33 are slidably connected to the first bracket 11 in the up-and-down direction. The second motor 32 is fixed to the second bracket 11 and is in transmission connection with one of the transverse pulleys 33 for driving the transverse timing belt 34 to rotate. The left baffle 311 and the right baffle 312 are respectively connected to the same side of the transverse timing belt 34 through a second fixing block 313. The third support 31 is driven by the transverse driving mechanism to correspondingly move left and right, so that the influence of left and right shaking of the rail-mounted robot on the inspection camera 5 can be eliminated.
The third support 31 is a frame structure, the fourth support 41 is a concave structure with an upward opening, the fourth support 41 is located in the third support 31, the left side and the right side of the fourth support 41 are rotatably connected with the third support 31 through horizontal rotating shafts 43, and the two horizontal rotating shafts 43 are collinear. The fourth bracket 41 is connected to the third bracket 31 so as to be swingable up and down. The inspection camera 5 is installed in the fourth frame 41, and the inspection camera 5 is disposed perpendicular to the horizontal rotation shaft 43.
The pitch drive mechanism includes a dual output motor 42 and two concentric pulleys 44. The two concentric pulleys 44 are concentrically fixed to the ends of the two horizontal rotating shafts 43 in the fourth bracket 41, respectively, and the horizontal rotating shafts 43 are fixedly connected to the fourth bracket 41, and the horizontal rotating shafts 43 are connected to the third bracket 31 through bearings. A double-output motor 42 is fixed on the top inner wall of the third bracket 31 in parallel with the horizontal rotating shaft 43, and two output ends of the double-output motor 42 are in transmission connection with two concentric belt wheels 44 respectively. The fourth support 41 is driven by the pitching driving mechanism to correspondingly swing up and down, so that the influence of the swing of the rail-mounted robot on the inspection camera 5 can be eliminated.
The utility model has six degrees of freedom by arranging the left-right moving unit, the up-down moving unit and the pitching unit, can realize motion control in a larger range and prevent and control the shake generated in the moving process of the rail-mounted robot, thereby effectively controlling the inspection camera 5 to keep stable relative to the ground in a complex and irregular shake environment, realizing the anti-shake purpose of the rail-mounted inspection robot camera system and further obtaining a clearer image at one time.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The anti-shake device for the visual system of the rail-mounted inspection robot is characterized by comprising a base (1), a longitudinal moving unit, a transverse moving unit and a pitching unit; the base (1) is used for being connected with a rail-mounted robot, and a first support (11) is arranged at the bottom of the base (1); the longitudinal moving unit comprises a second bracket (21) and a longitudinal driving mechanism, the second bracket (21) is connected with the first bracket (11) in a sliding mode, and the longitudinal driving mechanism is used for driving the second bracket (21) to move up and down; the transverse moving unit comprises a third bracket (31) and a transverse driving mechanism, the third bracket (31) is connected with the second bracket (21) in a sliding manner, and the transverse driving mechanism is used for driving the third bracket (31) to move left and right; the pitching unit comprises a fourth bracket (41) and a pitching driving mechanism, wherein the fourth bracket (41) is rotatably connected with the third bracket (31), and the pitching driving mechanism is used for driving the fourth bracket (41) to rotate around a horizontal rotating shaft (43) extending leftwards and rightwards; and the inspection camera (5) is arranged on the fourth bracket (41).
2. The anti-shake device for the visual system of the rail-mounted inspection robot according to claim 1, wherein a longitudinal slide rail (214) extending up and down is arranged on one side surface of the second support (21), and a longitudinal slide block (111) in sliding fit with the longitudinal slide rail (214) is arranged on one side of the first support (11).
3. The anti-shake apparatus for the visual system of the rail-mounted inspection robot according to claim 2, wherein an upper baffle (211) and a lower baffle (212) are arranged on one side of the second bracket (21) close to the first bracket (11); the upper baffle (211) is arranged on the upper side of the longitudinal sliding block (111) and used for limiting the farthest distance of the upward sliding of the longitudinal sliding block (111); the lower baffle (212) is arranged on the lower side of the longitudinal sliding block (111) and used for limiting the farthest distance of the downward sliding of the longitudinal sliding block (111).
4. The anti-shake apparatus for a rail-mounted inspection robot vision system according to claim 3, wherein the longitudinal driving mechanism includes a first motor (22) and a longitudinal synchronous belt (24); the longitudinal synchronous belt (24) is fixed on the first bracket (11) through two longitudinal belt wheels (23) which are arranged up and down; the first motor (22) is fixed on the first support (11), is in transmission connection with one longitudinal belt wheel (23) and is used for driving the longitudinal synchronous belt (24) to rotate; the end parts of the upper baffle (211) and the lower baffle (212) are respectively provided with a first fixed block (213) connected with the same side of the longitudinal synchronous belt (24).
5. The anti-shake device for the visual system of the rail-mounted inspection robot according to claim 1, wherein a transverse sliding rail (314) extending left and right is arranged at the top of the third bracket (31), and a transverse sliding block (215) in sliding fit with the transverse sliding rail (314) is arranged at the bottom of the second bracket (21).
6. The rail-mounted inspection robot vision system anti-shake device according to claim 5, wherein the top of the third bracket (31) is provided with a left baffle (311) and a right baffle (312) which extend upwards; the left baffle (311) is arranged on the left side of the second bracket (21) and used for limiting the farthest distance of leftward sliding of the second bracket (21); the right baffle (312) is arranged on the right side of the second support (21) and used for limiting the farthest distance of the second support (21) sliding rightwards.
7. The anti-shake apparatus for a rail-mounted inspection robot vision system according to claim 6, wherein the transverse driving mechanism includes a second motor (32) and a transverse synchronous belt (34); the transverse synchronous belt (34) is connected to the first support (11) through two transverse belt wheels (33) arranged on the left and the right, and the transverse belt wheels (33) can be connected to the first support (11) in a vertically sliding mode; the second motor (32) is fixed on the second bracket (21), is in transmission connection with one transverse belt wheel (33) and is used for driving the transverse synchronous belt (34) to rotate; the left baffle (311) and the right baffle (312) are connected with the same side of the transverse synchronous belt (34) through a second fixed block (313).
8. The anti-shake device for the visual system of the rail-mounted inspection robot according to claim 1, wherein the third support (31) is a frame structure, the fourth support (41) is a concave structure with an upward opening, the fourth support (41) is located in the third support (31), the left side and the right side of the fourth support (41) are rotatably connected with the third support (31) through the horizontal rotating shafts (43), and the two horizontal rotating shafts (43) are collinear; patrol and examine camera (5) and install in fourth support (41), and patrol and examine camera (5) perpendicular to horizontal rotating shaft (43) set up.
9. The anti-shake apparatus for a rail-mounted inspection robot vision system according to claim 8, wherein the pitch drive mechanism includes a dual output motor (42) and two concentric pulleys (44); the two concentric pulleys (44) are respectively and concentrically fixed at the end parts of the two horizontal rotating shafts (43) positioned in the fourth bracket (41), the horizontal rotating shafts (43) are fixedly connected to the fourth bracket (41), and the horizontal rotating shafts (43) are connected with the third bracket (31) through bearings; the double-output motor (42) is parallel to the horizontal rotating shaft (43) and is fixed on the inner wall of the top of the third support (31), and two output ends of the double-output motor (42) are in transmission connection with the two concentric belt wheels (44) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122922896.7U CN216505245U (en) | 2021-11-25 | 2021-11-25 | Hang rail formula and patrol and examine robot visual system anti-shake device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122922896.7U CN216505245U (en) | 2021-11-25 | 2021-11-25 | Hang rail formula and patrol and examine robot visual system anti-shake device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216505245U true CN216505245U (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122922896.7U Active CN216505245U (en) | 2021-11-25 | 2021-11-25 | Hang rail formula and patrol and examine robot visual system anti-shake device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216505245U (en) |
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2021
- 2021-11-25 CN CN202122922896.7U patent/CN216505245U/en active Active
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