CN209999239U

CN209999239U - cradle head mechanism based on cruise robot

Info

Publication number: CN209999239U
Application number: CN201920577160.0U
Authority: CN
Inventors: 苏航; 孙光煜; 张宇; 潘梓桐
Original assignee: Binhai Industrial Technology Research Institute of Zhejiang University
Current assignee: Binhai Industrial Technology Research Institute of Zhejiang University
Priority date: 2019-04-25
Filing date: 2019-04-25
Publication date: 2020-01-31
Anticipated expiration: 2029-04-25

Abstract

The utility model discloses an cloud platform mechanisms based on robot cruises, the on-line screen storage device comprises a base, sliding connection supporting seat on the base, rotate on the supporting seat and connect the cantilever, the cantilever is followed the slip direction of supporting seat stretches out, the cantilever is kept away from the end of supporting seat is rotated and is connected the second cantilever, the second cantilever is arranged in directly over the cantilever, the second cantilever is equipped with the fixed station, the fixed station is arranged in directly over the supporting seat, be equipped with the locating piece on the fixed station, rotate on the locating piece and connect the camera kind of cloud platform mechanisms based on robot cruises, through the design of the cloud platform of this kind of simple structure, can adapt to more complicated road conditions, avoid collection system impaired, stability is better, simultaneously, can gather the internal environment in comparatively constrictive environment.

Description

cradle head mechanism based on cruise robot

Technical Field

The utility model belongs to the robot field especially relates to kinds of cloud platform mechanisms based on robot cruises.

Background

In recent years, with the progress of the technological level, the manual work and the intelligence are gradually fields of large competition capital research and development, and the development is gradually applied to different fields, cruise robots are used in fields of inspection, particularly in dangerous zones, people cannot directly enter search and rescue or search, such as earthquake collapse areas, fire scenes and other dangerous zones.

SUMMERY OF THE UTILITY MODEL

This section is intended to summarize aspects of embodiments of the present invention and to present a brief summary of of the preferred embodiments in this section, as well as the abstract and the title of the disclosure, to avoid obscuring the purpose of this section, abstract and the title, and it is not intended to limit the scope of the disclosure.

In view of the problem that exists in the description of above-mentioned background art, the utility model discloses, consequently, the utility model discloses wherein aims at providing kind of cloud platform mechanisms based on the robot that cruises, through the design of the cloud platform of this kind of simple structure, can adapt to more complicated road conditions, avoids collection system impaired, and stability is better, simultaneously, can gather the internal environment in comparatively constrictive environment.

For solving the technical problem, the utility model discloses a technical scheme be cloud platform mechanisms based on robot cruises, the on-line screen storage device comprises a base, sliding connection supporting seat on the base, rotate on the supporting seat and connect the cantilever, the cantilever is followed the slip direction of supporting seat stretches out, the cantilever is kept away from end rotation of supporting seat connects the second cantilever, the second cantilever is arranged in directly over the cantilever, the second cantilever is equipped with the fixed station, the fixed station is arranged in directly over the supporting seat, be equipped with the locating piece on the fixed station, rotate on the locating piece and connect the camera.

, a buffer plate is arranged on the supporting seat, the buffer plate is connected with the supporting seat through a telescopic rod, and a rubber spring is connected between the supporting seat and the buffer plate.

, after the camera is installed, the rubber spring is in a compressed state, and the telescopic rod is in an incompletely stretched state.

, a th motor is arranged at the end of the buffer plate, which is close to the end of the supporting seat, and a th rotating shaft on the th motor penetrates through the buffer plate to be connected with the th cantilever.

, the th cantilever is a Z-shaped structure, and two transverse parts of the Z-shaped structure are respectively connected with the buffer plate and the second cantilever.

, a second motor is arranged at the end of the th cantilever far away from the th rotating shaft, and a second rotating shaft on the second motor penetrates through the th cantilever to be connected with the second cantilever.

, a third motor is arranged on the fixed table, a third rotating shaft on the third motor penetrates through the positioning block, a groove is formed in the positioning block, and the third rotating shaft penetrates through the groove.

, a hiding groove is arranged on the base, symmetrical slide ways are arranged on the side wall of the hiding groove, and a slide block matched with the slide ways is arranged on the supporting seat and is connected with the base in a sliding manner.

, a fourth motor is arranged at the bottom of the avoiding groove, an output shaft of the fourth motor is connected with a speed reducer, the speed reducer is coaxially connected with a fourth rotating shaft, a thread is arranged on the fourth rotating shaft, and the supporting seat penetrates through the fourth rotating shaft and the thread matching with the fourth rotating shaft.

The utility model has the advantages and positive effects that: compared with the prior art, (1) the utility model can adapt to the more complex road conditions by the design of the cradle head with the simple structure, avoid the damage of the acquisition system, have better stability, and simultaneously can acquire the internal environment in the narrower environment;

(2) the two cantilevers are vertically arranged and can rotate to ensure the integral stability of the holder and -fixed buffer capacity in the movement process, and meanwhile, if a complex environment is met, the cantilevers can extend out of the robot in a matched manner to detect in a narrow place and collect pictures, so that the pictures are clearer;

(3) through the design of the upper part of the fixed table, the connected cameras can adjust the angle according to the requirements so as to acquire clear pictures from different angles;

(4) through the design of telescopic link and the cooperation structure of rubber spring, advance step the buffering of cloud platform self of realization to when avoiding moving under complicated road conditions, damage the camera, make the picture that the camera was gathered at the in-process of walking simultaneously clearer.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic view of an overall structure of a platform mechanism directions based on a cruise robot of types of the present invention;

fig. 2 is another directions overall structure schematic diagrams of kinds of pan-tilt mechanisms based on cruise robot of the utility model.

Reference numerals:

1-avoiding groove, 2-slideway, 3-base, 4-second rotating shaft, 5-second cantilever, 6-fixed table, 7-third motor, 8-positioning block, 9-third rotating shaft, 10-buffer plate, 11-telescopic rod, 12-supporting seat, 13- th rotating shaft, 14- th cantilever, 15-second motor, 16-fourth rotating shaft, 17-reducer, 18-fourth motor, 19-rubber spring and 20- motor.

Detailed Description

It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore are not to be construed as limiting the invention.

In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" shall be construed , for example, as being either fixedly or removably connected, or physically connected, mechanically or electrically connected, directly or indirectly connected through an intermediary, or communicating between two elements.

In order to make the objects, technical solutions and advantages of the present invention clearer, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in FIG. 1, cloud deck mechanisms based on cruise robots comprise a base 3, a support base 12 is connected on the base 3 in a sliding mode, a -th cantilever 14 is connected on the support base 12 in a rotating mode, a -th cantilever 14 extends out along the sliding direction of the support base 12, a -th cantilever 14, far away from the support base 12, is connected with a second cantilever 5 in a rotating mode, the second cantilever 5 is arranged right above a -th cantilever 14, the second cantilever 5 is provided with a fixed table 6, the fixed table 6 is arranged right above the support base 12, a positioning block 8 is arranged on the fixed table 6, and a camera is connected on the positioning block 8 in a rotating mode.

Wherein, be equipped with buffer board 10 on the supporting seat 12, be connected through telescopic link 11 between buffer board 10 and the supporting seat 12, and be connected with rubber spring 19 between supporting seat 12 and the buffer board 10, installing behind the camera, rubber spring 19 is in the pressurized state, but not the complete compression, and telescopic link 11 is in the state of not stretching completely through telescopic link 11 and the design of the cooperation structure with rubber spring 19, the buffering of the cloud platform self of the realization of step is advanced to avoid when the operation under complicated road conditions, damage the camera, make the picture that the camera was gathered at the in-process of walking more clear simultaneously.

, a motor 20 is arranged at the end of the buffer plate 10 close to the support seat 12, a rotating shaft 13 on the motor 20 penetrates through the buffer plate 10 to be connected with a th cantilever 14, the cantilever 14 is of a Z-shaped structure, two transverse parts of the Z-shaped structure are respectively connected with the buffer plate 10 and the second cantilever 5, a second motor 15 is arranged at the end of the cantilever 14 far away from the rotating shaft 13, a second rotating shaft 4 on the second motor 15 penetrates through the th cantilever 14 to be connected with the second cantilever 5, a third motor 7 is arranged on the fixed table 6, a third rotating shaft 9 on the third motor 7 penetrates through the positioning block 8, the positioning block 8 is provided with a groove, and the third rotating shaft 9 penetrates through the groove.

Preferably, the base 3 is provided with a hiding groove 1, the side wall of the hiding groove 1 is provided with symmetrical slide ways 2, and the supporting seat 12 is provided with a slide block matched with the slide ways 2 and connected with the base 3 in a sliding way. The bottom of the avoiding groove 1 is provided with a fourth motor 18, the output shaft of the fourth motor 18 is connected with a speed reducer 17, the speed reducer 17 is coaxially connected with a fourth rotating shaft 16, the fourth rotating shaft 16 is provided with threads, and the supporting seat 12 penetrates through the fourth rotating shaft 16 to be matched with the threads. The sliding connection of the supporting seat 12 is realized through the matching of the structure, the structure is stable, the positioning is accurate, the position of the camera on the robot can be properly adjusted according to the actual requirements on the site, and the collected signals are clearer.

It should be emphasized that the active invention of the present invention lies in the improvement of the pan-tilt structure, the signal transmission and information collection of the robot, and so on, all belong to the common knowledge of those skilled in the art, and are not described herein again, wherein the control of the motor in the present application is obvious to those skilled in the art, and will not be described herein too much.

The utility model discloses an operating principle installs this cloud platform on cruising robot, the camera cooperates with locating piece 8, third pivot 9 passes the camera and connects, under the control of third motor 7, the camera can rotate, when cruising robot carries out the task, through complicated road surface, in the motion process, rubber spring 19 continues pressurized or tensile on the basis of itself pressurized, telescopic link 11 is along with sliding, thereby make buffer board 10 above that obtain the buffering, it is less to warp, and the design of the cantilever of Z shape, in the motion process, it plays the cushioning effect to the camera to advance steps, get into complicated environment, the picture that the staff transmitted through the camera judges whether there are other places that need observe still, if find certain narrow portion or hole can not obtain clear picture, motor 20 and second motor 15 control two cantilevers respectively and rotate, to corresponding position, after accomplishing, if feel still need to be closer steps, adjust the position of supporting seat 12 on base 3, and the angle of narrow camera, thereby can accomplish the image acquisition of place.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims

The utility model provides a cloud platform mechanism based on robot cruises 1, , includes the base, sliding connection supporting seat on the base, rotate on the supporting seat and connect the cantilever, the cantilever is followed the slip direction of supporting seat stretches out, the cantilever is kept away from the end of supporting seat rotates and connects the second cantilever, the second cantilever is arranged in directly over the cantilever, the second cantilever is equipped with the fixed station, the fixed station is arranged in directly over the supporting seat, be equipped with the locating piece on the fixed station, rotate on the locating piece and connect the camera.
2. The cruise robot-based holder mechanism according to claim 1, wherein the supporting base is provided with a buffer plate, the buffer plate is connected with the supporting base through a telescopic rod, and a rubber spring is connected between the supporting base and the buffer plate.
3. The cruise robot-based pan-tilt mechanism as claimed in claim 2, wherein after the camera is installed, the rubber spring is in a compressed state and the telescopic rod is in an incompletely stretched state.
4. The cruise-robot-based pan-tilt mechanism as claimed in claim 3, wherein the end of the buffer plate near the support base is equipped with the th motor, and the th rotating shaft of the th motor passes through the buffer plate and connects with the th cantilever.
5. The cruise-robot-based pan/tilt head mechanism as claimed in claim 4, wherein the th cantilever is Z-shaped, and two lateral parts of the Z-shaped cantilever are respectively connected to the buffer board and the second cantilever.
6. The cruise-robot-based pan/tilt head mechanism as claimed in claim 5, wherein the end of the th suspension arm, which is far away from the th rotating shaft, is provided with a second motor, and the second rotating shaft of the second motor passes through the th suspension arm and is connected with the second suspension arm.
7. The cruise-robot-based pan-tilt mechanism is characterized in that a third motor is arranged on the fixed table, a third rotating shaft on the third motor penetrates through the positioning block, the positioning block is provided with a groove, and the third rotating shaft penetrates through the groove.
8. The cradle head mechanism based on cruise robot as claimed in claim 7, wherein the base is equipped with an evading groove, the side wall of the evading groove is equipped with symmetrical slide ways, the support base is equipped with a slide block matched with the slide ways, and the slide block is connected with the base in a sliding manner.
9. The cruise-robot-based pan-tilt mechanism is characterized in that a fourth motor is arranged at the bottom of the dodging slot, an output shaft of the fourth motor is connected with a speed reducer, the speed reducer is coaxially connected with a fourth rotating shaft, threads are arranged on the fourth rotating shaft, and the supporting seat penetrates through the fourth rotating shaft and is in threaded fit with the fourth rotating shaft.