CN208796115U - A lifting gimbal of an inspection robot - Google Patents
A lifting gimbal of an inspection robot Download PDFInfo
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- CN208796115U CN208796115U CN201821902266.5U CN201821902266U CN208796115U CN 208796115 U CN208796115 U CN 208796115U CN 201821902266 U CN201821902266 U CN 201821902266U CN 208796115 U CN208796115 U CN 208796115U
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- pan
- tilt
- lifting
- support frame
- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 16
- 239000000523 sample Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract 1
- 230000003028 elevating effect Effects 0.000 description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
本实用新型提供了一种巡检机器人的升降云台，包括云台、云台支撑架和升降机构；升降机构的升降端与云台支撑架固定连接，云台支撑架的顶端与云台固定连接；云台支撑架呈下端及一侧开口的长方体状箱体结构，升降机构位于云台支撑架的内部；升降机构包括电机、丝杆、丝杆滑台和滑块；电机与丝杆传动连接，带动丝杆转动；丝杆可转动固定在丝杆滑台的底端，该丝杆滑台竖直设置在云台支撑架内部，并与该云台支撑架构成滑块滑行通道；滑块穿在丝杆上，并贴合丝杆滑台长度方向设置，该滑块与丝杆螺纹配合并在滑块滑行通道内升降滑行；滑块与云台支撑架固定连接。本实用新型通过升降机构的设置，实现了机器人探测器的平稳升降，实现了对机器人探测高度的灵活调整。
The utility model provides a lifting pan-tilt for an inspection robot, which comprises a pan-tilt, a pan-tilt support frame and a lifting mechanism; Connection; the pan-tilt support frame is a rectangular box structure with an opening at the lower end and one side, and the lifting mechanism is located inside the pan-tilt support frame; the lifting mechanism includes a motor, a screw, a screw slide and a slider; the motor and the screw drive connected to drive the lead screw to rotate; the lead screw can be rotatably fixed on the bottom end of the lead screw slide table, the lead screw slide platform is vertically arranged inside the pan-tilt support frame, and forms a sliding block sliding channel with the pan-tilt support frame; The block is worn on the screw rod and is set in line with the length direction of the screw rod sliding table. The slider is threaded with the screw rod and slides up and down in the sliding channel of the slider; the slider is fixedly connected with the support frame of the pan/tilt. The utility model realizes the stable lifting and lowering of the robot detector through the setting of the lifting mechanism, and realizes the flexible adjustment of the detection height of the robot.
Description
Technical field
The utility model belongs to robot research and development technology field, more particularly, to a kind of lifting holder of crusing robot.
Background technique
Crusing robot realizes that inspection is needed in different scenes inspection by adjusting cloud by carrying PTZ camera
Platform camera height can just search out more suitable field range.Especially in narrow corridor space when inspection, robot bottom
Disk moving range is smaller, therefore needs a kind of holder lifting device compact-sized, flexibility ratio is high, expands the crusing robot visual field,
Widen the applicable scene of crusing robot.
Summary of the invention
In view of this, the utility model is directed to a kind of lifting holder of crusing robot, pass through lifting slider and cloud
The setting of platform support frame realizes holder support frame and drives the function of holder lifting, and then realizes the camera shooting on holder
Machine carries out the function of inspection in different height.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
A kind of lifting holder of crusing robot, including holder, holder support frame and elevating mechanism；
The lift side of the elevating mechanism is fixedly connected with the holder support frame, the top of the holder support frame and institute
Holder is stated to be fixedly connected.
Further, the holder support frame is in lower end and the rectangular-shape body structure of a side opening, the elevator
Structure is located at the inside of the holder support frame.
Further, the elevating mechanism includes motor, screw rod, screw rod slide unit and sliding block；
The motor is connect with screw rod transmission, drives screw rod rotation；
The screw rod is rotatably fixed on the bottom end of the screw rod slide unit, which is vertically arranged in holder support frame
Inside, and with the holder supporting framework at sliding block sliding channel；
The sliding block is through on the screw rod, and is bonded the screw rod slide unit length direction setting, the sliding block and screw rod spiral shell
Line goes up and down in sliding block sliding channel with merging and slides；
The sliding block is fixedly connected with the holder support frame.
Further, the elevating mechanism further includes drag chain, and described drag chain one end is fixed on the holder support frame, separately
One end is fixed on the upper end of the screw rod slide unit.
Further, the drag chain is linked by hollow connection buckle.
Further, the elevating mechanism further includes lifting supporting element, and the lifting supporting element and the screw rod slide unit are solid
Fixed connection.
Further, protection board is additionally provided on the lateral wall of the holder support frame.
Further, the holder includes pedestal, connector and probe mounting frame；
Rotating mechanism is equipped in the pedestal, the rotation axis of the rotating mechanism, which is stretched out by pedestal and fixed with connector, to be connected
It connects；
The probe mounting frame is mounted on the side of connector by angular adjustment frame.
Further, the probe mounting frame has a pair, relatively fixed the two of the connector by angular adjustment frame
Side.
Further, the rotating mechanism include the first micro-machine, the output shaft of first micro-machine with it is described
Connector is fixedly connected.
Further, the output shaft of first micro-machine passes through drive socket and is fixedly connected with the connector.
Further, the angular adjustment frame includes connect across the shaft of the connector and with the rotating shaft transmission
Two micro-machines.
Compared with the existing technology, the lifting holder of crusing robot described in the utility model has the advantage that
(1) the lifting holder of crusing robot described in the utility model realizes machine by the setting of elevating mechanism
The steady lifting of user tripod head video camera, realizes and robot probe's height is adjusted flexibly, and carries and rises on crusing robot
The holder for dropping module and rotatable pitching is rotated by bobbin movement, the lifting of lifting module and holder pitching, realizes and take the photograph on holder
As unit is in any movement of three dimensions, expand the visual range of video camera, this structure is suitable for small space and narrow logical
Road, and elevating mechanism uses motor driven, compares chain drive, and motor-driven elevating mechanism low noise, precision are high, and disconnected
Self-locking function can be achieved in electric situation.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.?
In attached drawing:
Fig. 1 is the lifting cradle head structure schematic diagram of crusing robot described in the utility model embodiment；
Fig. 2 is elevating mechanism schematic diagram of internal structure described in the utility model embodiment；
Fig. 3 is cradle head structure schematic diagram described in the utility model embodiment.
Description of symbols:
1- holder；11- pedestal；12- connector；121- drive socket；13- probe mounting frame；15- angular adjustment frame；2-
Holder support frame；21- protection board；3- elevating mechanism；31- motor；32- screw rod；33- screw rod slide unit；34- sliding block；35- drag chain；
36- goes up and down supporting element.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figures 1 to 3, the utility model provides a kind of lifting holder of crusing robot, by robot controller control
System operation, including holder 1, holder support frame 2 and elevating mechanism 3；
The lift side of the elevating mechanism 3 is fixedly connected with the holder support frame 2, the top of the holder support frame 2
It is fixedly connected with the holder 1.
Further, the holder support frame 2 is in lower end and the rectangular-shape body structure of a side opening, the elevator
Structure 3 is located at the inside of the holder support frame 2.
Further, the elevating mechanism 3 includes motor 31, screw rod 32, screw rod slide unit 33 and sliding block 34；
The motor 31 is sequentially connected with screw rod 32, and screw rod 32 is driven to rotate；
The screw rod 32 is rotatably fixed on the bottom end of the screw rod slide unit 33, which is vertically arranged in holder
Inside support frame 2, and sliding block sliding channel is constituted with the holder support frame 2；
The sliding block 34 is through on the screw rod 32, and is bonded 33 length direction of the screw rod slide unit setting, the sliding block 34
It is threadedly engaged and is gone up and down in sliding block sliding channel with screw rod 32 and slide；
The sliding block 34 is fixedly connected with the holder support frame 2.
Further, the elevating mechanism 3 further includes drag chain 35, and described 35 one end of drag chain is fixed on the holder support frame
On 2, the other end is fixed on the upper end of the screw rod slide unit 33.
Further, the drag chain 35 is linked by hollow connection buckle.
Further, the elevating mechanism 3 further includes lifting supporting element 36, and the lifting supporting element 36 and the screw rod are sliding
Platform 33 is fixedly connected.
Further, protection board 21 is additionally provided on the lateral wall of the holder support frame 2.
Protection board had not only avoided the abrasion of the lifting holder in robot, but also realized the beauty of lifting holder appearance；
When in use, controller control motor drives screw mandrel rotation first, screw rod and sliding block be threadedly engaged and sliding block
With being bonded for screw rod slide unit, when realizing screw rod rotation, situation that sliding block walks up and down；
Sliding block walks up and down, and holder support frame is driven to walk up and down, and then drives the lifting of holder, facilitates and visits on holder
Head is the case where different height detects peripheral information.
In addition, the setting of drag chain, realizes the downward purpose of cable secure on holder, it is hollow that cable is penetrated the every section of drag chain
Connection buckle in, the security arrangement of cable can be realized.
Further, the holder 1 includes pedestal 11, connector 12 and probe mounting frame 13；
It is equipped with rotating mechanism in the pedestal 11, the rotation axis of the rotating mechanism is stretched out by pedestal 11 and consolidated with connector 12
Fixed connection；
The probe mounting frame 13 is mounted on the side of connector 12 by angular adjustment frame 15.
Further, the probe mounting frame 13 has a pair, relatively fixed in the connector by angular adjustment frame 15
12 two sides.
Further, the rotating mechanism include the first micro-machine, the output shaft of first micro-machine with it is described
Connector 12 is fixedly connected.
Further, the output shaft of first micro-machine passes through drive socket 121 and the fixed company of the connector 12
It connects.
Further, the angular adjustment frame 15 includes connecting across the shaft of the connector 12 and with the rotating shaft transmission
The second micro-machine.
The pedestal of holder is fixed on the top of holder support frame, and holder support frame can drive holder to go up and down, while pedestal
It is inside equipped with the first micro-machine, which can drive holder to be revolved by connector under the control of the controller
Turn；
Probe mounting frame is fixed by angular adjustment frame, i.e. the rotation of the second micro-machine under control of the controller can drive
Shaft rotation, shaft rotation drives probe mounting frame to transfer, and then probe is driven to adjust the angle shooting.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902266.5U CN208796115U (en) | 2018-11-19 | 2018-11-19 | A lifting gimbal of an inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902266.5U CN208796115U (en) | 2018-11-19 | 2018-11-19 | A lifting gimbal of an inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208796115U true CN208796115U (en) | 2019-04-26 |
Family
ID=66212727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821902266.5U Active CN208796115U (en) | 2018-11-19 | 2018-11-19 | A lifting gimbal of an inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208796115U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110425389A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of holder up-down swing mechanism and its inspecting robot |
| CN111561651A (en) * | 2020-06-01 | 2020-08-21 | 深圳市赛为智能股份有限公司 | Inspection robot and its working method |
| CN112060104A (en) * | 2020-08-21 | 2020-12-11 | 北京全路通信信号研究设计院集团有限公司 | Double-wheel inspection robot |
| CN112856144A (en) * | 2021-03-08 | 2021-05-28 | 新疆大学 | Dedicated over-and-under type cloud platform of robot patrols and examines |
| CN114023091A (en) * | 2021-10-08 | 2022-02-08 | 同济大学 | A vehicle-road collaborative sensor mobile system suitable for roadside and using method |
-
2018
- 2018-11-19 CN CN201821902266.5U patent/CN208796115U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110425389A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of holder up-down swing mechanism and its inspecting robot |
| CN111561651A (en) * | 2020-06-01 | 2020-08-21 | 深圳市赛为智能股份有限公司 | Inspection robot and its working method |
| CN112060104A (en) * | 2020-08-21 | 2020-12-11 | 北京全路通信信号研究设计院集团有限公司 | Double-wheel inspection robot |
| CN112856144A (en) * | 2021-03-08 | 2021-05-28 | 新疆大学 | Dedicated over-and-under type cloud platform of robot patrols and examines |
| CN114023091A (en) * | 2021-10-08 | 2022-02-08 | 同济大学 | A vehicle-road collaborative sensor mobile system suitable for roadside and using method |
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