CN207261986U - A kind of remote-controlled movement device - Google Patents
A kind of remote-controlled movement device Download PDFInfo
- Publication number
- CN207261986U CN207261986U CN201721288089.1U CN201721288089U CN207261986U CN 207261986 U CN207261986 U CN 207261986U CN 201721288089 U CN201721288089 U CN 201721288089U CN 207261986 U CN207261986 U CN 207261986U
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- rotating member
- remote
- controlled movement
- linking arm
- holder
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Abstract
The utility model is related to intelligent equipment technology field, there is provided a kind of remote-controlled movement device, it is used to carry camera device and executing agency, including：Holder, mechanical arm and car body, holder and mechanical arm are mounted on car body；Mechanical arm includes：For connecting driving mechanism and the base assembly that the first linking arm, the second linking arm, the first linking arm of driving and the second linking arm of executing agency move.In the above manner, the posture of camera device can be fixed or arbitrarily adjusted to the holder, camera device is allowd voluntarily to obtain road or landform situation during traveling, and can be in mechanical arm operation, obtain the job status of mechanical arm, so as to be fed back to user, so that user preferably controls and operates the remote-controlled movement device.
Description
Technical field
It the utility model is related to intelligent equipment technology field, more particularly to a kind of remote-controlled movement device.
Background technology
Holder is installation, the support equipment of fixed video camera, it is divided into fixed and two kinds of electric platform.Fixed holder is applicable in
In the little situation of monitoring scope, the level of adjustable video camera and the angle of pitching after video camera are installed on fixed holder
Degree, as long as locking adjustment mechanism after reaching best operating attitude.Electric platform is suitable for sweeping on a large scale
Monitoring is retouched, it can expand the monitoring scope of video camera.
Mechanical device of the mechanical arm as moving type actuating mechanism, in the past, is connected and composed, its structure compares by multiple joints
It is complicated.To strengthen the practicality of mechanical arm, usually mechanical arm is installed on moveable platform, forms remote-controlled movement device, with
Mechanical arm enable under the drive of mobile platform, completes more work.
In the process of implementing the utility model, inventor has found that the prior art has at least the following problems：It is existing distant
Control in mobile device, because lacking a kind of holder that can be fixed or arbitrarily adjust camera device so that the remote-controlled movement device is not
Road or landform situation can be voluntarily obtained during traveling, the operation of mechanical arm can not be obtained in mechanical arm operation
Situation, and it is fed back to user.
Utility model content
In order to solve on existing remote-controlled movement device, because lacking a kind of cloud that can be fixed or arbitrarily adjust camera device
Platform so that the remote-controlled movement device cannot voluntarily obtain road or landform situation during traveling, can not be in mechanical arm
During operation, the job status of mechanical arm is obtained, and is fed back to the technical problem of user, the utility model provides one kind and takes
It is loaded with the remote-controlled movement device of camera device and holder.
In order to solve the above technical problems, the utility model provides following technical scheme：
A kind of remote-controlled movement device, it is used to carry camera device and executing agency, and the remote-controlled movement device includes：Cloud
Platform, mechanical arm and car body, the holder and mechanical arm mechanism are mounted on the car body；The mechanical arm includes：For even
Connect the first linking arm, the second linking arm, the first linking arm of driving and the driving machine of the second linking arm movement of the executing agency
Structure and base assembly, one end of first linking arm are used to be connected with the executing agency, and the other end connects with described second
The one end for connecing arm is hinged, and the other end and the base assembly of second linking arm are hinged.The base assembly is installed on institute
State car body.
In certain embodiments, the holder includes：First rotating member and the second rotating member, first rotating member are used for
The camera device is installed, first rotating member is connected with second rotating member, and second rotating member is installed on
On the car body；First rotating member include the first cursor and for carry the camera device first driving means and
First cursor, one end of first cursor are fixedly connected with the output terminal of the first driving means；Described second turn
Moving part includes the second driving device and the second cursor, and second driving device and the other end of first cursor connect
Connect, one end of second cursor is fixedly connected with the output terminal of second driving device.
In certain embodiments, the holder further includes a fixation kit, and the fixation kit includes：Fixed frame, installation
Column and sliding part, the fixed frame are fixedly connected with the first driving means, and one end of the mounting post is fixed on described solid
Determine frame, the sliding part end sleeve is arranged on the mounting post, and can be slided along the mounting post.
In certain embodiments, the two opposite sides that the fixed frame is used to clamp the camera device including base portion and two
Extension, the extension share two, respectively by the both ends of the base portion along the plane extension where the base portion and
Go out, the extension is used for the two opposite sides for clamping the camera device；The mounting post shares two, each mounting post
Connect a corresponding extension.
In certain embodiments, the holder includes the 3rd rotating member and is vertically arranged to the mounting rod of the car body, institute
Stating the 3rd rotating member includes：3rd driving device, the 3rd driving device is fixedly connected with one end of the mounting rod, described
The output terminal of 3rd driving device is connected with the other end of second cursor.
In certain embodiments, the holder further includes slide assemblies, and the slide assemblies include sliding block and slider-actuated
Device, the slide-driving device are connected with the sliding block, and the mounting rod is fixedly connected with the sliding block；The car body upper berth
Equipped with sliding slot, the sliding block is installed on the sliding slot, and can be slided along the sliding slot.
In certain embodiments, the mounting rod is directly fixedly connected with the car body.
In certain embodiments, second rotating member is used to control the camera device and first rotating member together
Around pitch axes；3rd rotating member is used to control the camera device, first rotating member and second turn described
Moving part is together rotated around course axis.
In certain embodiments, second cursor is installed on second linking arm.
In certain embodiments, second cursor is installed on first linking arm.
Compared with prior art, the utility model provides a kind of remote-controlled movement device, including：Car body, is installed on car body
On holder and mechanical arm, which is multiaxis holder, and carries camera device.Shooting can be fixed or arbitrarily adjusted to the holder
The posture of device so that camera device can voluntarily obtain road or landform situation during traveling, and can be in machinery
During arm operation, the job status of mechanical arm is obtained, so that user is fed back to, so that user preferably controls and behaviour
Make the remote-controlled movement device.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in attached drawing are expressed as similar element, remove
Non- have a special statement, and composition does not limit the figure in attached drawing.
Fig. 1 is a kind of structure diagram for remote-controlled movement device that the utility model embodiment provides；
Fig. 2 is the holder of remote-controlled movement device and the structure diagram of camera device shown in Fig. 1；
Fig. 3 is the holder of remote-controlled movement device and another structure diagram of camera device shown in Fig. 1；
Fig. 4 be Fig. 2 shown in holder in fixation kit structure diagram；
Fig. 5 is the mechanical arm of remote-controlled movement device and the structure diagram of executing agency shown in Fig. 1.
Embodiment
For the ease of understanding the utility model, with reference to the accompanying drawings and detailed description, the utility model is carried out more
Detailed description.It should be noted that when element is expressed " being fixed on " another element, it can be directly in another element
Above or therebetween there may be one or more elements placed in the middle.When an element is expressed " electrical connection " another element, it
It can be directly to another element or there may be one or more elements placed in the middle therebetween.This specification is made
The orientation or position relationship of the instruction such as term " on ", " under ", " interior ", " outer ", " bottom " are based on orientation shown in the drawings
Or position relationship, be for only for ease of description the utility model and simplify and describe, rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the utility model
System.In addition, term " first ", " second " " the 3rd " etc. are only used for description purpose, and it is not intended that indicating or implying relatively heavy
The property wanted.
Unless otherwise defined, the skill of technical and scientific term all used in this specification with belonging to the utility model
The normally understood implication of technical staff in art field is identical.It is intended merely in the term used in the description of the utility model
The purpose of specific embodiment is described, is not intended to limitation the utility model.Term "and/or" bag used in this specification
Include the arbitrary and all combination of one or more relevant Listed Items.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not forming conflict can be combined with each other.
Referring to Fig. 1, the utility model provides a kind of remote-controlled movement device 100, for carrying camera device 20 and performing
Mechanism 50.The remote-controlled movement device 100 includes：Holder 10, mechanical arm 30 and car body 40.The holder 10 and mechanical arm mechanism
30 are mounted on the car body 40, and the mechanical arm 30 connects executing agency 50 and drives executing agency 50 to act.The cloud
Platform 10, for carrying camera device 20, to realize the fixation of the camera device 20 or arbitrarily adjust the camera device 20
Posture (for example, changing height, inclination angle and/or the direction of the camera device 20) and stablize the camera device 20 to keep
In the posture of setting.The camera device 20 can be image acquiring device, such as camera, video camera, shooting are first-class, or be
Other portable electron devices, such as mobile phone, tablet computer etc., it is possible to understand that can also be sensor etc..
As shown in Fig. 2, in the present embodiment, the holder 10 is three axis all-directional tripod heads, the camera device 20 is figure
As acquisition device.The holder 10 includes the first rotating member 11, the second rotating member 12 and the 3rd rotating member 13, wherein first rotates
Part 11 is used to install the camera device 20, and first rotating member 11 is connected with second rotating member 12, described 3rd turn
Moving part 13 is connected with second rotating member 12, and the 3rd rotating member 13 is used to be installed on the car body 40.
First, second and third rotating member 11,12,13 includes a driving device, and each driving device includes fixed part and turns
Dynamic portion, and the rotation section can be rotated relative to the fixed part.
In the utility model embodiment, each driving device of the holder 10 responds the rotation control received respectively
Signal, and control its rotation section portion of being secured relative to rotate clockwise or counterclockwise according to control signal, and adjust this turn
The rotating speed in dynamic portion, so as to fulfill the adjustment of respective direction.And then realize the direction of the camera device 20, orientation and stability
Control.In the above manner, the camera device 20 is enabled to obtain corresponding visual angle, stable video and/or picture.Can
With understanding, the holder 10 may also comprise the rotating member that a direction rotation, both direction rotation or more direction rotate.
Further, in the present embodiment, first rotating member 11 control the camera device 20 around roll axis (such as
P direction of principal axis shown in Fig. 2) rotate；Second rotating member 12 controls the camera device 20 around pitch axis (R as shown in Figure 2
Direction of principal axis) rotate；3rd rotating member 13 controls the camera device 20 to turn around translation shaft (Y direction as shown in Figure 2)
It is dynamic.
Specifically, also referring to Fig. 3, first rotating member 11 includes 111 and first cursor of first driving means
112, the first driving means 111 include the first fixed part 1111, the first rotation section 1112 and first rotating shaft (not shown).Its
In, first rotation section 1112 can be rotated relative to first fixed part 1111.One end of first cursor 112
It is fixedly connected with second rotating member 12, the other end is fixed with the first fixed part 1111 in the first driving means 111
Connection, first rotation section 1112 are used to be fixedly connected with the camera device 20, drive the camera device 20 around described
First rotating shaft rotates.
In the present embodiment, second rotating member 12 includes the second driving device 121 and the second cursor 122, described
Second driving device 121 includes the second fixed part 1211, the second rotation section 1212 and the second shaft (not shown).Wherein, it is described
Second shaft is flexibly connected with second fixed part 1211, and second shaft is fixed with second rotation section 1212 to be connected
Connect, and second rotation section 1212 can be rotated around the second shaft relative to second fixed part 1211.Described first
One end of cursor 112 is fixedly connected with first fixed part 1111, and the in the other end and second driving device 121
Two rotation sections 1212 are fixedly connected, so that when being rotated in the second rotation section 1212 of second driving device 121, can band
First rotating member 11 and camera device 20 is moved to rotate relative to the second shaft in second rotating member 12.
In the present embodiment, the 3rd rotating member 13 includes the 3rd driving device 131, the 3rd driving device 131
Including the 3rd fixed part 1311, the 3rd rotation section 1312 and the 3rd shaft (not shown).Wherein, the 3rd shaft and described the
Three fixed parts 1311 are flexibly connected, and the 3rd shaft is fixedly connected with the 3rd rotation section 1312, and described 3rd turn
Dynamic portion 1312 can be rotated around the 3rd shaft relative to the 3rd fixed part 1311, and the 3rd rotation section 1312 can band
Dynamic first rotating member 11, the second rotating member 12 and camera device 20 rotate together.
Wherein, the first driving means 111, the second driving device 121 can be respectively brushless electric machine, brush motor or
One kind in air motor.
In the present embodiment, the holder 10 further includes mounting rod 14 and fixation kit 15, one end of the mounting rod 14
It is installed on the car body 40, the other end is fixedly connected with the 3rd rotation section 1312.The fixation kit 15 is used to install
And the fixed camera device 20, the fixation kit 15 are fixedly connected with first rotation section 1112.
As shown in figure 4, the fixation kit 15 includes fixed frame 151, mounting post 152 and sliding part 153, the fixed frame
151 are fixedly connected with first rotation section 1112.Wherein, which includes base portion 1511 and extension 1512, base portion
1511 be in strip, and extension 1512 shares two, is prolonged respectively by the both ends of base portion 1511 along perpendicular to the direction of base portion 1511
Stretch and form.The fixed frame 151 is provided with fixing groove 1513, which, through base portion 1511, is prolonged by an extension 1512
Extend another extension 1512.The mounting post 152 shares two, each mounting post 152 be fitted vertically be connected to one it is right
The extension 1512 answered.The camera device 20 can be embedded in the fixing groove 1513, and two extensions 1512 are used for institute
Camera device 20 is stated to clamp.Mounting post 152 shares two, and is located at the two opposite sides of the camera device 20 respectively.Peace
One end away from base portion 1511 on extension 1512 is fixed in one end of dress column 152.The sliding part 153 is sheathed on the installation
Column 152 so that the sliding part 153 can be slided along the mounting post 152.The sliding part 153 is used to support the shooting dress
Put 20 front.The fixed frame 151, mounting post 152 and sliding part 153 jointly by 20 fixation of camera device, by
It can be slided in the sliding part 153 along the mounting post 152 so that the distance between described fixed frame 151 and sliding part 153 are
It is adjustable, consequently facilitating the installation and removal of the camera device 20.Further, based on this structure, it is also possible that described
Fixation kit 15 can install the camera device 20 of different size model numbers.
As shown in figure 5, the mechanical arm 30 connects executing agency 50 and drives executing agency 50 to act, including connection performs
The first linking arm 31, the second linking arm 32, the first linking arm 31 of driving and the driving machine of the second linking arm 32 movement of mechanism 50
Structure 33 and base assembly 34.One end of first linking arm 31 is connected with the executing agency 50, the other end and described the
One end of two linking arms 32 is hinged；The other end of second linking arm 32 is hinged with the base assembly 34.
In the present embodiment, the holder 10 and mechanical arm 30 are individually installed on the car body 40.It is appreciated that
It is that in some other embodiment, the 3rd rotating member 11 and mounting rod 14 in the holder 10 can omit.That is, described holder
10 only include the first rotating member 11 and the second rotating member 12, wherein the first rotating member 11 is used to install the camera device 20, institute
State the first rotating member 11 to be connected with second rotating member 12, and second rotating member 12 is used to be installed on the car body 40
On.Specifically, described second cursor, 122 one end is fixedly connected with second fixed part 1212, second cursor 122
The other end be installed on 31 or second linking arm 32 of the first linking arm.The holder 10 is installed on the mechanical arm 30
In on the first linking arm 31 or the second linking arm 32, can cause the mechanical arm 30 during work, described second
Linking arm 32 carries out the rotation of 360 deg relative to the base assembly 34, will not be interfered.If 10 He of holder
Mechanical arm 30 is individually installed on the car body 40, in the rotation process of second linking arm 32, due to depositing for holder 10
So that second linking arm 32 cannot carry out the rotation of 360 deg.Meanwhile the holder 10 is installed on the second connection
Arm 32, when may be such that second linking arm 32 is rotated relative to the base assembly 34, drives the holder 10 to rotate, so that
So that the holder 10 omits the 3rd rotating member 13, the holder 10 can still carry out comprehensive rotation.
It is understood that in some other embodiment, the holder 10 further includes slide assemblies (not shown), described
Slide assemblies include sliding block (not shown) and slide-driving device (not shown), and sliding slot is equipped with the car body 40, and (figure is not
Show), the sliding block is installed on the sliding slot, and can be slided along the sliding slot, and the slide-driving device can receive control letter
Number, and according to control signal the sliding block can be driven to be slided along the sliding slot.The other end of the mounting rod 14 and the sliding block
It is fixedly connected.Based on above structure, the slide assemblies can drive the holder 10 to be moved relative to the car body 40, not only may be used
So that the camera device 20 being equipped on holder 10 has the more preferable visual field, the holder 10 can also be avoided to interfere with the machine
The work of tool arm 30.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Under the thinking of the utility model, it can also be combined between the technical characteristic in above example or different embodiments,
Step can be realized with random order, and many other changes of the different aspect there are the utility model as described above, be
Simplicity, they do not provide in details；Although the utility model is described in detail with reference to the foregoing embodiments, this
The those of ordinary skill in field should be understood：It can still modify the technical solution described in foregoing embodiments,
Or equivalent substitution is carried out to which part technical characteristic；And these are changed or are replaced, the sheet of appropriate technical solution is not made
Matter departs from the scope of various embodiments of the utility model technical solution.
Claims (10)
- A kind of 1. remote-controlled movement device, for carrying camera device and executing agency, it is characterised in that the remote-controlled movement device Including：Holder, mechanical arm and car body, the holder and the mechanical arm are mounted on the car body；The mechanical arm includes：For connecting the first linking arm, the second linking arm, the first linking arm of driving of the executing agency With the driving mechanism and base assembly of the movement of the second linking arm, one end of first linking arm is used for and the executing agency Connection, the other end of first linking arm and one end of second linking arm are hinged, the other end of second linking arm It is hinged with the base assembly；The base assembly is installed on the car body.
- 2. remote-controlled movement device according to claim 1, it is characterised in thatThe holder includes：First rotating member and the second rotating member, first rotating member are used to install the camera device, institute State the first rotating member to be connected with second rotating member, and second rotating member is installed on the car body；First rotating member include the first cursor and for carry the camera device first driving means and first turn Swing arm, one end of first cursor are fixedly connected with the output terminal of the first driving means；Second rotating member includes the second driving device and the second cursor, and second driving device is rotated with described first The other end connection of arm, one end of second cursor is fixedly connected with the output terminal of second driving device.
- 3. remote-controlled movement device according to claim 2, it is characterised in thatThe holder further includes a fixation kit, and the fixation kit includes：Fixed frame, mounting post and sliding part, the fixation Frame is fixedly connected with the first driving means, and the fixed frame, the sliding part end are fixed in one end of the mounting post Being sheathed on the mounting post can simultaneously slide along the mounting post.
- 4. remote-controlled movement device according to claim 3, it is characterised in thatThe fixed frame includes base portion and the extension of two two opposite sides for clamping the camera device, and the extension is total to There are two, extended respectively by the both ends of the base portion along perpendicular to plane where the base portion；The mounting post shares two A, each mounting post connects a corresponding extension.
- 5. remote-controlled movement device according to claim 3, it is characterised in thatThe holder includes the 3rd rotating member and is vertically arranged to the mounting rod of the car body, and the 3rd rotating member includes：The Three driving devices, the 3rd driving device are fixedly connected with one end of the mounting rod, the output of the 3rd driving device End is connected with the other end of second cursor.
- 6. remote-controlled movement device according to claim 5, it is characterised in thatThe holder further includes slide assemblies, and the slide assemblies include sliding block and slide-driving device, the slider-actuated dress Put and be connected with the sliding block, the mounting rod is fixedly connected with the sliding block；Sliding slot is equipped with the car body, the sliding block is installed on the sliding slot, and can be slided along the sliding slot.
- 7. remote-controlled movement device according to claim 5, it is characterised in thatThe mounting rod is directly fixedly connected with the car body.
- 8. the remote-controlled movement device according to any one of claim 5-7, it is characterised in thatSecond rotating member is used to control the camera device and first rotating member together around pitch axes；Described Three rotating members are used to control the camera device, first rotating member and second rotating member together around course axis to turn It is dynamic.
- 9. the remote-controlled movement device according to Claims 2 or 3, it is characterised in thatSecond cursor is installed on second linking arm.
- 10. the remote-controlled movement device according to Claims 2 or 3, it is characterised in thatSecond cursor is installed on first linking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721288089.1U CN207261986U (en) | 2017-09-30 | 2017-09-30 | A kind of remote-controlled movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721288089.1U CN207261986U (en) | 2017-09-30 | 2017-09-30 | A kind of remote-controlled movement device |
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| Publication Number | Publication Date |
|---|---|
| CN207261986U true CN207261986U (en) | 2018-04-20 |
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ID=61916487
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721288089.1U Active CN207261986U (en) | 2017-09-30 | 2017-09-30 | A kind of remote-controlled movement device |
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| CN (1) | CN207261986U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679390A (en) * | 2018-08-10 | 2018-10-19 | 镇江市南方工矿器材有限公司 | A kind of Coal mine methane detector |
| CN113844215A (en) * | 2021-09-18 | 2021-12-28 | 山东鸥帆机器人科技有限公司 | Tire dismouting robot |
-
2017
- 2017-09-30 CN CN201721288089.1U patent/CN207261986U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679390A (en) * | 2018-08-10 | 2018-10-19 | 镇江市南方工矿器材有限公司 | A kind of Coal mine methane detector |
| CN113844215A (en) * | 2021-09-18 | 2021-12-28 | 山东鸥帆机器人科技有限公司 | Tire dismouting robot |
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Address after: 518000 1003, building 2, Chongwen Park, Nanshan wisdom Park, 3370 Liuxian Avenue, Fuguang community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Yuejiang Technology Co.,Ltd. Address before: 518000 4th floor, building 8, area a, Tanglang Industrial Zone, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |