CN217643505U

CN217643505U - Robot mobile shooting system

Info

Publication number: CN217643505U
Application number: CN202221877439.9U
Authority: CN
Inventors: 谢幼军; 霭振球
Original assignee: Shenzhen Nanke Jia'an Robot Technology Co ltd
Current assignee: Shenzhen Nanke Jia'an Robot Technology Co ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2022-10-21
Anticipated expiration: 2032-07-19

Abstract

The utility model provides a robot removes imaging system, it includes the guide rail, removes module, manipulator and camera. The moving module is in rolling connection with the second fixing plate of the guide rail and comprises a controller, a supporting plate, a first idler, a second idler, a walking wheel and a driving assembly, wherein the first idler, the second idler, the walking wheel and the driving assembly are arranged on the supporting plate, the first idler and the walking wheel are respectively in contact with the top surface and the bottom surface of the second fixing plate, and the second idlers are respectively in contact with the side surfaces of the two sides of the second fixing plate. The base plate of manipulator is connected with the removal module, and the activity end at the manipulator is connected to the camera. The utility model discloses a robot removes the shooting system makes the removal module can be stable form roll connection with the guide rail through the cooperation of first idler, second idler and walking wheel, connects very stably, and can turn and remove, still passes through the manipulator with the camera in addition and is connected with the removal module, makes it shoot the position diversified, and it is very wide to shoot the visual angle scope, and the scene covers the face greatly.

Description

Robot mobile shooting system

Technical Field

The utility model relates to a shooting equipment field, in particular to robot removes imaging system.

Background

The camera is the common electronic device in modern life, and it uses in very many occasions, shoots the work, and the surveillance camera among the prior art is generally fixed point installation, but the surveillance camera who erects like this has shooting angle, monitoring range is limited, probably has visual field blind area scheduling problem. The mobile shooting device is gradually appeared in the market, but only a camera is connected with a rotor of a linear motor, limited linear motion can be performed, the motion track is fixed and single, the scene coverage is limited, and the mobile shooting device cannot be used for inspection work of various different scenes.

Therefore, it is desirable to provide a robot moving camera system to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot removes shooting system to solve the portable shooting device among the prior art and only can carry out limited linear motion, the fixed single of motion trail, the limited problem of scene coverage.

In order to solve the technical problem, the technical scheme of the utility model is that: a robot moving shooting system comprises a guide rail, a moving module, a manipulator and a camera;

the moving module is in rolling connection with the guide rail, the cross section of the guide rail is I-shaped, the guide rail comprises a middle plate, a first fixing plate and a second fixing plate, the first fixing plate and the second fixing plate are connected to two ends of the middle plate, the first fixing plate is connected with a wall top mounting surface, the moving module comprises a controller, a support plate, a first idle wheel, a second idle wheel, a traveling wheel and a driving assembly, the first idle wheel, the second idle wheel, the traveling wheel and the driving assembly are arranged on the support plate, the driving assembly is in transmission connection with the traveling wheel, the first idle wheel and the traveling wheel are respectively in contact with the top surface and the bottom surface of the second fixing plate, the second idle wheels are respectively in contact with two side surfaces of the second fixing plate, and the driving assembly is electrically connected with the controller;

the base plate of manipulator with remove the module and connect, the camera is connected the activity of manipulator is terminal.

The utility model discloses in, the robot removes the shooting system still includes the wiping line, the wiping line is followed the extending direction setting of guide rail is in on the guide rail, remove the module still including be used for with wiping line electric connection's wiping joint, wiping articulate one side of backup pad.

The utility model discloses in, the robot removes shooting system still includes the bar code area, the bar code area is followed the extending direction of guide rail sets up on the guide rail, remove the module still including be used for with the reading head of bar code area cooperation feedback position, the reading head is connected one side of backup pad.

The utility model discloses in, it includes a plurality of second idler groups, every to remove the module the second idler group all includes the connecting rod and connects at the connecting rod both ends the second idler, every the second idler is organized both ends the second idler contacts respectively the both sides side of second fixed plate.

Wherein, the connecting rod with the backup pad is connected with rotating, and the axis of rotation is perpendicular to the backup pad.

The utility model discloses in, it includes a plurality of walking wheelsets, every to remove the module walking wheelset all includes two the walking wheel, every two walking wheels of walking wheelset are located respectively the both sides of intermediate lamella, drive assembly includes motor, transmission shaft, sets up epaxial action wheel of transmission and from the driving wheel, the motor through first belt with the action wheel transmission is connected, every the walking wheel passes through second belt and one connect from the driving wheel transmission.

The utility model discloses in, first idler is connected with the dead lever, the dead lever pass through the mount with the backup pad is connected be provided with on the mount be used for with the connecting hole of the adjustable rectangular shape of connecting of dead lever, the length direction perpendicular to of connecting hole the face of backup pad.

The utility model discloses in, the outside of removal module is capsulated through the casing, drive assembly still includes automatically controlled board, automatically controlled board with the controller is located respectively the both sides of backup pad.

The utility model discloses in, the guide rail passes through the section bar pole to be connected with wall crown installation face, the guide rail includes straight guide rail and curved guide rail.

The utility model discloses in, the periphery parcel of walking wheel is provided with the glue film.

The utility model discloses compare in prior art, its beneficial effect does: the utility model discloses a robot removes shooting system makes the removal module can be stable form roll connection with the guide rail through the cooperation of first idler, second idler and walking wheel, connects very stably, and can turn the removal, still passes through the manipulator with the camera in addition and is connected with the removal module, makes it shoot the position diversified, and it is very wide to shoot the visual angle scope, and the scene covers the face greatly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly described below, and the drawings in the following description are only corresponding drawings of some embodiments of the present invention.

Fig. 1 is a schematic structural diagram of a preferred embodiment of the robot mobile shooting system of the present invention.

Fig. 2 is a schematic structural diagram of the moving module of the robot moving and shooting system of the present invention.

Fig. 3 is a second schematic structural diagram of the mobile module of the robot mobile shooting system of the present invention.

Fig. 4 is a third schematic structural diagram of the moving module of the robot moving camera system of the present invention.

Fig. 5 is a schematic structural diagram of the manipulator and the camera of the robot mobile shooting system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts all belong to the protection scope of the present invention.

In the present invention, the directional terms mentioned in the following description, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", refer to the orientation of the drawings, and the directional terms are used for illustration and understanding of the present invention, but not for limiting the present invention.

The terms "first," "second," and the like in the terms of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor should they be construed as limiting in any way.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly, e.g., the connection may be a detachable connection or a connection in a unitary structure; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The movable shooting device in the prior art only connects a camera with a rotor of a linear motor, can only perform limited linear motion, has a fixed single motion track and limited scene coverage, and cannot be better used for routing inspection work of various different scenes.

The present invention provides a robot mobile shooting system that can solve the above technical problems.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a preferred embodiment of the robot mobile shooting system of the present invention. Fig. 2 is a schematic structural diagram of the moving module of the robot moving and shooting system of the present invention.

In the drawings, elements having similar structures are denoted by the same reference numerals.

The utility model provides a robot removes shooting system, it includes the guide rail, removes module 12, manipulator 13 and camera 14. The guide rails in this embodiment include a straight guide rail 111 and a curved guide rail 112, and the connection between the straight guide rail 111 and the straight guide rail 111, and the connection between the straight guide rail 111 and the curved guide rail 112 may be performed by a connection plate 114. The guide rail can adopt a form of combining and matching the straight guide rail 111 and the curved guide rail 112, the driving route of the mobile module can be flexibly planned, and more scene application requirements can be met. The guide rail is not limited to the straight guide rail 111 and the curved guide rail 112 in the accompanying drawings.

The movable module 12 is in rolling connection with a guide rail, the cross section of the guide rail is I-shaped, the guide rail comprises a middle plate, a first fixing plate and a second fixing plate, the first fixing plate and the second fixing plate are connected to the two ends of the middle plate, and the first fixing plate is connected with a wall top mounting surface. In this embodiment, the first fastening plate of the guide rail is connected to the ceiling mounting surface, in particular, by means of a profile rod 113.

Referring to fig. 2 and 3, the moving module 12 includes a controller 121, a support plate 127, and a first idler 125, a second idler 126, a traveling wheel 122 and a driving assembly disposed on the support plate 127, the driving assembly is in transmission connection with the traveling wheel 122, the first idler 125 and the traveling wheel 122 are respectively contacted with the top surface and the bottom surface of the second fixing plate, the plurality of second idlers 126 are respectively contacted with the two side surfaces of the second fixing plate, the driving assembly is electrically connected with the controller 121, and the controller 121 controls the moving module 12 to run on the guide rail. Wherein first idler, second idler and walking wheel form the contact with the guide rail from different position, and the cooperation is stable, and can turn the removal, improves and shoots the scope, and the increase scene is shot and is covered the face.

The base plate 131 of the manipulator 13 is connected with the moving module 12, the camera 14 is connected to the movable tail end of the manipulator 13, the manipulator 13 is also connected with the controller 121 to control the operation of the lower manipulator, the camera is matched for accompanying shooting, and the shooting pose can be adjusted by multiple degrees of freedom to meet the shooting requirements of information capture at different angles on site.

Wherein, a positioning pin 1271 for connecting with the base plate 131 is provided at the bottom of the supporting plate 127, and a six-axis robot can be selected as the robot 13. The six-degree-of-freedom pose path adjustment and movement are realized, the multi-angle visual angle switching of the tail-end camera can be met, the monitoring visual field blind area is reduced, the shooting is more flexible, and the monitoring coverage is wider.

Referring to fig. 1 and fig. 2, in the embodiment, the robot moving shooting system further includes a trolley line 15, the trolley line 15 is disposed on the guide rail along an extending direction of the guide rail, the moving module 12 further includes a trolley connector 17 electrically connected to the trolley line 15, and the trolley connector 17 is connected to one side of the supporting plate 127. The power supply for the mobile module may be continuously provided during the sliding.

The utility model discloses in, the robot removes the camera system and still includes strip code strip 16, and strip code strip 16 sets up on the guide rail along the extending direction of guide rail, removes module 12 and still includes reading head 18 (for the photoelectric reading head in this embodiment) that is used for cooperating the feedback position with strip code strip 16, and reading head 18 is connected in one side of backup pad 127. The reading head 18 can read the value of the digital code strip 16 and feed back the precise position of the moving module.

Referring to fig. 3, in the present embodiment, the moving module 12 includes a plurality of second idler sets, each of the second idler sets includes a connecting rod 1261 and second idler wheels 126 connected to two ends of the connecting rod 1261, and the second idler wheels 126 at two ends of each of the second idler sets contact two side surfaces of the second fixing plate respectively. The relative position between the second idle wheels 126 at both ends is stable, and the contact with the guide rail is stable.

Preferably, the connecting rod 1261 is rotatably connected to the supporting plate 127 with a rotation axis perpendicular to the supporting plate 127 for facilitating the turning movement of the moving module 12.

Referring to fig. 3 and 4, the mobile module 12 in the present embodiment includes a plurality of traveling wheel sets, each traveling wheel set includes two traveling wheels 122, the two traveling wheels 122 of each traveling wheel set are respectively located at two sides of the middle plate, and the driving assembly includes a motor 128, a transmission shaft 12C, a driving wheel 129 disposed on the transmission shaft 12C, and a driven wheel 12A. The two ends of the transmission shaft 12C are respectively provided with a driven wheel 12A.

The motor 128 in this embodiment is a servo motor, the motor 128 is connected with the speed reducer 1282, the output shaft of the speed reducer 1282 is connected with the driving wheel 1281, the motor 128 is in transmission connection with the driving wheel 129 through the first belt 12D, each walking wheel 122 is in transmission connection with one driven wheel 12A through the second belt 12B (the first belt and the second belt in the part in the figure are not all shown), a plurality of walking wheels 122 all form transmission connection with the transmission shaft 12C through the second belt, and the transmission is stable.

Referring to fig. 3, in the present embodiment, the first idler wheel 125 is connected to a fixing rod 1252, the fixing rod 1252 is connected to the supporting plate 127 through a fixing frame 1251, a strip-shaped connecting hole for adjustable connection with the fixing rod 1252 is disposed on the fixing frame 1251, a distance between the first idler wheel 125 and the road wheel 122 can be adjusted, and a length direction of the connecting hole is perpendicular to a plate surface of the supporting plate 127.

Referring to fig. 1 and 2, the exterior of the mobile module 12 in this embodiment is enclosed by a housing 123 (only a bottom plate of the housing 123 is retained in fig. 2), the driving assembly further includes an electric control board 124, and the electric control board 124 and the controller 121 are respectively located at two sides of a supporting board 127.

Optionally, a glue layer can be wrapped on the periphery of the traveling wheel 122, and the glue layer can be in flexible elastic contact with the guide rail, has an elastic compression space, and is stable in rolling and low in noise.

When the device is used, a control signal can be sent to the controller 121 through remote control, the moving module 12 is controlled to move, the manipulator 13 is controlled to adjust the shooting pose, and then shooting is carried out.

The robot of this preferred embodiment removes the shooting system makes the removal module can be stable form roll connection with the guide rail through the cooperation of first idler, second idler and walking wheel, connects very stably, and can turn the removal, still passes through the manipulator with the camera in addition and is connected with the removal module, makes it shoot the position diversified, and it is very wide to shoot the visual angle scope, and the scene covers the face greatly. The system can be used in indoor equipment places such as power distribution station rooms, machine rooms, factory buildings and examination rooms, and can complete image tracking photography and intelligent inspection tasks.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention is to be determined by the appended claims.

Claims

1. A robot moving shooting system is characterized by comprising a guide rail, a moving module, a manipulator and a camera;

the movable module is in rolling connection with the guide rail, the cross section of the guide rail is I-shaped, the guide rail comprises an intermediate plate, a first fixing plate and a second fixing plate, the first fixing plate and the second fixing plate are connected to two ends of the intermediate plate, the first fixing plate is connected with a wall top mounting surface, the movable module comprises a controller, a support plate, a first idler, a second idler, a traveling wheel and a driving assembly, the first idler, the second idler, the traveling wheel and the driving assembly are arranged on the support plate, the driving assembly is in transmission connection with the traveling wheel, the first idler and the traveling wheel are respectively in contact with the top surface and the bottom surface of the second fixing plate, the second idlers are respectively in contact with the side surfaces of two sides of the second fixing plate, and the driving assembly is electrically connected with the controller;

the base plate of manipulator with remove the module and be connected, the camera is connected the activity end of manipulator.

2. The robot moving and shooting system of claim 1, further comprising a trolley line disposed on the guide rail along an extending direction of the guide rail, wherein the moving module further comprises a trolley connector electrically connected to the trolley line, and the trolley connector is connected to one side of the support plate.

3. The robot mobile shooting system of claim 1, further comprising a bar code strip disposed on the guide rail along an extending direction of the guide rail, wherein the mobile module further comprises a reading head for feeding back a position in cooperation with the bar code strip, and the reading head is connected to one side of the support plate.

4. The robot mobile shooting system of claim 1, wherein the mobile module comprises a plurality of second idler wheel sets, each of the second idler wheel sets comprises a connecting rod and second idler wheels connected to two ends of the connecting rod, and the second idler wheels at two ends of each of the second idler wheel sets respectively contact two side surfaces of the second fixing plate.

5. The robotic mobile camera system of claim 4, wherein the connecting rod is pivotally connected to the support plate with an axis of rotation perpendicular to the support plate.

6. The robot mobile shooting system of claim 1, wherein the mobile module comprises a plurality of traveling wheel sets, each traveling wheel set comprises two traveling wheels, the two traveling wheels of each traveling wheel set are respectively located at two sides of the middle plate, the driving assembly comprises a motor, a transmission shaft, a driving wheel and a driven wheel, the driving wheel and the driven wheel are arranged on the transmission shaft, the motor is in transmission connection with the driving wheel through a first belt, and each traveling wheel is in transmission connection with one driven wheel through a second belt.

7. The robot moving and shooting system of claim 1, wherein the first idler wheel is connected to a fixing rod, the fixing rod is connected to the supporting plate through a fixing frame, the fixing frame is provided with an elongated connecting hole for adjustable connection with the fixing rod, and the length direction of the connecting hole is perpendicular to the plate surface of the supporting plate.

8. The robot moving and shooting system of claim 1, wherein the exterior of the moving module is encapsulated by a housing, the driving assembly further comprises an electric control board, and the electric control board and the controller are respectively located at two sides of the supporting board.

9. The robotic mobile camera system of claim 1, wherein the guide rails are connected to the wall top mounting surface by profile rods, the guide rails including straight guide rails and curved guide rails.

10. The robot moving and shooting system of claim 1, wherein the walking wheels are wrapped by a glue layer.