CN103293834A - Transmission limit device for soft cable traction video camera - Google Patents

Abstract

A transmission limiting device for a flexible cable traction camera, which is composed of a supporting tower, a pulley support frame, a driver, a block of pulleys, a flexible cable and a camera. There are four supporting towers, fixed vertically on the ground, forming a cuboid space for the camera to move. A pulley support frame is fixed on the top of each supporting tower to fix the pulley block; the pulley block is composed of a base, a pulley, a pulley shaft and a pulley support, the pulley is placed in the pulley shaft, and the two ends of the pulley shaft are fixed on two pulley supports On the lug, the pulley rotates around the pulley shaft; the base is equipped with a cone, the center of the cone is the installation shaft, there is a hole for the wire on the installation shaft, balls are placed between the cone and the pulley support, and the pulley support rotates around the installation shaft , the two directions of rotation are perpendicular to each other. The flexible cable is wound on the driver, and is connected to the camera through the pulley support frame and the pulley block at the top of each supporting tower; the driver is fixed at the bottom of the supporting tower and connected to the computer to control the retraction and release of the flexible cable.

Description

Flexible cable traction camera transmission limit device

technical field

The invention relates to the technical field of mechanical positioning control, and further relates to a precise positioning control device for a cable-tracted camera, specifically a transmission limit device for a cable-tracted camera.

Background technique

At present, there are many kinds of robots in the industry that realize the positioning control of space moving objects. The driving devices for realizing the movement of objects are rigid devices such as hydraulic cylinders, air cylinders, electric cylinders, and rotary joints. Some structures use pulleys. The existing pulley is generally composed of a pulley installed on the pulley shaft and placed on the support. The pulley shaft is fixed relative to the support. The direction of rotation of the rope is perpendicular to the pulley shaft. target control.

Garrett W. Brown applied for a patent "A device for supporting and transmitting a suspension system, such as a camera (SUSPENSION SYSTEM FOR SUPPORTING AND CONVEYING EQUIPMENT, SUCH AS A CAMERA)" (application number 760390, application date 1985.07.30, patent number 4710819) discloses a structural design system of a four-cable traction camera. Focusing on the schematic representation of the overall structure and the mechanically stable structure of the terminal control target, it meets the control requirements of the four-cable traction camera to a certain extent. But the weak point that still exists in this patent is: the driver position that is used to pull flexible cable is not provided, and the pulley structure that supports tower column top is used for changing flexible cable direction is not described.

The patent "universal pulley block" (application number 00248158.8, application date 2000-08-18) applied by Li Yongquan and Yao Zhenhua discloses a pulley block suitable for rope steering and reversing. The steering and reversing functions of the pulley seat are mainly introduced, which can satisfy the steering and reversing functions of the rope. But the weak point that this patent still exists is: structure is still comparatively complicated, and the device that reduces friction is not provided with the pulley seat rotation, and frictional force is bigger, and pulley seat is easily damaged.

Contents of the invention

The technical purpose of the present invention is to overcome the problems existing in the above-mentioned prior art, and to develop a cable traction camera transmission limit device; to make the overall installation structure simple, and to realize the target motion control in a wide range.

The technical solution that the present invention adopts for realizing above-mentioned technical purpose is: the cable traction camera transmission limit device that provides, is made up of support tower column, pulley support frame, driver, pulley block, cable and camera. There are four supporting towers, which are vertically fixed on the ground to form a cuboid space range for the camera to move. There are four pulley support frames, drivers and pulley blocks each, and a pulley support frame is fixed on the top of each supporting tower for fixing the pulley block; the pulley block is composed of a base, a pulley, a pulley shaft and a pulley support, and the pulley is placed on In the center of the pulley shaft, the two ends of the pulley shaft are fixed on the two lugs of the pulley support, so that the pulley can rotate around the pulley shaft; there is a cone on the base, and the center of the cone is the installation shaft, and a wire hole is set on the installation shaft , used for threading flexible cables; balls are installed between the cone and the pulley support, and the pulley support rotates on the cone around the installation shaft, and the two rotation directions are perpendicular to each other. The flexible cable is wound on the driver, and is jointly connected to the camera through the pulley support frame and the pulley block at the top of the supporting tower respectively; A driver to control the retraction and release of the cable.

The pulley of the present invention is provided with a groove in the circumferential direction, and the position of the thread hole on the installation shaft matches the position of the pulley groove to ensure that the flexible cable is close to the groove, and the pulley is driven to rotate by the movement of the flexible cable; the depth of the groove on the pulley is 4-6 times the diameter of the flexible cable to ensure that the flexible cable is close to the groove of the pulley; the groove width of the pulley is 1.5-2 times the diameter of the flexible cable to reduce the friction between the pulley groove and the flexible cable, and Make the cable move in the groove, generate axial force on the pulley, and drive the pulley support to rotate on the cone.

Compared with the prior art, the present invention has the following advantages:

1. Use flexible cables to pull the camera, which is low in cost; flexible components such as steel cables and ropes can be used for flexible components, which are very convenient for replacement and maintenance; this low-cost flexible cable positioning control device can easily achieve a wide range of moving objects position control, expanding the application range of space moving target positioning control.

2. The pulley block adopted in the present invention has the function of universal direction, which solves the problem of limited steering and reversing of ordinary pulleys, and has a simple structure and is easy to install. When the target moves in a large range and a large span, the flexible cable will inevitably swing in a large range, and the exit direction of the flexible cable will change at any time. Using the pulley block, the direction of the flexible cable can be changed at will, so that the exit of the flexible cable will not be damaged by the lateral force. Because the pulley support frame and the installation shaft have holes for the wires, the pulley has grooves in the circumferential direction, and the installation shaft has grooves. The position of the wire hole matches the position of the groove of the pulley, which solves the problem that the cable falls off from the pulley. Through the reasonable design of the pulley block, the direction of the cable can be changed within the allowable range.

3. The driver is fixed on the bottom of the supporting tower to control the flexible cable, so that the overall structure is simple, which is convenient for assembly and maintenance; the top of the supporting tower is equipped with a pulley support frame, which is convenient for the installation of the pulley block.

4. There are wire holes on the pulley support frame and the installation shaft to ensure that the flexible cable passes through the pulley groove smoothly.

5. Through experiments, it is proved that the good positioning accuracy of the camera can be achieved within the movement range of a cuboid with a side length of 5*3 meters and a height of 3 meters.

Description of drawings

Fig. 1 is a schematic diagram of the positioning of the cable traction camera transmission limit device of the present invention;

Fig. 2 is a block diagram of the present invention;

Fig. 3 is a sectional view of the left side view of the pulley block.

Detailed ways

Referring to Fig. 1, flexible cable traction camera transmission limit device of the present invention is made up of support tower column 1, pulley support frame 2, driver 6, pulley block 3, flexible cable 4 and camera 5. There are four supporting towers 1, which are vertically fixed on the ground to form a cuboid space range for the camera 5 to move. The pulley support frame 2, the driver 6 and the pulley block 3 are each four, and a pulley support frame 2 is fixed on the top of each supporting tower column 1 for fixing the pulley block 3; the flexible cable 4 is wound on the driver 6, respectively passing The pulley support frame 2 and the pulley block 3 that respectively support the top of the tower column 1 are connected to the camera 5 together. The driver 6 is fixedly connected to the bottom end of the support tower 1, and the driver 6 is connected to the computer, and the computer controls four drivers 6 to control the retraction and release of the flexible cable 4 at the same time. Use a computer to plan the movement of the camera 5, calculate the length changes of the four flexible cables 4 during the movement, and then control the operation of the driver 6, so that the four flexible cables 4 are extended or shortened in an orderly manner, ensuring that the flexible cables 4 are always in tension. Tight state, prevent flexible rope 4 from slipping off from pulley block 3. When the camera 5 moves in the cuboid space surrounded by the four supporting towers 1, the length and direction of the four flexible cables 4 will change, so as to achieve the purpose of controlling the position of the camera. For example: when camera 5 is to be moved to the left, first plan the motion path by computer, then calculate the length changes of the four flexible cables 4 in the motion process, and it can be calculated that the two flexible cables 4 on the left side should be shortened, and the two flexible cables on the right should be shortened. 4 should be extended, and then control the operation of the driver 6, so that the two flexible cables 4 on the two supporting tower columns 1 on the left shrink, and the two flexible cables 4 on the two supporting tower columns 1 on the right elongate. Under the coordinated movement of , the camera 5 is moved to the left smoothly.

Referring to FIG. 2 , the pulley block 3 of the present invention is composed of a base 7 , a pulley 11 , a pulley shaft 10 and a pulley support 9 . Pulley 11 is placed in the center of pulley shaft 10, and the two ends of pulley shaft 10 are fixed on the two lugs of pulley support 9, so that pulley 11 can rotate around pulley shaft 10; The shaft 12 is provided with a thread hole on the installation shaft 12, which is used to wear the flexible cable 4; a ball 8 is installed between the cone and the pulley support 9, and the pulley support 9 rotates on the cone around the installation shaft 12. The two rotation directions are perpendicular to each other, so that the pulley block 3 has a universal function, which satisfies the change of the direction of the cable during the movement of the cable 4 pulling the camera 5 . The pulley 11 is circumferentially provided with a groove, and the position of the thread hole of the mounting shaft 12 matches the position of the pulley groove to ensure that the flexible cable 4 is close to the groove, and the movement of the flexible cable 4 drives the pulley 11 to rotate around the pulley shaft 10. The groove depth on the pulley 11 is 4-6 times of the diameter of the flexible cable 4, to ensure that the flexible cable 4 is close to the pulley groove; the groove width of the pulley 11 is 1.5-2 times of the flexible cable 4 diameter, to reduce the pulley The frictional force between the groove and the flexible cable 4 makes the flexible cable 4 move in the groove, generates an axial force on the pulley 11, and drives the pulley support 9 to rotate around the installation shaft 12 on the cone. The pulley support frame 2 and the base 7 are respectively provided with four threaded holes, so as to facilitate the installation and fixing of the pulley block 3 .

Referring to Fig. 3, grooves corresponding to each other are provided on the frustum and the pulley support 9, and the balls 8 are installed in the grooves of the frustum. When the cable 4 moves in the groove of the pulley 11, an axial force is generated on the pulley 11, and when the pulley support 9 is driven to rotate around the installation shaft 12 on the cone, it is used to reduce the rotation of the pulley support 9 on the cone. Friction effectively protects the pulley block 3, making it difficult to damage due to wear and tear.

Claims (3)

1. gentle rope draws video camera transmission stop means, by supporting king-post (1), pulley support frame (2), driver (6), pulley blocks (3), gentle rope (4) and video camera (5) are formed, described support king-post (1) is four, vertical fixing is in ground, constitute one for the mobile rectangular parallelepiped spatial dimension of video camera (5), it is characterized in that: pulley support frame (2), driver (6) and pulley blocks (3) respectively are four, fix a pulley support frame (2) on the every top of supporting king-post (1), are used for fixed block group (3); Described pulley blocks (3) is made of with pulley support (9) base (7), pulley (11), pulley spindle (10), pulley (11) places pulley spindle (10) central authorities, the two ends of pulley spindle (10) are fixed on two journal stirrups of pulley support (9), make pulley (11) can center on pulley spindle (10) and rotate; At base (7) frustum is arranged, frustum central authorities are the installation shaft (12) of a projection, and installation shaft is established a threading hole on (12), are used for wearing gentle rope (4); Between frustum and pulley support (9) ball (8) is installed, pulley support (9) rotates at frustum around installation shaft (12), and these two rotation directions are vertical mutually; Described gentle rope (4) is wrapped on the driver (6), pass through pulley support frame (2) and the pulley blocks (3) on each self-support tower post (1) top respectively, be connected to jointly on the video camera (5), described driver (6) is fixed on and supports king-post (1) bottom, driver (6) is connected with computing machine, and computing machine is controlled receipts that four drivers (6) control gentle rope (4) simultaneously and put.

2. gentle rope according to claim 1 draws video camera transmission stop means, it is characterized in that: described pulley (11) is circumferentially with a groove, installation shaft (12) goes up the position of threading hole and the location matches of pulley groove, the rope (4) that guarantees to soften is close to groove, by moving belt travelling block (11) rotation of gentle rope (4); Depth of groove on the pulley (11) is 4-6 times of gentle rope (4) diameter, be close to the pulley groove to guarantee gentle rope (4), recess width on the pulley (11) is 1.5-2 times of gentle rope (4) diameter, to reduce the friction force between pulley groove and the gentle rope (4), and gentle rope (4) can be moved in groove, produce axial force at pulley (11), drive pulley support (9) and rotate at frustum.

3. gentle rope according to claim 1 draws video camera transmission stop means, it is characterized in that: be equipped with in correspondence with each other groove at frustum and pulley support (9), ball (8) is loaded in the groove of frustum, is used for reducing the friction that pulley support (9) rotates at frustum.

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