阅读说明：本技术 一种云台发射器 (Cloud platform transmitter ) 是由 张云志 李嘉滔 吴泳庆 梁尧森 于 2019-11-13 设计创作，主要内容包括：本发明公开了一种云台发射器,包括底座；水平旋转驱动电机,固定连接于底座的上侧；底板,与水平旋转驱动电机的输出轴固定连接；底板的前侧、后侧、左侧和右侧分别固定连接有前侧板、后侧板、左侧板和右侧板,底板、左竖板、右竖板、前竖板和后竖板分体设置并用螺丝固定连接；俯仰旋转驱动电机；俯仰板,俯仰板的左端和右端分别与左竖板和右竖板转动连接,俯仰板与俯仰旋转驱动电机传动连接；发射组件。底板、左竖板、右竖板、前竖板和后竖板组成一个盒体结构,盒体结构稳固,各块板不容易发生偏移；底板、左竖板、右竖板、前竖板和后竖板分体设置,可提高各块板的加工精度,拼接成云台后尺寸误差小,从而提高结构稳定性。(The invention discloses a holder launcher, which comprises a base; the horizontal rotation driving motor is fixedly connected to the upper side of the base; the bottom plate is fixedly connected with an output shaft of the horizontal rotation driving motor; the front side, the rear side, the left side and the right side of the bottom plate are respectively and fixedly connected with a front side plate, a rear side plate, a left side plate and a right side plate, and the bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate are arranged in a split manner and are fixedly connected by screws; a pitch rotation drive motor; the left end and the right end of the pitching plate are respectively connected with the left vertical plate and the right vertical plate in a rotating way, and the pitching plate is in transmission connection with a pitching rotation driving motor; and a transmitting component. The bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate form a box body structure, the box body structure is stable, and all the plates are not easy to deviate; the bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate are arranged in a split mode, machining precision of each plate can be improved, and size errors are small after the plates are spliced into the holder, so that structural stability is improved.)

1. A pan-tilt transmitter, comprising:

a base arranged transversely;

the horizontal rotation driving motor is fixedly connected to the upper side of the base, and an output shaft of the horizontal rotation driving motor is arranged along the vertical direction;

the bottom plate is transversely arranged and is fixedly connected with an output shaft of the horizontal rotation driving motor;

the front vertical plate is vertically arranged and fixedly connected to the upper side of the front side of the bottom plate;

the rear vertical plate is vertically arranged and fixedly connected to the upper side of the rear side of the bottom plate, and avoidance grooves with upward openings are formed in the upper sides of the front vertical plate and the rear vertical plate;

the left vertical plate is vertically arranged and fixedly connected to the upper side of the left side of the bottom plate, the front side of the left vertical plate is fixedly connected to the left side of the front vertical plate, and the rear side of the left vertical plate is fixedly connected to the left side of the rear vertical plate;

the right vertical plate is vertically arranged and fixedly connected to the upper side of the right side of the bottom plate, the front side of the right vertical plate is fixedly connected to the right side of the front vertical plate, and the rear side of the right vertical plate is fixedly connected to the right side of the rear vertical plate;

the bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate are arranged in a split manner and are fixedly connected by screws;

the pitching rotation driving motor is fixedly connected to the left vertical plate or the right vertical plate, and an output shaft of the pitching rotation driving motor is transversely arranged;

the left end and the right end of the pitching plate are respectively connected with the left vertical plate and the right vertical plate in a rotating mode, and the pitching plate is in transmission connection with the pitching rotation driving motor;

and the transmitting assembly is connected to the pitching plate, and the transmitting direction of the transmitting assembly is parallel to the left vertical plate.

2. The pan-tilt head launcher according to claim 1, wherein the bottom plate is provided at an upper side thereof with a groove extending in a left-right direction, and the front riser and the rear riser are fixedly connected to a front side surface and a rear side surface of the bottom plate, respectively.

3. The pan-tilt head launcher according to claim 1, wherein the length of the bottom plate in the left-right direction is smaller than the length of the pitching plate in the left-right direction, the left vertical plate is relatively fixedly connected to the bottom plate through the front side plate and the rear side plate, and the right vertical plate is relatively fixedly connected to the bottom plate through the front side plate and the rear side plate.

4. The pan-tilt head launcher according to claim 1, wherein a plurality of lightening holes are provided on each of the left side plate, the right side plate, the front side plate and the rear side plate.

5. A pan/tilt head launcher according to claim 1, wherein the evasion slot is an arc-shaped slot which is downwardly concave.

6. The pan-tilt head launcher according to claim 1, wherein the launching assembly comprises a launching tube fixedly connected to the upper side of the pitching plate, the axis of the launching tube is parallel to the left vertical plate, the front end of the launching tube is provided with a launching port facing to the front side, the rear end of the launching tube is provided with a loading port with an upward opening, the pitching plate is fixedly connected with two launching motors, the two launching motors are respectively arranged at the left side and the right side of the launching tube, the output shaft of the launching motor is fixedly connected with a friction wheel, the axis of the friction wheel is arranged along the up-down direction, the left side and the right side of the launching tube are both provided with friction openings, the two friction wheels are arranged in the friction openings in a one-to-one correspondence manner, the launching motor is fixedly connected to the launching tube, a shifting wheel is rotatably connected in the launching tube, and the axis of the shifting wheel is arranged along the left-right, a plurality of poking strips are axially and uniformly distributed on the poking wheel, the poking wheel is in transmission connection with the spring loading motor, and the poking wheel is arranged between the spring loading port and the friction wheel.

7. The cradle head launcher according to claim 6, wherein a camera is fixedly connected to the side of the launch tube, and the camera shooting direction and the launch opening are arranged on the side of the launch tube.

8. The pan/tilt/zoom lens according to claim 1, wherein the bottom plate of the hollow shaft motor of the horizontal rotation driving motor has a first through hole, the base has a second through hole, the first through hole and the second through hole are both aligned with the hollow shaft of the horizontal rotation driving motor, the hollow shaft of the horizontal rotation driving motor has a conductive slip ring disposed therein, the upper end of the conductive slip ring is fixed to the bottom plate, and the lower end of the conductive slip ring is fixed to the base.

Technical Field

The invention relates to the technical field of robots, in particular to a holder emitter.

Background

The pan-tilt system with the transmitting capability is applied to some robot competition projects, in the robot competition, the robot needs to accurately hit a specific target to score, and in order to achieve the purpose of accurate hitting, the pan-tilt system with good structural stability is one of important factors. Most of existing holders use sheet metal parts as main components of the holders, but the sheet metal parts are low in machining precision, errors of a combined holder system structure are large, parts are connected and combined with the parts to form large stress, the loose condition is easy to occur after the parts are used for a period of time, structural rigidity is low, the structural stability of the holder system is low, and hitting precision in competition is affected.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a holder launcher which can improve the structural stability.

A pan/tilt/zoom (PTZ) transmitter according to an embodiment of the present invention includes: a base arranged transversely; the horizontal rotation driving motor is fixedly connected to the upper side of the base, and an output shaft of the horizontal rotation driving motor is arranged along the vertical direction; the bottom plate is transversely arranged and is fixedly connected with an output shaft of the horizontal rotation driving motor; the front vertical plate is vertically arranged and fixedly connected to the upper side of the front side of the bottom plate; the rear vertical plate is vertically arranged and fixedly connected to the upper side of the rear side of the bottom plate, and avoidance grooves with upward openings are formed in the upper sides of the front vertical plate and the rear vertical plate; the left vertical plate is vertically arranged and fixedly connected to the upper side of the left side of the bottom plate, the front side of the left vertical plate is fixedly connected to the left side of the front vertical plate, and the rear side of the left vertical plate is fixedly connected to the left side of the rear vertical plate; the right vertical plate is vertically arranged and fixedly connected to the upper side of the right side of the bottom plate, the front side of the right vertical plate is fixedly connected to the right side of the front vertical plate, and the rear side of the right vertical plate is fixedly connected to the right side of the rear vertical plate; the bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate are arranged in a split manner and are fixedly connected by screws; the pitching rotation driving motor is fixedly connected to the left vertical plate or the right vertical plate, and an output shaft of the pitching rotation driving motor is transversely arranged; the left end and the right end of the pitching plate are respectively connected with the left vertical plate and the right vertical plate in a rotating mode, and the pitching plate is in transmission connection with the pitching rotation driving motor; and the transmitting assembly is connected to the pitching plate, and the transmitting direction of the transmitting assembly is parallel to the left vertical plate.

The cradle head transmitter provided by the embodiment of the invention at least has the following beneficial effects: the bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate form a box body structure, the box body structure is stable, and all the plates are not easy to deviate; the bottom plate, the left vertical plate, the right vertical plate, the front vertical plate and the rear vertical plate are arranged in a split mode and are machined respectively, machining precision of each plate can be improved, size error is small after the plates are spliced into a holder, stress generated by parts can be reduced, possibility of looseness between the parts is reduced, and structural stability is improved.

According to some embodiments of the invention, the upper side of the bottom plate is provided with a groove extending in the left-right direction, and the front riser and the rear riser are fixedly connected to the front side and the rear side of the bottom plate, respectively.

According to some embodiments of the invention, the length of the bottom plate in the left-right direction is smaller than the length of the pitching plate in the left-right direction, the left vertical plate is relatively fixedly connected with the bottom plate through the front side plate and the rear side plate, and the right vertical plate is relatively fixedly connected with the bottom plate through the front side plate and the rear side plate.

According to some embodiments of the invention, a plurality of lightening holes are formed in each of the left side plate, the right side plate, the front side plate and the rear side plate.

According to some embodiments of the invention, the avoidance slot is a downwardly concave arcuate slot.

According to some embodiments of the present invention, the launching assembly includes a launching tube fixedly connected to the upper side of the pitching plate, the axis of the launching tube is parallel to the left vertical plate, the front end of the launching tube is provided with a launching port facing to the front side, the rear end of the launching tube is provided with a bullet loading port with an upward opening, the pitching plate is fixedly connected with two launching motors, which are respectively arranged at the left side and the right side of the launching tube, the output shaft of the launching motor is fixedly connected with a friction wheel, the axis of the friction wheel is arranged along the up-down direction, the left side and the right side of the launching tube are provided with friction openings, the two friction wheels are correspondingly arranged in the friction openings one by one, the launching tube is fixedly connected with a bullet loading motor, the launching tube is rotatably connected with a dial wheel, the axis of the dial wheel is arranged along the left-right direction, and a plurality of dial bars are axially and uniformly distributed on the dial wheel, the poking wheel is in transmission connection with the bullet feeding motor, and the poking wheel is arranged between the bullet feeding port and the friction wheel.

According to some embodiments of the present invention, a camera is fixedly connected to a side of the transmitting tube, and a shooting direction of the camera and the transmitting opening are provided.

According to some embodiments of the present invention, the bottom plate of the hollow shaft motor of the horizontal rotation driving motor is provided with a first through hole, the base is provided with a second through hole, the first through hole and the second through hole are both opposite to the hollow shaft of the horizontal rotation driving motor, the hollow shaft of the horizontal rotation driving motor is provided with a conductive slip ring, the upper end of the conductive slip ring is fixed relative to the bottom plate, and the lower end of the conductive slip ring is fixed relative to the base.

The invention is used for the tripod head structure.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.

FIG. 1 is a perspective view of an embodiment of the present invention;

FIG. 2 is a perspective view of another aspect of an embodiment of the present invention;

fig. 3 is a perspective view of an embodiment of the present invention with the transmission assembly removed.

In the drawings: 101-base, 102-horizontal rotation driving motor, 103-bottom plate, 104-front vertical plate, 105-rear vertical plate, 106-avoidance groove, 107-left vertical plate, 108-right vertical plate, 109-pitching rotation driving motor, 110-pitching plate, 201-groove, 202-lightening hole, 205-conductive slip ring, 301-transmitting tube, 302-transmitting opening, 303-elastic loading opening, 305-friction wheel, 306-elastic loading motor, 307-thumb wheel and 308-camera.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.