CN114151665B - Camera carrying device and control method thereof - Google Patents
Camera carrying device and control method thereof Download PDFInfo
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- CN114151665B CN114151665B CN202111513078.XA CN202111513078A CN114151665B CN 114151665 B CN114151665 B CN 114151665B CN 202111513078 A CN202111513078 A CN 202111513078A CN 114151665 B CN114151665 B CN 114151665B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 137
- 239000010959 steel Substances 0.000 claims abstract description 137
- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims abstract description 11
- 244000208734 Pisonia aculeata Species 0.000 claims description 56
- 230000008569 process Effects 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 5
- 230000001419 dependent effect Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a camera bearing device and a control method thereof, wherein the camera bearing device comprises: a lifting arm assembly; the cradle head is arranged at the lifting end of the lifting arm assembly and is used for supporting a camera; the lifting arm assembly comprises a fixed arm and a multi-stage lifting arm, wherein a hollow lifting channel is formed in the fixed arm, and the lifting arm and the fixed arm are sleeved in a lifting sliding manner and can slide in a lifting manner; the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, wherein the fixed arms are in transmission connection with the lifting arms and the multistage lifting arms through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arms are connected with the lifting arms and the multi-stage lifting arms in a transmission way through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at each stage is realized through the linkage steel cable mechanism. The camera bearing device can carry out more stages of transmission, can lift in a larger range, and is more stable and reliable.
Description
Technical Field
The invention relates to the technical field of image equipment, in particular to a camera bearing device and a control method thereof.
Background
In the broadcast television industry, there is a shooting demand that a camera stably rises or falls in vertical height, so that a rising or falling process is guaranteed, a whole-course picture can be used as a broadcasting picture, and phenomena affecting shooting effects such as shaking, swinging and the like are not allowed. This requires a camera carrying device to achieve this function.
In the prior art, the mechanical structure of the lifting part is usually realized mainly by a screw rod. A multi-stage screw is generally formed, and the lifting height depends on the odd number of the screw and the length of the screw, and the lifting speed depends on the rotating speed of a motor and the screw pitch. In actual production and processing, the longer the screw rod is, the greater the processing difficulty is, the rotation speed of the motor is limited, the lifting height and the lifting speed are broken through, and the use of a higher production process and a higher-speed driving motor is not practical, so that a better structural design is required.
In view of this, the present invention has been made.
Disclosure of Invention
In order to solve the technical problems, the invention provides a camera bearing device and a control method thereof, and the specific technical scheme is as follows:
a camera carrying device comprising:
a lifting arm assembly;
the cradle head is arranged at the lifting end of the lifting arm assembly and is used for supporting a camera;
the lifting arm assembly comprises a fixed arm and a multi-stage lifting arm, wherein a hollow lifting channel is formed in the fixed arm, and the lifting arm and the fixed arm are sleeved in a lifting sliding manner and can slide in a lifting manner;
the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, wherein the fixed arms are in transmission connection with the lifting arms and the multistage lifting arms through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arms are connected with the lifting arms and the multi-stage lifting arms in a transmission way through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at each stage is realized through the linkage steel cable mechanism.
As an alternative embodiment of the invention, the lifting arm comprises a primary lifting arm, a middle lifting arm and a final lifting arm, wherein the primary lifting arm is sleeved in the hollow lifting channel of the fixed arm in a lifting sliding manner, the final lifting arm is positioned at the uppermost end and is used for installing the cradle head, and the multi-stage middle lifting arm is sleeved between the primary lifting arm and the final lifting arm in a lifting sliding manner;
the lifting steel cable mechanism comprises a pulling steel cable mechanism, the pulling steel cable mechanism comprises a pulling steel cable, a first pulley arranged at the lower end of the final lifting arm, a second pulley arranged at the upper end of the fixing arm and a third pulley arranged at the upper end and the lower end of the primary lifting arm and the middle lifting arm, one end of the pulling steel cable is fixed at the upper end of the final lifting arm, the other end of the pulling steel cable downwards extends from the upper end of the final lifting arm to bypass the first pulley, upwards extends to bypass the third pulley at the upper end of the middle lifting arm, downwards extends to bypass the third pulley at the lower end of the middle lifting arm, and after circularly and reciprocally bypassing all the middle lifting arms and the third pulleys at the upper end and the lower end of the primary lifting arm, the second pulley at the upper end of the fixing arm downwards extends to be connected with the driving part.
As an alternative embodiment of the present invention, the lifting cable mechanism includes a pull-back cable mechanism, the pull-back cable mechanism includes a pull-back cable, a fourth pulley disposed at the lower end of the fixed arm, and a fifth pulley disposed at the lower end of the primary lifting arm, one end of the pull-back cable is fixed on the primary lifting arm, the other end extends downward to bypass the primary fourth pulley, extends upward to bypass the primary fifth pulley, extends downward to bypass the secondary fourth pulley, extends upward to bypass the secondary fifth pulley, and … …, and repeats cyclically until extending downward to bypass the N-stage fourth pulley, extends upward to bypass the N-stage fifth pulley, and then extends downward to connect with the driving member; the total number of the fourth pulley and the fifth pulley is equal to the total number of stages of the lifting arm-1.
As an optional embodiment of the present invention, a sixth pulley and a seventh pulley are further disposed at the lower end of the fixed arm, the pull-out steel cable extends downward around the second pulley at the upper end of the fixed arm, bypasses the sixth pulley and then is connected to the driving component, and the pull-back steel cable extends upward around the N-stage fifth pulley and then extends downward around the seventh pulley and then is connected to the driving component.
As an alternative embodiment of the present invention, the driving unit includes a driving motor and a driving roller connected to a motor shaft of the driving motor, the other ends of the pull-out wire rope and the pull-back wire rope are respectively and fixedly connected to two ends of the driving roller, and winding directions of the pull-out wire rope and the pull-back wire rope on the driving roller are opposite.
As an alternative embodiment of the invention, the linkage steel cable mechanism comprises a linkage steel cable and an eighth pulley, wherein the lower ends of the primary lifting arm and the intermediate lifting arm are respectively provided with the eighth pulley, the adjacent two lifting arms are connected through the linkage steel cable, one end of the linkage steel cable is connected with the middle part of the upper lifting arm, and the other end of the linkage steel cable extends downwards to bypass the eighth pulley and extends upwards to be connected with the lower part of the lower lifting arm.
As an alternative embodiment of the present invention, the pull-out wire rope mechanism and the pull-back wire rope mechanism are disposed on two adjacent sides of the lifting arm assembly, and the linkage wire rope mechanism is disposed on the opposite side of the lifting arm assembly from the pull-out wire rope mechanism or the pull-back wire rope mechanism.
As an alternative embodiment of the invention, the primary lifting arm is eccentrically sleeved in the hollow lifting channel in the fixed arm, the middle lifting arm of the next stage is eccentrically sleeved in the hollow lifting channel of the middle lifting arm of the previous stage, and the final lifting arm is eccentrically sleeved in the hollow lifting channel of the middle lifting arm of the previous stage and is offset towards one side where the pull-out steel cable mechanism, the pull-back steel cable mechanism and the linkage steel cable mechanism are not arranged.
The invention also provides a control method of the camera bearing device, which comprises the following steps:
the lifting steel cable mechanism is controlled to execute a first action, and the lifting steel cable mechanism drives the lifting arm to ascend;
controlling the lifting steel cable mechanism to execute a second action, wherein the lifting steel cable mechanism drives the lifting arm to descend;
in the ascending or descending process of the lifting arms, synchronous lifting of the lifting arms at all levels is realized between the fixed arms and the lifting arms and between the multi-level lifting arms through a linkage steel cable mechanism.
As an alternative embodiment of the present invention, the control method includes:
controlling the driving motor to rotate forwards, driving the driving roller to wind the pulled-out steel cable by the driving motor, synchronously pulling out the lifting arms of each stage in the process that the pulled-out steel cable is wound and tightened, and releasing the pulled-out steel cable to realize the rising of the lifting arm assembly;
the driving motor is controlled to reversely rotate, the driving motor drives the driving roller to wind up the pull-back steel cable, the pull-back steel cable is synchronously pulled back by the lifting arms of each stage in the winding and tightening process, and the pull-out steel cable is released to realize the descending of the lifting arm assembly.
Compared with the prior art, the invention has the beneficial effects that:
the camera bearing device drives the cradle head to do lifting movement through the lifting arm assembly, thereby realizing the lifting shooting requirement of the camera arranged on the cradle head. Therefore, the steel cable meeting the strength requirement can be suitable for more stages of lifting motions, and the lifting requirement of a larger range shot by the camera is met. The existing mode of adopting the lead screw drives the lifting arm assembly to lift, because each level of lead screw needs thicker lead screw and thinner lead screw to be sleeved, the processing difficulty is extremely high, and therefore, the common lead screw structure has the lifting level of about three levels.
The invention adopts the linkage steel cable mechanism to carry out transmission connection on all levels of lifting arms, realizes synchronous movement of all levels of lifting arms in the lifting process, realizes simultaneous stress of all levels of lifting arms, does not drive one-level step-by-step transmission, gradually increases initial one-level stress along with the increase of the level, has required assembly, strength and power of the initial one-level lifting arms and driving parts, drives all levels of lifting arms to synchronously move to lift through the linkage steel cable mechanism, realizes balanced stress of all levels, avoids stress concentration, and ensures that the whole lifting arm assembly lifts more stably. The invention adopts the linkage steel cable mechanism, the lifting speed is completely dependent on the rotating speed of the motor, and under the same structure, the lifting speed can be influenced only by the fact that the rotating speed of the screw rod is equivalent to the screw pitch, and obviously under the condition that the rotating speed of the motor is fixed, the linkage steel cable mechanism is easier to realize high speed and is faster than the screw rod mode.
Therefore, the camera bearing device drives the lifting arms to lift through the lifting steel cable mechanism, realizes synchronous lifting of the lifting arms at all levels through the linkage steel cable mechanism, and can perform more-level transmission and larger-range lifting; moreover, the lifting speed is higher, and the lifting process is more stable and reliable.
Description of the drawings:
FIG. 1 is a schematic illustration of the lifting cable mechanism of the camera carrying device of the present invention;
FIG. 2 is a schematic diagram of the principle of deployment of the pull-back cable mechanism of the camera carriage of the present invention;
FIG. 3 is a schematic diagram of a linkage cable mechanism of the camera carriage of the present invention;
FIG. 4 is a schematic view of the lift arm assembly of the camera carriage of the present invention in a retracted state;
FIG. 5 is a schematic view of the lift arm assembly of the camera carriage of the present invention in a retracted state;
FIG. 6 is a schematic view of the lift arm assembly of the camera carriage of the present invention in an extended position;
FIG. 7 is a schematic perspective view of the camera carrier of the present invention in use;
FIG. 8 is a schematic view of a second perspective structure of the camera carrier of the present invention in use (with the stationary arm removed);
FIG. 9 is a perspective view of the camera carrier of the present invention in use (with the stationary arm removed);
fig. 10 is a schematic perspective view of a camera track robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the invention.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, under the condition of no conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or a positional relationship conventionally put in use of the inventive product, or an azimuth or a positional relationship conventionally understood by those skilled in the art, such terms are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Referring to fig. 1 to 4, a schematic diagram of a camera carrying device provided in this embodiment includes:
a lifting arm assembly;
the cradle head is arranged at the lifting end of the lifting arm assembly and is used for supporting a camera;
the lifting arm assembly comprises a fixed arm 201 with a hollow lifting channel and multistage lifting arms (202, 203 and 204), wherein the fixed arm 201 is fixedly arranged, and the lifting arms (202, 203 and 204) and the fixed arm 201 and the lifting arms (202, 203 and 204) at all stages are sleeved in a lifting sliding manner;
the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, wherein the fixed arm 201 is connected with the lifting arms (202, 203 and 204) and the multistage lifting arms (202, 203 and 204) in a transmission way through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arm 201 is in transmission connection with the lifting arms (202, 203 and 204) and the multistage lifting arms (202, 203 and 204) through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at all stages is realized through the linkage steel cable mechanism.
The camera bearing device of this embodiment drives the cloud platform through the lift arm subassembly and carries out elevating movement to realize the lift shooting requirement of installing the camera on the cloud platform, the creative drive mechanism that adopts lift steel cable mechanism as the lift arm of this embodiment only need through pulling the steel cable can realize the elevating movement of lift arm, steel cable mechanism transmission connected mode is simple and stable, in this embodiment diagram with six grades of transmission (driven progression = fixed arm number + lift arm number) example, consequently, as long as select the steel cable that satisfies the intensity requirement just can be applicable to more multistage elevating movement, satisfy the lift requirement of the bigger scope of camera shooting. The existing mode of adopting the lead screw drives the lifting arm component to lift, because each level of lead screw needs thicker lead screw and thinner lead screw to be sleeved, the processing difficulty is extremely high, and therefore, the common lead screw structure has the lifting level of about 3 levels.
According to the embodiment, all levels of lifting arms (202, 203 and 204) are connected in a transmission mode through the linkage steel cable mechanism, synchronous movement of all levels of lifting arms (202, 203 and 204) in the lifting process is achieved, all levels of lifting arms (202, 203 and 204) are stressed simultaneously, the step-by-step transmission of one level is not driven by one level, the step-by-step transmission gradually increases initial one-level stress along with the increase of the number of levels, the assembly, strength and power of the initial one-level lifting arms and the driving part are required, all levels of lifting arms (202, 203 and 204) are driven to synchronously move through the linkage steel cable mechanism to lift, all levels of stress are balanced, stress concentration is avoided, and lifting of the whole lifting arm assembly is stable. The invention adopts the linkage steel cable mechanism, the lifting speed is completely dependent on the rotating speed of the motor, and under the same structure, the lifting speed can be influenced only by the fact that the rotating speed of the screw rod is equivalent to the screw pitch, and obviously under the condition that the rotating speed of the motor is fixed, the linkage steel cable mechanism is easier to realize high speed and is faster than the screw rod mode.
The lifting arm assembly of the embodiment adopts the lifting steel cable mechanism and the linkage steel cable mechanism, so that the lifting height of the lifting arm assembly depends on the length of the steel cable and the height of the lifting arm, the length of the steel cable can easily reach hundreds of meters, and the lifting arm can easily reach tens of meters and can have higher height.
Moreover, the lifting steel cable mechanism and the linkage steel cable mechanism are adopted, multistage linkage such as 5 stages, 6 stages and 7 stages can be easily realized, and a screw rod mode is adopted, because each stage of screw rod is sleeved with a thicker screw rod and a thinner screw rod, the machining difficulty is extremely high, and the common screw rod structure has the lifting stage number of about 3 stages.
The lifting arm assembly of the embodiment adopts the lifting steel cable mechanism and the linkage steel cable mechanism, so that the lifting speed is completely dependent on the rotating speed of the motor, and under the same structure, the lifting speed can be influenced only by the fact that the rotating speed of the screw rod is equivalent to the screw pitch, and obviously under the condition that the rotating speed of the motor is fixed, the lifting steel cable mechanism is easier to realize high speed and is faster than the screw rod mode.
Therefore, the camera bearing device drives the lifting arms to lift through the lifting steel cable mechanism, and realizes synchronous lifting of the lifting arms at all levels through the linkage steel cable mechanism, so that more levels of transmission and larger-range lifting can be performed; moreover, the lifting speed is higher, and the lifting process is more stable and reliable.
Further, referring to fig. 1, the lifting arm of this embodiment includes a primary lifting arm 202, a middle lifting arm 203 and a final lifting arm 204, where the primary lifting arm 202 is sleeved in the hollow lifting channel of the fixed arm 201 in a lifting sliding manner, the final lifting arm 204 is located at the uppermost end for mounting the pan-tilt, and the multi-stage middle lifting arm 203 is sleeved between the primary lifting arm 202 and the final lifting arm 204 in a lifting sliding manner.
The lifting cable mechanism according to this embodiment includes a pull cable mechanism, which includes a pull cable 205, a first pulley 206 disposed at the lower end of the final lifting arm 204, a second pulley 207 disposed at the upper ends of the fixed arm 201, and a third pulley 208 disposed at the upper ends and the lower ends of the primary lifting arm 202 and the intermediate lifting arm 203, wherein one end of the pull cable 205 is fixed at the upper end of the final lifting arm 204, the other end of the pull cable extends downward from the upper end of the final lifting arm 204 to bypass the first pulley 206, extends upward to bypass the third pulley 208 at the upper end of the intermediate lifting arm 203, extends downward to bypass the third pulley 208 at the lower end of the intermediate lifting arm 203, and repeatedly bypasses all the intermediate lifting arms 203 and the third pulleys 208 at the upper end and the lower end of the primary lifting arm 202, and finally bypasses the second pulley 207 at the upper end of the fixed arm 201 to extend downward to connect with the driving member.
The pull-out wire rope mechanism of this embodiment is used for pulling out the lifting arm, pull out the wire rope 205 through the drive component, pull out the wire rope 205 by the drive component pull down and the rolling, pull out the wire rope 205 between the lifting arm and between lifting arm and the fixed arm shortens gradually, and the lifting arm is pulled out under the pulling of pull out the wire rope 205, has realized the rising of lifting arm. In addition, after the lifting arm is completely pulled out, the driving component needs to keep the pull-out steel cable 205 in a fixed state or lock the pull-out steel cable 205, so that the current lifting height of the lifting arm is kept unchanged, and the shooting requirement of the camera is met.
Referring to fig. 1 and 2, the lifting cable mechanism in this embodiment includes a pull cable mechanism, where the pull cable mechanism includes a pull cable 209, a fourth pulley 210 disposed at a lower end of the fixed arm 201, and a fifth pulley 211 disposed at a lower end of the primary lifting arm 202, one end of the pull cable 209 is fixed on the primary lifting arm 202, the other end extends downward to bypass the primary fourth pulley 210-1, extends upward to bypass the primary fifth pulley 211-1, extends downward to bypass the secondary fourth pulley 210-2, extends upward to bypass the secondary fifth pulleys 211-2, … …, and circularly reciprocates to extend downward to bypass the N-stage fourth pulley, extends upward to bypass the N-stage fifth pulley, and then extends downward to connect with the driving component; the total number of the fourth pulley 210 and the fifth pulley 211 is equal to the total number of stages-1 of the lifting arm. In fig. 1 and 2, the pull-back cable 209 has an a end connected to the primary lift arm 202 and a B end connected to the drive member.
The pull-back wire rope mechanism of this embodiment only needs to be connected to the primary lifting arm 202, when the pull-back wire rope 205 needs to be released first, the driving component pulls the pull-back wire rope 209, the pull-back wire rope 205 is released synchronously during the descending process of the primary lifting arm 202, and all stages of lifting components can descend synchronously, so as to realize the descending of the lifting arm.
Fig. 2 of the present embodiment is a plan developed view of the pull-back wire rope mechanism at S in fig. 1, in which the winding length of the pull-back wire rope 205 should be equal to the released length of the pull-back wire rope 209 during the pulling process, and in which the winding length of the pull-back wire rope 209 should be equal to the released length of the pull-back wire rope 205 during the pulling process, the pull-back wire rope 209 of the present embodiment is only connected to the primary lifting arm 202, so that in order to meet the length requirement of the pull-back wire rope 209, the present embodiment is fixedly connected to the primary lifting arm 202 after the pull-back wire rope 209 is wound around the fourth pulley 210 and the fifth pulley 211 to reach the length requirement.
In addition, since the installation space inside the lifting arm is limited, when the number of pulley stages required for the pull-back wire rope mechanism is large, the fourth pulley 210 and the fifth pulley 211 may be disposed on both sides of the lifting arm, respectively, the pull-back wire rope 209 may be wound around the fourth pulley 210 and the fifth pulley 211 on both sides in this order, and by tilting the fourth pulley 210 or the fifth pulley 211, the pull-back wire rope 209 may be guided from one side to the other side, so that the overall size of the fixing arm 201 may be reduced.
Referring to fig. 1, a sixth pulley 212 and a seventh pulley 213 are further disposed at the lower end of the fixed arm 201 in this embodiment, the pull-out wire rope 204 extends downward around the second pulley 207 at the upper end of the fixed arm 201, bypasses the sixth pulley 212 and then connects with the driving member, and the pull-back wire rope 209 extends upward around the N-stage fifth pulley 211 and then extends downward around the seventh pulley 213 and then connects with the driving member.
The pull-out wire rope 204 and the pull-back wire rope 209 of this embodiment may be connected to different driving components, or may be connected to the same driving component, when driven by the same driving component, as shown in fig. 6, 7 and 8, the driving component includes a driving motor 216 and a driving roller 217 connected to a motor shaft of the driving motor 216, the other ends of the pull-out wire rope 205 and the pull-back wire rope 209 are respectively and fixedly connected to two ends of the driving roller 217, and winding directions of the pull-out wire rope 205 and the pull-back wire rope 209 on the driving roller 217 are opposite. Thus, when the driving motor 216 is controlled to rotate forward, the driving motor 216 drives the driving roller 217 to wind the pull-out steel cable 205, the lifting arms of each stage are synchronously pulled out in the process that the pull-out steel cable 205 is wound and tightened, and the pull-back steel cable 209 is released to realize the lifting of the lifting arm assembly; the driving motor 216 is controlled to reversely rotate, the driving motor 216 drives the driving roller 217 to wind up the pull-back steel cable 209, the lifting arms of each stage are synchronously pulled back in the process that the pull-back steel cable 209 is wound up and tightened, and the pull-out steel cable 205 is released to realize the descending of the lifting arm assembly.
It should be noted that, fig. 5 to 8 of the present embodiment are schematic structural diagrams of the camera supporting device of the present embodiment, but the camera supporting device of fig. 5 to 8 is a four-stage transmission, and is different from the six-stage transmission in the schematic diagrams of fig. 1 to 4 only in the number of transmission stages.
Referring to fig. 3, the linkage steel cable mechanism in this embodiment includes a linkage steel cable 214 and an eighth pulley 215, the lower ends of the primary lifting arm 202 and the intermediate lifting arm 203 are respectively provided with the eighth pulley 215, two adjacent lifting arms are connected by the linkage steel cable 214, one end of the linkage steel cable 214 is connected with the middle part of the upper lifting arm, and the other end extends downwards to bypass the eighth pulley 215 to extend upwards to be connected with the lower part of the lower lifting arm.
The linkage steel cable 214 of this embodiment realizes the linkage between two adjacent two-stage lifting arms, and in the process of pulling out and pulling back the lifting arms, each stage of lifting arm is driven by the linkage steel cable mechanism to synchronously rise or fall.
As an alternative implementation manner of this embodiment, the pull-out wire rope mechanism and the pull-back wire rope mechanism in this embodiment are disposed on two adjacent sides of the lifting arm assembly, and the linkage wire rope mechanism is disposed on the opposite side of the lifting arm assembly to the pull-out wire rope mechanism or the pull-back wire rope mechanism, which mainly depends on the space inside the lifting arm assembly, and the pull-out wire rope mechanism, the pull-back wire rope mechanism and the linkage wire rope mechanism can be disposed according to the space inside.
In this embodiment, the primary lifting arm 202 is eccentrically sleeved in a hollow lifting channel in the fixed arm 201, the next intermediate lifting arm 203 is eccentrically sleeved in a hollow lifting channel of the previous intermediate lifting arm 203, and the final lifting arm 204 is eccentrically sleeved in a hollow lifting channel of the previous intermediate lifting arm 203 and is offset towards one side where the pull-out steel cable mechanism, the pull-back steel cable mechanism and the linkage steel cable mechanism are not arranged. Therefore, according to the practical situation that the lifting arm assembly is internally provided with the pull-out steel cable mechanism, the pull-back steel cable mechanism and the linkage steel cable mechanism, the lifting arm is eccentrically arranged, so that the overall size of the lifting arm assembly is reduced, and the overall structure is more compact.
The camera bearing device of the embodiment can be assembled and inverted, wherein the assembly is that the lifting arm assembly is vertically arranged, and the fixed arm 201 of the lifting arm assembly is fixed on the supporting part positioned on the ground; the flip-chip is to invert the lift arm assembly and the fixed arm 201 of the lift arm assembly is secured to a support member, such as a roof, above the suspended floor.
Referring to fig. 10, the camera bearing device of the present embodiment is specifically a camera track robot, including a track 100, a camera car 400, a lifting column 200 and a pan-tilt 300, wherein the camera car 400 is disposed on the track 100 and can reciprocate along the track, the lifting column 200 is disposed on the camera car 400 and can perform lifting movement, the pan-tilt 300 is disposed at the upper end of the lifting column 200, and the camera 500 is mounted on the pan-tilt 300.
The embodiment also provides a control method of the camera bearing device, which comprises the following steps:
the lifting steel cable mechanism is controlled to execute a first action, and the lifting steel cable mechanism drives the lifting arm to ascend;
controlling the lifting steel cable mechanism to execute a second action, wherein the lifting steel cable mechanism drives the lifting arm to descend;
in the ascending or descending process of the lifting arms, synchronous lifting of the lifting arms at all levels is realized between the fixed arms and the lifting arms and between the multi-level lifting arms through a linkage steel cable mechanism.
Further, the control method of the present embodiment includes:
controlling the driving motor to rotate forwards, driving the driving roller to wind the pulled-out steel cable by the driving motor, synchronously pulling out the lifting arms of each stage in the process that the pulled-out steel cable is wound and tightened, and releasing the pulled-out steel cable to realize the rising of the lifting arm assembly;
the driving motor is controlled to reversely rotate, the driving motor drives the driving roller to wind up the pull-back steel cable, the pull-back steel cable is synchronously pulled back by the lifting arms of each stage in the winding and tightening process, and the pull-out steel cable is released to realize the descending of the lifting arm assembly.
The present embodiment also provides a computer-readable storage medium storing a computer-executable program that, when executed, implements a control method of the camera bearing device.
The computer readable storage medium of this embodiment may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
The present embodiment also provides an electronic apparatus including a processor and a memory for storing a computer-executable program, which when executed by the processor, performs a control method of the camera bearing device.
The electronic device is in the form of a general purpose computing device. The processor may be one or a plurality of processors and work cooperatively. The invention does not exclude that the distributed processing is performed, i.e. the processor may be distributed among different physical devices. The electronic device of the present invention is not limited to a single entity, but may be a sum of a plurality of entity devices.
The memory stores a computer executable program, typically machine readable code. The computer readable program may be executable by the processor to enable an electronic device to perform the method, or at least some of the steps of the method, of the present invention.
The memory includes volatile memory, such as Random Access Memory (RAM) and/or cache memory, and may be non-volatile memory, such as Read Only Memory (ROM).
It should be understood that elements or components not shown in the above examples may also be included in the electronic device of the present invention. For example, some electronic devices further include a display unit such as a display screen, and some electronic devices further include a man-machine interaction element such as a button, a keyboard, and the like. The electronic device may be considered as covered by the invention as long as the electronic device is capable of executing a computer readable program in a memory for carrying out the method or at least part of the steps of the method. From the above description of embodiments, those skilled in the art will readily appreciate that the present invention may be implemented by hardware capable of executing a specific computer program, such as the system of the present invention, as well as electronic processing units, servers, clients, handsets, control units, processors, etc. included in the system. The invention may also be implemented by computer software executing the method of the invention, e.g. by control software executed by a microprocessor, an electronic control unit, a client, a server, etc. It should be noted, however, that the computer software for performing the method of the present invention is not limited to being executed by one or a specific hardware entity, but may also be implemented in a distributed manner by unspecified specific hardware. For computer software, the software product may be stored on a computer readable storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), or may be stored distributed over a network, as long as it enables the electronic device to perform the method according to the invention.
The above embodiments are only for illustrating the present invention and not for limiting the technical solutions described in the present invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above specific embodiments, and thus any modifications or equivalent substitutions are made to the present invention; all technical solutions and modifications thereof that do not depart from the spirit and scope of the invention are intended to be included in the scope of the appended claims.
Claims (6)
1. Camera carrier, characterized in that it comprises:
a lifting arm assembly;
the cradle head is arranged at the lifting end of the lifting arm assembly and is used for supporting a camera;
the lifting arm assembly comprises a fixed arm and a multi-stage lifting arm, wherein a hollow lifting channel is formed in the fixed arm, and the lifting arm and the fixed arm are sleeved in a lifting sliding manner and can slide in a lifting manner;
the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, wherein the fixed arms are in transmission connection with the lifting arms and the multistage lifting arms through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arms are in transmission connection with the lifting arms and the multi-stage lifting arms through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at each stage is realized through the linkage steel cable mechanism;
the lifting arm comprises a primary lifting arm, a middle-stage lifting arm and a final-stage lifting arm, wherein the primary lifting arm is sleeved in a hollow lifting channel of the fixed arm in a lifting sliding manner, the final-stage lifting arm is positioned at the uppermost end and used for mounting the cradle head, and the multi-stage middle-stage lifting arm is sleeved between the primary lifting arm and the final-stage lifting arm in a lifting sliding manner;
the lifting steel cable mechanism comprises a pulling steel cable mechanism, the pulling steel cable mechanism comprises a pulling steel cable, a first pulley arranged at the lower end of the final lifting arm, a second pulley arranged at the upper end of the fixed arm and a third pulley arranged at the upper end and the lower end of the primary lifting arm and the middle lifting arm, one end of the pulling steel cable is fixed at the upper end of the final lifting arm, the other end of the pulling steel cable downwards extends from the upper end of the final lifting arm to bypass the first pulley, upwards extends to bypass the third pulley at the upper end of the middle lifting arm, downwards extends to bypass the third pulley at the lower end of the middle lifting arm, and after circularly and reciprocally bypassing all the middle lifting arms and the third pulleys at the upper end and the lower end of the primary lifting arm, the second pulley finally bypasses the upper end of the fixed arm to downwards extend to be connected with the driving part;
the lifting steel cable mechanism comprises a pull-back steel cable mechanism, the pull-back steel cable mechanism comprises a pull-back steel cable, a fourth pulley arranged at the lower end of a fixed arm and a fifth pulley arranged at the lower end of a primary lifting arm, one end of the pull-back steel cable is fixed on the primary lifting arm, the other end of the pull-back steel cable downwards extends to bypass the primary fourth pulley, upwards extends to bypass the primary fifth pulley, downwards extends to bypass the secondary fourth pulley, upwards extends to bypass the secondary fifth pulley, … …, and circularly reciprocates to downwards extend to bypass the N-stage fourth pulley, upwards extends to bypass the N-stage fifth pulley and downwards extends to be connected with a driving part; the total number of the fourth pulley and the fifth pulley is equal to the total number of stages of the lifting arm-1;
the lower end of the fixed arm is also provided with a sixth pulley and a seventh pulley, the pull-out steel cable bypasses the second pulley at the upper end of the fixed arm and extends downwards to bypass the sixth pulley to be connected with the driving part, and the pull-back steel cable extends upwards to bypass the N-level fifth pulley and then extends downwards to bypass the seventh pulley to be connected with the driving part;
the driving component comprises a driving motor and a driving roller connected with a motor shaft of the driving motor, the other ends of the pull-out steel cable and the pull-back steel cable are respectively and fixedly connected to two ends of the driving roller, and the winding directions of the pull-out steel cable and the pull-back steel cable on the driving roller are opposite.
2. The camera carrier of claim 1, wherein the linkage cable mechanism comprises a linkage cable and an eighth pulley, the lower ends of the primary lifting arm and the intermediate lifting arm are respectively provided with the eighth pulley, the adjacent two lifting arms are connected through the linkage cable, one end of the linkage cable is connected with the middle part of the upper lifting arm, and the other end extends downwards to bypass the eighth pulley and extends upwards to be connected with the lower part of the lower lifting arm.
3. The camera carriage of claim 2, wherein the pull-out cable mechanism and the pull-back cable mechanism are disposed on two adjacent sides of the lift arm assembly, and the linkage cable mechanism is disposed on an opposite side of the lift arm assembly from the pull-out cable mechanism or the pull-back cable mechanism.
4. The camera carrier of claim 2, wherein the primary lifting arm is eccentrically sleeved in a hollow lifting channel in the fixed arm, the next intermediate lifting arm is eccentrically sleeved in a hollow lifting channel of the previous intermediate lifting arm, and the final lifting arm is eccentrically sleeved in a hollow lifting channel of the previous intermediate lifting arm and is offset towards one side where the pull-out wire rope mechanism, the pull-back wire rope mechanism and the linkage wire rope mechanism are not arranged.
5. A method of controlling a camera carrier as claimed in any one of claims 1 to 4, comprising:
the lifting steel cable mechanism is controlled to execute a first action, and the lifting steel cable mechanism drives the lifting arm to ascend;
controlling the lifting steel cable mechanism to execute a second action, wherein the lifting steel cable mechanism drives the lifting arm to descend;
in the ascending or descending process of the lifting arms, synchronous lifting of the lifting arms at all levels is realized between the fixed arms and the lifting arms and between the multi-level lifting arms through a linkage steel cable mechanism.
6. The control method according to claim 5, characterized by comprising:
controlling the driving motor to rotate forwards, driving the driving roller to wind the pulled-out steel cable by the driving motor, synchronously pulling out the lifting arms of each stage in the process that the pulled-out steel cable is wound and tightened, and releasing the pulled-out steel cable to realize the rising of the lifting arm assembly;
the driving motor is controlled to reversely rotate, the driving motor drives the driving roller to wind up the pull-back steel cable, the pull-back steel cable is synchronously pulled back by the lifting arms of each stage in the winding and tightening process, and the pull-out steel cable is released to realize the descending of the lifting arm assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513078.XA CN114151665B (en) | 2021-12-12 | 2021-12-12 | Camera carrying device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513078.XA CN114151665B (en) | 2021-12-12 | 2021-12-12 | Camera carrying device and control method thereof |
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| CN114151665A CN114151665A (en) | 2022-03-08 |
| CN114151665B true CN114151665B (en) | 2023-09-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115476342B (en) * | 2022-09-21 | 2025-09-23 | 珠海格力电器股份有限公司 | Support device and SCARA robot |
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| JP2006125583A (en) * | 2004-10-29 | 2006-05-18 | Furukawa Co Ltd | Pedestal for camera |
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| CN213541915U (en) * | 2020-11-05 | 2021-06-25 | 苏州汇亨电力设计有限公司 | Power grid safety monitoring device |
| CN214544441U (en) * | 2020-09-15 | 2021-10-29 | 柳州市妇幼保健院 | Hospital scientific research management real-time supervision device |
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| JPH0380092U (en) * | 1989-12-07 | 1991-08-15 | ||
| GB0316995D0 (en) * | 2002-10-17 | 2003-08-27 | Furukawa Co Ltd | Elevator device for television camera |
| JP2006125583A (en) * | 2004-10-29 | 2006-05-18 | Furukawa Co Ltd | Pedestal for camera |
| CN105681635A (en) * | 2016-03-10 | 2016-06-15 | 成都川睿科技有限公司 | Omnibearing adjustable monitoring camera |
| CN214544441U (en) * | 2020-09-15 | 2021-10-29 | 柳州市妇幼保健院 | Hospital scientific research management real-time supervision device |
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