CN206831080U - A kind of visual servo head based on stepper motor - Google Patents
A kind of visual servo head based on stepper motor Download PDFInfo
- Publication number
- CN206831080U CN206831080U CN201720454106.8U CN201720454106U CN206831080U CN 206831080 U CN206831080 U CN 206831080U CN 201720454106 U CN201720454106 U CN 201720454106U CN 206831080 U CN206831080 U CN 206831080U
- Authority
- CN
- China
- Prior art keywords
- encoder
- stepper motor
- support frame
- plate
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Accessories Of Cameras (AREA)
Abstract
The utility model discloses a kind of visual servo head based on stepper motor, including camera tripod, horizontal rotation plate, left support frame, right support frame, encoder fixed plate, first and second stepper motor, camera, first and second encoder；First encoder is fixed on the downside of encoder fixed plate, first stepper motor is between horizontal rotation plate and encoder fixed plate, its main shaft is connected by ring flange with rotating horizontally plate, its tailing axle is connected by shaft coupling with the first encoder, left support frame and right support frame are separately fixed at the left and right sides for rotating horizontally plate, the camera tripod is arranged between left and right sidesing supporting frame, the second encoder is fixed on the outside of right support frame, the camera is located at the upside of camera tripod, second stepper motor is located at the downside of camera tripod, and between left and right sidesing supporting frame, the upside of first stepper motor or encoder fixed plate are fixed with carrier.
Description
Technical field
It the utility model is related to vision servo system, and in particular to a kind of visual servo head based on stepper motor.
Background technology
Traditional heads improve service life using metal manufacture more, strengthen load capacity using reductor, using encoder
Carry out position control or gesture module carries out gesture stability, stable and precise control, be widely used in large-scale safety monitoring.
Drive cloud platform rotation using visual information, when being tracked so as to the target for realizing to fast reserve, head should have rotate it is used
Measure small, speed-regulating range width, the performance such as stable, but traditional heads volume is big, speed adjustable range is narrow, and price is higher.
Head is the main carriers for realizing visual servo, and vision provides drive signal for head, and both form visual servo
Head.Visual servo head has extensive use, domestic pin in robot autonomous navigation, target following, weapon aiming etc.
The head being designed to visual servo is less, therefore the visual servo head great significance for design based on stepper motor.
Utility model content
In order to overcome shortcoming and deficiency existing for prior art, the utility model provides a kind of vision based on stepper motor
Servo console.
The utility model uses following technology contents：
A kind of visual servo head based on stepper motor, including camera tripod, horizontal rotation plate, left support frame, the right side
Support frame, encoder fixed plate, first and second stepper motor, camera, first and second encoder；
Order from the bottom to top, the first encoder are fixed on the downside of encoder fixed plate, the first stepper motor position
In rotating horizontally between plate and encoder fixed plate, its main shaft is connected by ring flange with rotating horizontally plate, and its tailing axle passes through connection
Axle device is connected with the first encoder, and left support frame and right support frame are separately fixed at the left and right sides for rotating horizontally plate, the phase
Machine support frame is arranged between left and right sidesing supporting frame, and the second encoder is fixed on the outside of right support frame, and the camera is located at phase
The upside of machine support frame, second stepper motor are located at the downside of camera tripod, and between left and right sidesing supporting frame, it is described
The upside of first stepper motor or encoder fixed plate are fixed with carrier.
The center installation 6mm apertures ring flange of the right support frame, entangles second encoder, is locked by the jackscrew of ring flange
Extremely.
The center installation 5mm apertures ring flange of the left support frame, entangle the main shaft of the second stepper motor.
Encoder fixed plate and the fuselage of the first stepper motor are connected by stay bolt.
Size of the lower side space of camera tripod just with the second stepper motor matches, and makes the center of gravity of camera in the first step
Above the axle of stepper motor.
The upper surface center for rotating horizontally plate is provided with 5mm apertures ring flange, the centrally disposed plane bearing in lower surface and
First stepper motor connects.
The beneficial effects of the utility model：
Head framework is rationally designed according to camera model and stepper motor model, reduces and stepper motor output torque is wanted
Ask, while the mounting means of all directions encoder can effectively reduce the influence of noise, can be accurately detected executing agency's angle position
Confidence is ceased, and rigid connector is used between motor and encoder axle, can be reduced in high-frequency timing because flexibility causes detection not
Accurately；
The mounting means of the rational structure design of head and each part can effectively improve visual servo head precision and with
Track speed.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of camera tripod in Fig. 1；
Fig. 3 is the structural representation of horizontal swivel plate in Fig. 1；
Fig. 4 is the left support frame structural representation in Fig. 1；
Fig. 5 is the right support frame structural representation in Fig. 1；
Fig. 6 is the structural representation of encoder fixed plate.
Embodiment
With reference to embodiment and accompanying drawing, the utility model is described in further detail, but reality of the present utility model
Apply mode not limited to this.
Embodiment
As shown in figs 1 to 6, a kind of visual servo head based on stepper motor, including camera tripod 2, horizontal rotation
Plate 8, left support frame 3, right support frame 7, encoder fixed plate 13, first and second stepper motor 10,6, camera 1, first and
Two encoders 14,5；
Order from the bottom to top, the first encoder are fixed on the downside of encoder fixed plate, the first stepper motor position
In rotating horizontally between plate and encoder fixed plate, its main shaft is connected by ring flange with rotating horizontally plate, and its tailing axle passes through connection
Axle device 11 is connected with the first encoder, and the encoder fixed plate and the fuselage of the first stepper motor are connected by stay bolt 12
Fixation is connect, the horizontal rotation plate upper surface center is placed added with 5mm apertures ring flange between lower surface and the first stepper motor
Plane bearing 9, ring flange entangle the main shaft of the first stepper motor, locked by the jackscrew of ring flange.
Left support frame and right support frame are separately fixed at the left and right sides for rotating horizontally plate, and the camera tripod is arranged on
Between left and right sidesing supporting frame, the second encoder is fixed on the outside of right support frame, and the camera is located at the upside of camera tripod,
Second stepper motor is located at the downside of camera tripod, and between left and right sidesing supporting frame, first stepper motor
Upside or encoder fixed plate are fixed with carrier.
The center installation 6mm apertures ring flange of the right support frame, entangles second encoder, is locked by the jackscrew of ring flange
Extremely.
The center installation 5mm apertures ring flange of the left support frame, entangles the main shaft of the second stepper motor, passes through ring flange
Jackscrew it is locked, and by this be fixed on rotate horizontally plate on the left of.
Encoder fixed plate and the fuselage of the first stepper motor are connected by stay bolt.
Size of the lower side space of camera tripod just with the second stepper motor matches, and makes the center of gravity of camera in the first step
Above the axle of stepper motor, the camera tripod is mainly integrally formed by three supports, specifically lateral frame and two perpendicular supports,
Described two perpendicular supports are respectively perpendicular to the lower surface of lateral frame, and second stepper motor is between two perpendicular supports, institute
State camera and be fixed on lateral frame upper surface.
Motor can produce shake in operation process, and the shake of the first stepper motor fuselage will not be to system in the present apparatus
Impact, the fuselage of the first encoder and the first stepper motor is fixed as entirety by stay bolt, makes the first encoder not
Influenceed by the shake of the first stepper motor fuselage, meanwhile, the shake of the fuselage of the second stepper motor can impact to system, by the
Two encoders are fixed in right support plate, second encoder is detected the shake of the second stepper motor fuselage.
The weight of upper part is born by plane bearing in the upside of the first stepper motor, avoids the first stepper motor from receiving
Big axial force and torque output is impacted, while the friction between face can be avoided contact with.
Camera tripod inner space is as far as possible small, can as low as install the second stepper motor just, and makes camera center of gravity close
Above first step motor shaft, if camera and the second stepper motor vertical range are excessive, loading moment will increase, meanwhile, phase
Machine imaging center increases with pivot distance, can reduce optical axis pointing accuracy；If wide will cause to rotate horizontally plate growth,
Further it is eager to excel and rotates horizontally the mechanical strength of plate.
Encoder is connected direct locked and fixed by rigid connector with other axles or plate, without using travelling gear, avoids
During high-frequency timing, because flexible connection or gear return difference cause angle detection inaccurate.
Material selection photosensitive resin, its advantage are that density is small, good toughness, and machining accuracy is high；Plate is rotated horizontally as head
Main weighing piece, the thick plates of 10mm are designed as, other cradle head structure parts are 5mm, on the premise of mechanical strength is ensured, are mitigated
Head quality, further reduce the output torque requirement to all directions motors.
Head framework is rationally designed according to camera model and stepper motor model, reduces and stepper motor output torque is wanted
Ask, while the mounting means of all directions encoder can effectively reduce the influence of noise, can be accurately detected executing agency's angle position
Confidence is ceased, and rigid connector is used between motor and encoder axle, can be reduced in high-frequency timing because flexibility causes detection not
Accurately.The mounting means of the rational structure design of head and each part can effectively improve the precision and tracking speed of visual servo head
Degree.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by described
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (6)
1. a kind of visual servo head based on stepper motor, it is characterised in that including camera tripod, rotate horizontally plate, a left side
Support frame, right support frame, encoder fixed plate, first and second stepper motor, camera, first and second encoder；
First encoder is fixed on the downside of encoder fixed plate, and first stepper motor is positioned at horizontal rotation plate and encoder
Between fixed plate, its main shaft is connected by ring flange with rotating horizontally plate, and its tailing axle is connected by shaft coupling with the first encoder,
Left support frame and right support frame are separately fixed at the left and right sides for rotating horizontally plate, and the camera tripod is arranged on left and right support
Between frame, the second encoder is fixed on the outside of right support frame, and the camera is located at the upside of camera tripod, and described second
Stepper motor is located at the downside of camera tripod, and between left and right sidesing supporting frame.
2. visual servo head according to claim 1, it is characterised in that the center installation 6mm holes of the right support frame
Footpath ring flange, entangles second encoder, locked by the jackscrew of ring flange.
3. visual servo head according to claim 1, it is characterised in that the center installation 5mm holes of the left support frame
Footpath ring flange, entangle the main shaft of the second stepper motor.
4. visual servo head according to claim 1, it is characterised in that encoder fixed plate and the first stepper motor
Fuselage is connected by stay bolt.
5. visual servo head according to claim 1, it is characterised in that the lower side space of camera tripod is just with
The size matching of two stepping motor, makes the center of gravity of camera above the axle of the first stepper motor.
6. visual servo head according to claim 1, it is characterised in that the upper surface center for rotating horizontally plate is set
There is 5mm apertures ring flange, the centrally disposed plane bearing in lower surface is connected with the first stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454106.8U CN206831080U (en) | 2017-04-27 | 2017-04-27 | A kind of visual servo head based on stepper motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454106.8U CN206831080U (en) | 2017-04-27 | 2017-04-27 | A kind of visual servo head based on stepper motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206831080U true CN206831080U (en) | 2018-01-02 |
Family
ID=60768926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720454106.8U Expired - Fee Related CN206831080U (en) | 2017-04-27 | 2017-04-27 | A kind of visual servo head based on stepper motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206831080U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099287A (en) * | 2018-08-07 | 2018-12-28 | 上海大学 | A kind of visual observation holder applied to ground mobile robot |
| CN109915704A (en) * | 2019-03-27 | 2019-06-21 | 南京理工大学 | A kind of automatically controlled holder and its movement technique with electromagnetic damping system |
-
2017
- 2017-04-27 CN CN201720454106.8U patent/CN206831080U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099287A (en) * | 2018-08-07 | 2018-12-28 | 上海大学 | A kind of visual observation holder applied to ground mobile robot |
| CN109915704A (en) * | 2019-03-27 | 2019-06-21 | 南京理工大学 | A kind of automatically controlled holder and its movement technique with electromagnetic damping system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206831080U (en) | A kind of visual servo head based on stepper motor | |
| CN109178285A (en) | A kind of propulsion device and underwater robot for underwater robot | |
| CN204140276U (en) | There is the wind power plant of measuring device | |
| CN103471566B (en) | Scanning mechanism applied to aerial camera | |
| CN201974620U (en) | Triaxial aerial photography holder | |
| CN108204879B (en) | A kind of measuring method and system of rotary inertia | |
| CN206627632U (en) | A kind of laser head intelligent space alignment system | |
| CN106842229A (en) | A kind of laser head intelligent space alignment system and space-location method | |
| CN101770010B (en) | GPS antenna positioning deviation adjusting device | |
| CN209290651U (en) | A kind of propulsion device and underwater robot for underwater robot | |
| CN100485341C (en) | Small low-speed wind tunnel experiment model stand | |
| CN107237971A (en) | Boat-carrying based on gyroscope attitude detection is from steady head | |
| CN201637918U (en) | Prism adjusting mechanism in projection system | |
| CN110696917B (en) | Wing sail vehicle, wing sail vehicle control method, device and storage medium | |
| CN204785358U (en) | Two dimension angle displacement adapter | |
| CN206130495U (en) | On -board is from steady cloud platform based on gyroscope gesture detects | |
| CN205228452U (en) | Cloud platform is measured to three -dimensional vision of scanning formula | |
| CN114440957B (en) | Sensor fusion calibration equipment and method thereof | |
| CN205168691U (en) | Can realize balanced wheel barrow device of turning | |
| CN205176652U (en) | Can realize wheel barrow device of all -round motion decoupling zero | |
| CN211293236U (en) | Movable radar monitoring device | |
| CN105235774A (en) | Wheelbarrow device capable of achieving turning balance | |
| CN107887700A (en) | A kind of target seeker servo-drive system transmission mechanism | |
| CN207050677U (en) | A kind of upright scanning device based on three-dimensional laser scanning technique | |
| CN202661883U (en) | Follow-up rotary table using virtual leveling technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180102 Termination date: 20200427 |