CN111536402A - Multipurpose two-degree-of-freedom monitoring holder - Google Patents

Abstract

The invention discloses a multipurpose two-freedom monitoring holder, which comprises: the fixing frame comprises a fixing box and a clamping piece, and the clamping piece is arranged on the fixing box; the clamping piece includes left side clamp plate, right side clamp plate, front side clamp plate and rear side clamp plate, and left side clamp plate, right side clamp plate, front side clamp plate and rear side clamp plate all set up on fixed case. The horizontal rotating part is arranged on the fixed frame and comprises a first motor, a first harmonic reducer, a first fixed flange and a first crossed roller bearing; pitching piece, pitching piece set up on horizontal rotation spare, and pitching piece includes second motor, second harmonic speed reducer ware, third mounting flange, the crossed roller bearing of second and fourth mounting flange. The invention has the advantages of reasonable structural design, compact structure, large transmission ratio, small volume, convenient installation and use, convenient operation and strong adaptability to mechanical arms.

Description

A multi-purpose two-degree-of-freedom monitoring gimbal

technical field

The present invention relates to the technical field of pan-tilt systems, and more particularly, to a multi-purpose two-degree-of-freedom monitoring pan-tilt.

Background technique

The PTZ is generally used to carry the camera, and the motion control of the camera is realized through the motion control of the PTZ system, and the camera image is collected and transmitted to the monitor, capture card, hard disk video recorder and other equipment. The PTZ plays the role of fixing and installing and supporting the camera during the inspection process. Rotating the PTZ can expand the monitoring range of the monitoring equipment, and is suitable for large-scale panoramic observation and positioning of the inspection target. Gear transmission and worm gear drive are often used in the gimbal drive in the prior art, which makes the whole gimbal large in size, heavy in weight and low in precision, which increases the load on the mechanical arm; when the gimbal is used in different types of environments, it is often necessary to Different types of mechanical arms are used as supports, but the way of fixing the gimbal on the manipulator in the prior art is often only fixed by the same fixing flange with bolts, which makes the universality and the installation of the gimbal and the manipulator. The adaptability is not good, which increases the complexity of the installation of the gimbal and the robotic arm.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned defects, the present invention provides a multi-purpose two-degree-of-freedom monitoring PTZ, which specifically adopts the following technical solutions:

A multi-purpose two-degree-of-freedom monitoring gimbal, comprising:

a fixing frame, the fixing frame includes a fixing box and a clamping piece, the clamping piece is arranged on the fixing box; the clamping piece comprises a left clamping plate, a right clamping plate, a front clamping plate and rear clamping plate, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all arranged on the fixing box. A horizontal rotating member, the horizontal rotating member is arranged on the fixed frame, the horizontal rotating member includes a first motor, a first harmonic reducer, a first fixed flange and a first crossed roller bearing, the first Both a harmonic reducer and the first crossed roller bearing are arranged on the first motor, and the first flange is arranged on the first harmonic reducer.

a pitching piece, the pitching piece is arranged on the horizontal rotating piece, the pitching piece comprises a second motor, a second harmonic reducer, a third fixed flange, a second crossed roller bearing and a fourth A fixed flange, the second harmonic reducer, the third fixed flange, the fourth fixed flange and the second crossed roller bearing are all arranged on the second motor.

Preferably, the fixing box is in the shape of a rectangular groove, the bottom of the fixing box is provided with fixing through holes, the fixing through holes are provided with a plurality of, and the plurality of fixing through holes are evenly distributed around the same center of the circle. First fixing bolts are embedded in the fixing through holes.

Preferably, the left side wall of the fixing box is provided with a left clamping through hole, the right side wall of the fixing box is provided with a right clamping through hole, and the front side wall of the fixing box is provided with a front side clip The rear side clamping through hole is provided on the rear side wall of the fixing box; the distance between the left clamping through hole and the bottom of the fixing box groove is smaller than the distance between the right clamping through hole and the fixing box. The distance between the bottom of the box groove, the distance from the front clamping through hole to the bottom of the fixed wiper groove is greater than the distance from the right clamping through hole, and the distance from the rear clamping through hole to the bottom of the fixed box groove is greater than all The front clamping through hole supports the groove bottom spacing of the fixed box; the left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole Horizontal smooth pipes are embedded in the holes, and the horizontal smooth pipes can facilitate the horizontal extension and shortening of the clamping piece.

Preferably, the front side wall of the fixed box is provided with left and right rotation through holes, and the distance from the left and right rotation through holes to the bottom of the fixed box groove is greater than the distance from the left clamping through hole to the bottom of the fixed box groove, At the same time, the distance from the rotation through hole to the bottom of the fixed box groove is smaller than the distance from the right clamping through hole to the bottom of the fixed box groove. The fixing sleeve is tubular, one end of the left-right rotating fixing sleeve protrudes from the fixing box, and one end surface of the left-right rotating fixing sleeve is provided with a left-right rotating fixing groove; the right side wall of the fixing box is provided with a front-rear rotation through hole , the angle between the axis of the front and rear rotation through holes and the right side wall of the fixed box is less than 90 degrees; the distance from the front and rear rotation through holes to the bottom of the fixed box groove is greater than the distance from the front clamping through hole to the fixed box At the same time, the distance between the front and rear rotation through holes and the groove bottom of the fixed box is smaller than the distance between the rear clamping through holes. The front and rear rotation through holes are embedded with front and rear rotation fixing sleeves. The sleeve is tubular, one end of the front and rear rotation fixing sleeve protrudes out of the fixing box, and one end surface of the front and rear rotation fixing sleeve is provided with a front and rear rotation fixing groove.

Preferably, the left and right rotation fixing sleeves are embedded with a left and right rotation shaft, and one end surface of the left and right rotation shafts is hinged with a left and right rotation fixing piece, the left and right rotation fixing piece is in the shape of a rectangular frame, and the length of the left and right rotation fixing piece is Larger than the diameter of the left and right rotating fixed sleeves, a long tooth width gear is arranged on the other end of the left and right rotating shafts. Preferably, the front and rear rotation fixing sleeves are embedded with front and rear rotation shafts, and one end surface of the front and rear rotation shafts is hinged with front and rear rotation fixing sheets, the front and rear rotation fixing sheets are in the shape of a rectangular frame, and the length of the front and rear rotation fixing sheets is at the same time. Larger than the diameter of the front and rear rotation fixing sleeves, the other end of the front and rear rotation shafts is provided with a long-tooth-width helical gear.

Preferably, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all in the shape of right-angle plates, and the left clamping plate, the The right-angled edges of the right-side clamping plate, the front-side clamping plate and the rear-side clamping plate are respectively embedded in the four horizontal smooth pipes correspondingly one by one;

The lower surface of the right-angled plate of the left clamping plate is provided with first gear teeth, the upper surface of the right-angled plate of the right clamping plate is provided with second gear teeth, and the first gear is connected to the second gear. The gears are all meshed with the long-tooth-width gears; the lower surface of the right-angled surface of the front side clamping plate is provided with a first helical gear tooth, and the upper surface of the right-angled surface of the rear side clamping plate is provided with a second helical gear The first helical gear teeth and the second helical gear teeth mesh with the long-tooth-width helical gears.

Preferably, the left clamping plate, the right clamping plate, the front clamping plate and the other right-angle plate of the rear clamping plate are all provided with rotating and fixing through holes, each of which is The rotating fixing through holes are embedded with rotating fixing nuts, each rotating fixing nut is embedded with a rotating fixing screw, the rotating fixing screw is engaged with the rotating fixing nut, and the rotating fixing screw is sleeved on the rotating fixing screw. With fastening nut.

Preferably, the first motor is a servo motor, and one end of the outer ring of the first crossed roller bearing is fixedly connected to the first motor; the wave generator of the first harmonic reducer is sleeved on the first On the rotating shaft of the motor, the steel wheel of the first harmonic reducer is fixedly embedded in the inner ring of the first crossed roller bearing; one end of the first fixed flange is connected to the steel wheel of the first harmonic reducer. The other end of the wheel is fixedly connected, the first fixing flange is fixed on the fixing box by the first bolts; the rear end of the first motor is provided with a second fixing flange, the second fixing flange A second fixing bolt is embedded inside; a camera protection case is arranged on the side wall of the first motor, the camera protection case is in the shape of a rectangular slot, one end face of the camera protection case is closed, and the other end face of the camera protection case is closed It is vertically arranged on the side wall of the first motor; when the camera is not working, it can be folded into the camera protective shell to prevent the camera from being damaged by external bumps.

Preferably, the second motor is a servo motor, the third fixing flange is fixedly arranged on the second motor, and the third fixing flange is connected to the first motor through the second fixing bolts on the fixed flange; one end of the outer ring of the second crossed roller bearing is fixedly arranged on the second motor, and the steel wheel of the second harmonic reducer is fixedly sleeved on the second crossed roller bearing. one end of the fourth fixing flange is fixedly arranged on the other end of the steel wheel of the second harmonic reducer; a camera fixing seat is arranged on the fourth fixing flange.

The present invention includes at least the following beneficial effects:

1) The multi-purpose two-degree-of-freedom monitoring head of the present invention has reasonable structural design, compact structure, large transmission ratio, small volume, convenient installation and use, convenient operation, and strong adaptability to the mechanical arm;

2) The multi-purpose two-degree-of-freedom monitoring head of the present invention is provided with a fixing frame, the fixing frame includes a fixing box and a clamping part, and the four side walls of the fixing box are respectively provided with a left clamping through hole and a right clamping through hole. Through hole, front clamping through hole and rear clamping through hole, the clamping piece includes left clamping plate, right clamping plate, front clamping plate and rear clamping plate, left clamping The plate, the right clamping plate, the front clamping plate and the rear clamping plate are respectively embedded in the left clamping through hole, right clamping through hole, front clamping through hole and rear clamping through hole. In the hole, the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate can be extended and retracted into the fixing box, so that the fixing frame can adapt to different shapes and sizes. The diameter of the mechanical arm is to improve the use and application scope of the multi-purpose two-degree-of-freedom monitoring head;

3) The multi-purpose two-degree-of-freedom monitoring pan/tilt of the present invention is provided with a horizontal rotating part and a tilting part, the horizontal rotating part includes a first motor and a first harmonic reducer, and the tilting part includes a second motor and a second harmonic A reducer, the first motor can be vertically fixed on the fixing frame through the first harmonic reducer, and the first motor can be rotated forward and reversely through the first harmonic reducer; the first harmonic reducer Two motors are arranged horizontally on the first motor, and the tilting member rotates the camera mount up and down through the rotation of the second harmonic reducer, so that the multi-purpose two-degree-of-freedom monitoring pan/tilt can be realized. Pan and Tilt.

Other advantages, objects, and features of the present invention will appear in part from the description that follows, and in part will be appreciated by those skilled in the art from the study and practice of the invention.

Description of drawings

1 is a schematic diagram of the left-view three-dimensional structure of a multi-purpose two-degree-of-freedom monitoring pan/tilt according to the present invention;

2 is a schematic diagram of a right-view three-dimensional structure of a multi-purpose two-degree-of-freedom monitoring pan/tilt according to the present invention;

3 is a schematic view of a three-dimensional structure of a multi-purpose two-degree-of-freedom monitoring pan/tilt head looking up according to the present invention;

Fig. 4 is the right side view of the multi-purpose two-degree-of-freedom monitoring head of the present invention;

Fig. 5 is the enlarged view of part A in Fig. 4 of the multi-purpose two-degree-of-freedom monitoring PTZ of the present invention;

6 is a vertical cross-sectional three-dimensional structural schematic diagram of a fixing frame in a multi-purpose two-degree-of-freedom monitoring head according to the present invention;

FIG. 7 is a vertical cross-sectional view of the fixing frame in the multi-purpose two-degree-of-freedom monitoring head according to the present invention.

Among them: 1-fixed box, 2-left and right rotating fixed sleeve, 3-front and rear rotating fixed sleeve, 5-left and right rotating fixed piece, 6-long tooth width gear, 7-front and rear rotating shaft, 8-front and rear rotating fixed piece, 9- Long tooth width helical gear, 10-horizontal smooth tube, 11-left clamping plate, 12-right clamping plate, 13-front clamping plate, 14-rear clamping plate, 15-rotating fixing nut , 16-rotating fixed screw, 17-fastening nut, 18-first motor, 19-first harmonic reducer, 20-first fixed flange, 21-first crossed roller bearing, 22-second fixed Flange, 23-Second Fixing Bolt, 24-Camera Protective Shell, 25-Second Motor, 26-Second Harmonic Reducer, 27-Third Mounting Flange, 28-Second Cross Roller Bearing, 30- Camera mount, 31-Camera.

Detailed ways

Hereinafter, the technical solutions of the present invention will be described in detail by way of embodiments with reference to the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help the understanding of the present invention, but do not constitute a limitation of the present invention.

The term "and/or" in this article is only an association relationship to describe associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, which can mean: A alone exists, B alone exists, and A and B exist simultaneously. There are three cases of B. In this article, the term "/and" is to describe another related object relationship, which means that there can be two relationships, for example, A/ and B, which can mean that A exists alone, and A and B exist alone. , In addition, the character "/" in this text generally indicates that the related objects are an "or" relationship.

1-7, a multi-purpose two-degree-of-freedom monitoring pan/tilt includes a fixed frame, a horizontal rotating member and a tilting member, the horizontal rotating member is arranged on the fixing frame, and the tilting member arranged on the horizontal rotating member. The fixing frame includes a fixing box 1 and a clamping piece, and the clamping piece is arranged on the fixing box 1 . The fixed box 1 is in the shape of a rectangular groove, and the bottom of the fixed box 1 is provided with fixed through holes, four of the fixed through holes, and the four fixed through holes are evenly distributed around the same center, and each of the four fixed through holes is evenly distributed. The first fixing bolts are embedded in the fixing through holes.

The left side wall of the fixing box 1 is provided with a left clamping through hole, the right side wall of the fixing box 1 is provided with a right clamping through hole, and the front side wall of the fixing box 1 is provided with a front side clip A clamping through hole, the rear side wall of the fixing box 1 is provided with a rear clamping through hole, the left clamping through hole, the right clamping through hole, the front clamping through hole and all The rear side clamping through holes are all elongated holes. The distance between the left clamping through hole and the bottom of the fixed box 1 is smaller than the distance between the right clamping through hole and the bottom of the fixed box 1, and the front clamping through hole and the fixed wiper groove The spacing between the bottoms is greater than the spacing between the right clamping through holes, and the spacing between the rear clamping through holes and the groove bottom of the fixing box 1 is greater than the spacing between the front clamping through holes supporting the fixing box 1 groove bottom.

The front side wall of the fixed box 1 is provided with a left and right rotation through hole, and the distance from the left and right rotation through hole to the groove bottom of the fixed box 1 is greater than the distance from the left clamping through hole to the groove bottom of the fixed box 1, At the same time, the distance between the rotating through hole and the bottom of the fixed box 1 is smaller than the distance between the right clamping through hole and the bottom of the fixed box 1. The left and right rotating through holes are embedded with the left and right rotating fixed sleeves 2, so The left-right rotation fixing sleeve 2 is tubular, one end of the left-right rotation fixing sleeve 2 protrudes from the fixing box 1 , and a left-right rotation fixing groove is provided on one end surface of the left-right rotation fixing sleeve 2 . The right side wall of the fixed box 1 is provided with front and rear rotation through holes, and the included angle between the axis of the front and rear rotation through holes and the right side wall of the fixed box 1 is less than 90 degrees. The distance from the front and rear rotation through holes to the groove bottom of the fixed box 1 is greater than the distance from the front clamping through holes to the groove bottom of the fixed box 1, and at the same time, the distance from the front and rear rotation through holes to the groove bottom of the fixed box 1 The front and rear rotation fixing sleeves 3 are embedded in the front and rear rotation through holes. The front and rear rotation fixing sleeves 3 are tubular. The box 1 is fixed, and one end surface of the front and rear rotation fixing sleeve 3 is provided with a front and rear rotation fixing groove.

The left and right rotation fixing sleeve 2 is embedded with a left and right rotation shaft, one end of the left and right rotation shaft is flush with one end of the left and right rotation fixing sleeve 2, and one end surface of the left and right rotation shaft is hinged with a left and right rotation fixing piece 5, so The left-right rotation fixing piece 5 is in the shape of a rectangular frame, and the length of the left-right rotating fixing piece 5 is greater than the diameter of the left-right rotating fixing sleeve 2. When the axis of the left-right rotating fixing piece 5 is parallel to the axis of the left-right rotating shaft, it can pass through the positive direction. The left and right rotating fixing pieces 5 are twisted in the forward and reverse directions to drive the left and right rotating shafts to rotate in the forward and reverse directions. When the axis of the left and right rotating fixing piece 5 is perpendicular to the axis of the left and right rotating shaft, the left and right rotating fixing piece 5 will be embedded in the left and right rotating fixing groove to fix the left and right rotating shaft. The length of the other end of the left and right rotating shafts is not less than half the length of the fixed box 1 , and the other end of the left and right rotating shafts is provided with a long tooth-width gear 6 .

The front and rear rotation fixing sleeve 3 is embedded with a front and rear rotation shaft 7, one end of the front and rear rotation shaft 7 is flush with one end of the front and rear rotation fixing sleeve 3, and one end surface of the front and rear rotation shaft 7 is hinged with a front and rear rotation fixing piece. 8. The front and rear rotating fixed piece 8 is in the shape of a rectangular frame, and the length of the front and rear rotating fixed piece 8 is greater than the diameter of the front and rear rotating fixed sleeve 3. When the axis of the front and rear rotating fixed piece 8 is parallel to the axis of the front and rear rotating shaft 7 , the front and rear rotating shafts 7 can be driven to rotate in the forward and reverse directions by twisting the front and rear rotation fixing pieces 8 in the forward and reverse directions. The other end of the front and rear rotating shaft 7 is provided with a long-tooth-width helical gear 9 .

The left clamping through hole, the right clamping through hole, the front clamping through hole and the rear clamping through hole are all embedded with a horizontal smooth pipe 10. The sliding tube 10 is in the shape of a rectangular tube, and the horizontal sliding tube 10 can facilitate the horizontal extension and shortening of the clamping member.

The clamping member includes a left clamping plate 11, a right clamping plate 12, a front clamping plate 13 and a rear clamping plate 14. The left clamping plate 11 and the right clamping plate 12. Both the front side clamping plate 13 and the rear side clamping plate 14 are arranged on the fixing box 1 . The left clamping plate 11 , the right clamping plate 12 , the front clamping plate 13 and the rear clamping plate 14 are all in the shape of right-angle plates, and the left clamping plate 11 , The right-side clamping plate 12 , the front-side clamping plate 13 and the rear-side clamping plate 14 are embedded in the four horizontal smooth pipes 10 one by one correspondingly at right angles.

The left clamping plate 11 is provided with first gear teeth on the lower surface of the right-angled plate, and the first gear teeth are horizontally distributed on the left clamping plate 11, and the right clamping plate 12 is at a right angle. The upper surface of the plate is provided with second gear teeth, the second gear teeth are horizontally distributed on the right clamping plate 12 , and the first gear and the second gear are both connected with the long tooth width gear 6 meshing; the lower surface of the right-angled surface of the front clamping plate 13 is provided with first helical gear teeth, the first helical gear teeth are horizontally distributed on the front clamping plate 13, and the first helical gear teeth are The inclination direction of the gear teeth is parallel to the axis of the front and rear rotation through holes. The rear side clamping plate 14 is provided with second helical gear teeth on the upper surface of the rectangular plate, and the second helical gear teeth are horizontally distributed on the rear side clamp. on the tightening plate 14, and the inclination angle of the second helical gear teeth is parallel to the axis of the front and rear rotation through holes, and the first helical gear teeth and the second helical gear teeth are both connected with the long-tooth width helical gear 9 mesh. The left clamping plate 11 , the right clamping plate 12 , the front clamping plate 13 and the rear clamping plate 14 are all provided with rotating and fixing through holes on the other right-angle plates. The rotating fixing through holes are embedded with rotating fixing nuts 15, and each rotating fixing nut 15 is embedded with a rotating fixing screw 16, and the rotating fixing screw 16 is engaged with the rotating fixing nut 15, so A tightening nut 17 is sleeved on the rotating fixing screw 16 .

The horizontal rotating member includes a first motor 18 , a first harmonic reducer 19 , a first fixed flange 20 and a first cross roller bearing 21 , the first harmonic reducer 19 and the first cross roller bearing 21 . The sub-bearings 21 are all arranged on the first motor 18 , and the first flange is arranged on the first harmonic reducer 19 . The first motor 18 is a servo motor, and one end of the outer ring of the first crossed roller bearing 21 is fixedly connected to the first motor 18 . The wave generator of the first harmonic reducer 19 is sleeved on the rotating shaft of the first motor 18 , and the steel wheel of the first harmonic reducer 19 is fixedly embedded in the first cross roller bearing 21 . inner ring. One end of the first fixing flange 20 is fixedly connected with the other end of the steel wheel of the first harmonic reducer 19 , and the first fixing flange 20 is fixedly arranged on the fixing box 1 by the first bolts . The rear end of the first motor 18 is provided with a second fixing flange 22, and the second fixing flange 22 is embedded with a second fixing bolt 23; the side wall of the first motor 18 is provided with a camera protective shell 24 The camera protective shell 24 is in the shape of a rectangular slot, one end surface of the camera protective shell 24 is closed, and the other end surface of the camera protective shell 24 is vertically arranged on the side wall of the first motor 18 . When the camera head 31 is in a non-working state, it can be folded into the camera protective case 24 to prevent the camera head 31 from being damaged by external bumps.

The pitching member includes a second motor 25, a second harmonic reducer 26, a third fixed flange 27, a second crossed roller bearing 28 and a fourth fixed flange. The second harmonic reducer 26, The third fixed flange 27 , the fourth fixed flange and the second crossed roller bearing 28 are all disposed on the second motor 25 . The second motor 25 is a servo motor, the third fixing flange 27 is fixed on the second motor 25 , and the third fixing flange 27 is connected to the second motor 25 through the second fixing bolts 23 . on the first fixing flange 20 . One end of the outer ring of the second crossed roller bearing 28 is fixedly arranged on the second motor 25 , and the steel wheel of the second harmonic reducer 26 is fixedly sleeved inside the second crossed roller bearing 28 circle. One end of the fourth fixing flange is fixedly arranged on the other end of the steel wheel of the second harmonic reducer 26 . A camera fixing seat 30 is arranged on the fourth fixing flange, and a camera 31 is arranged on the camera fixing seat 30 . When the second motor 25 rotates in the forward direction, the second harmonic reducer 26 will drive the camera mount 30 to rotate downward, thereby causing the camera 31 to rotate downward. When the 25 rotates in the reverse direction, the second harmonic reducer 26 will drive the camera mount 30 to rotate upward, thereby causing the camera 31 to rotate upward.

When the robot arm to be fixed is provided with a fixing flange that cooperates with the first fixing flange 20 , the multi-purpose two-degree-of-freedom monitoring pan/tilt is directly set on the robot arm through the first fixing flange 20 ; When there is no fixed flange set on the mechanical arm or the fixed flange set on the mechanical arm does not cooperate with the first fixed flange 20, the first flange is arranged in the groove of the fixed box 1 through the first bolt On the bottom, the multi-purpose two-degree-of-freedom monitoring head is fixed on the mechanical arm through the fixing frame, that is, the left clamping plate 11 and the right clamping plate are adjusted by twisting the left and right rotating shafts and the front and rear rotating shafts 7 The distance between the front clamping plate 13 and the rear clamping plate 14 is 12, and the fixing frame is sleeved on the mechanical arm. Finally, the multi-purpose two-degree-of-freedom monitoring head is fixed on the mechanical arm by tightening the rotating fixing screw 16.

The beneficial technical effects of the present invention are as follows:

The multi-purpose two-degree-of-freedom monitoring pan/tilt of the present invention has reasonable structural design, compact structure, large transmission ratio, small volume, convenient installation and use, convenient operation, and strong adaptability to the mechanical arm; A fixing frame, the fixing frame includes a fixing box 1 and a clamping member, and the four side walls of the fixing box 1 are respectively provided with a left clamping through hole, a right clamping through hole, a front clamping through hole and a rear side Clamping through holes, the clamping piece includes left clamping plate 11 , right clamping plate 12 , front clamping plate 13 and rear clamping plate 14 , left clamping plate 11 , right clamping plate 14 12. The front clamping plate 13 and the rear clamping plate 14 are respectively embedded in the left clamping through hole, right clamping through hole, front clamping through hole and rear clamping through hole, respectively. The left clamping plate 11, the right clamping plate 12, the front clamping plate 13 and the rear clamping plate 14 can be extended and retracted into the fixing box 1, so that the fixing frame can adapt to different shapes and diameter of the robotic arm to enhance the use and scope of the multi-purpose two-degree-of-freedom monitoring gimbal.

The multi-purpose two-degree-of-freedom monitoring head of the present invention is provided with a horizontal rotating member and a tilting member, the horizontal rotating member includes a first motor 18 and a first harmonic reducer 19, and the tilting member includes a second motor 25 and a second harmonic Wave reducer 26, the first motor 18 can be vertically fixed on the fixing frame through the first harmonic reducer 19, and the first motor 18 can be rotated forward and Reverse rotation; the second motor 25 is horizontally arranged on the first motor 18, the tilting member rotates the camera mount 30 upward and downward through the rotation of the second harmonic reducer 26, thereby making The multi-purpose two-degree-of-freedom monitoring gimbal realizes horizontal rotation and vertical pitch.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the application listed in the description and the embodiment, and it can be applied to various fields suitable for the present invention. For those skilled in the art, it can be easily Therefore, the invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims (10)

1. A multipurpose two-degree-of-freedom monitoring holder is characterized by comprising:

the fixing frame comprises a fixing box and a clamping piece, and the clamping piece is arranged on the fixing box; the clamping piece comprises a left clamping plate, a right clamping plate, a front clamping plate and a rear clamping plate, and the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all arranged on the fixed box;

the horizontal rotating part is arranged on the fixed frame and comprises a first motor, a first harmonic reducer, a first fixed flange and a first crossed roller bearing, wherein the first harmonic reducer and the first crossed roller bearing are both arranged on the first motor, and the first flange is arranged on the first harmonic reducer;

pitch down the piece, it sets up to pitch down on the horizontal rotation piece, pitch down the piece and include second motor, second harmonic speed reducer ware, third mounting flange, second cross roller bearing and fourth mounting flange, the second harmonic speed reducer ware the third mounting flange the fourth mounting flange with second cross roller bearing all sets up on the second motor.

2. The multipurpose two-degree-of-freedom monitoring tripod head according to claim 1, wherein the fixing box is in a rectangular groove shape, a plurality of fixing through holes are formed in the groove bottom of the fixing box, the plurality of fixing through holes are uniformly distributed around the same circle center, and a first fixing bolt is embedded in each fixing through hole.

3. The multipurpose two-degree-of-freedom monitoring tripod head according to claim 1 or 2, wherein a left clamping through hole is formed in a left side wall of the fixed box, a right clamping through hole is formed in a right side wall of the fixed box, a front clamping through hole is formed in a front side wall of the fixed box, and a rear clamping through hole is formed in a rear side wall of the fixed box; the distance from the left clamping through hole to the bottom of the fixed box is smaller than the distance from the right clamping through hole to the bottom of the fixed box, the distance from the front clamping through hole to the bottom of the fixed wiping box is larger than the distance from the right clamping through hole, and the distance from the rear clamping through hole to the bottom of the fixed box is larger than the distance from the front clamping through hole to the bottom of the fixed box; the clamping through hole is clamped on the left side, the clamping through hole is clamped on the right side, the clamping through hole is clamped on the front side, and a water smooth-sliding pipe is embedded in the clamping through hole on the rear side, and the water smooth-sliding pipe can facilitate horizontal extension and shortening of the clamping piece.

4. The multi-purpose two-degree-of-freedom monitoring tripod head according to claim 1 or 2, wherein a left-right rotation through hole is formed in a front side wall of the fixed box, a distance between the left-right rotation through hole and a bottom of the fixed box is larger than a distance between the left-side clamping through hole and the bottom of the fixed box, a distance between the rotation through hole and the bottom of the fixed box is smaller than a distance between the right-side clamping through hole and the bottom of the fixed box, a left-right rotation fixing sleeve is embedded in the left-right rotation through hole, the left-right rotation fixing sleeve is tubular, one end of the left-right rotation fixing sleeve protrudes out of the fixed box, and a left-right rotation fixing groove is; a front-back rotation through hole is formed in the right side wall of the fixed box, and an included angle between the axis of the front-back rotation through hole and the right side wall of the fixed box is smaller than 90 degrees; the front-back rotation through hole is larger than the distance between the bottoms of the fixed box grooves, the front side of the front-back rotation through hole is clamped to the distance between the bottoms of the fixed box grooves, the distance between the bottoms of the fixed box grooves is smaller than the distance between the rear side of the fixed box grooves, a front-back rotation fixing sleeve is embedded in the front-back rotation through hole, the front-back rotation fixing sleeve is tubular, one end of the front-back rotation fixing sleeve protrudes out of the fixed box, and a front-back rotation fixing groove is formed in one end face of the front-back rotation fixing.

5. The multi-purpose two-degree-of-freedom monitoring tripod head according to claim 4, wherein a left rotating shaft and a right rotating shaft are embedded in the left and right rotating fixing sleeves, a left rotating fixing plate and a right rotating fixing plate are hinged to one end surfaces of the left and right rotating shafts, the left and right rotating fixing plates are rectangular frames, the length of the left and right rotating fixing plates is larger than the diameter of the left and right rotating fixing sleeves, and a long-tooth wide gear is arranged at the other end of the left and right rotating shafts.

6. A multi-purpose two-degree-of-freedom monitoring console according to claim 5, wherein a front and a rear rotating shafts are embedded in the front and rear rotating fixing covers, a front and rear rotating fixing plate is hinged to one end surface of the front and rear rotating shafts, the front and rear rotating fixing plate is rectangular frame-shaped, the length of the front and rear rotating fixing plate is larger than the diameter of the front and rear rotating fixing covers, and a long-tooth-width helical gear is provided at the other end of the front and rear rotating shafts.

7. The multi-purpose two-degree-of-freedom monitoring pan/tilt head according to claim 6, wherein the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are all right-angled plate-shaped, and right-angled edges of the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are respectively and correspondingly embedded into the four horizontal smooth tubes one by one;

the lower surface of the left clamping plate straight angle plate is provided with first gear teeth, the upper surface of the right clamping plate straight angle plate is provided with second gear teeth, and the first gear and the second gear are both meshed with the long-tooth wide gear; the lower surface of a right-angle surface of the front side clamping plate is provided with first oblique gear teeth, the upper surface of a right-angle plate of the rear side clamping plate is provided with second oblique gear teeth, and the first oblique gear teeth and the second oblique gear teeth are meshed with the long-tooth-width oblique gear.

8. A multi-purpose two-degree-of-freedom monitoring tripod head according to claim 1 or 2, wherein the left clamping plate, the right clamping plate, the front clamping plate and the rear clamping plate are each provided with a rotary fixing through hole on the other right-angle plate, each rotary fixing through hole is embedded with a rotary fixing nut, each rotary fixing nut is embedded with a rotary fixing screw, the rotary fixing screw is engaged with the rotary fixing nut, and the rotary fixing screw is sleeved with a fastening nut.

9. The multi-purpose two-degree-of-freedom monitoring tripod head according to claim 1 or 2, wherein the first motor is a servo motor, and one end of the outer ring of the first crossed roller bearing is fixedly connected with the first motor; the wave generator of the first harmonic reducer is sleeved on the first motor rotating shaft, and the steel wheel of the first harmonic reducer is fixedly embedded in the inner ring of the first crossed roller bearing; one end of the first fixing flange is fixedly connected with the other end of the steel wheel of the first harmonic reducer, and the first fixing flange is fixedly arranged on the fixing box through the first bolt; a second fixing flange is arranged at the rear end of the first motor, and a second fixing bolt is embedded in the second fixing flange; a camera protection shell is arranged on the side wall of the first motor, the camera protection shell is in a rectangular groove shape, one end face of the camera protection shell is closed, and the other end face of the camera protection shell is vertically arranged on the side wall of the first motor; when the camera is in a non-working state, the camera can be folded to enter the camera shooting protective shell so as to prevent the outside from colliding and damaging the camera.

10. The multi-purpose two-degree-of-freedom monitoring pan/tilt head according to claim 9, wherein the second motor is a servo motor, the third fixing flange is fixedly disposed on the second motor, and the third fixing flange is connected to the first fixing flange through the second fixing bolt; one end of the outer ring of the second crossed roller bearing is fixedly arranged on the second motor, and a steel wheel of the second harmonic reducer is fixedly sleeved on the inner ring of the second crossed roller bearing; one end of the fourth fixed flange is fixedly arranged at the other end of the steel wheel of the second harmonic reducer; and a camera shooting fixing seat is arranged on the fourth fixing flange.

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