CN221146133U - Novel mounting cage for robot shooting - Google Patents

Abstract

The utility model relates to the technical field of mounting cages, and provides a novel mounting cage for robot shooting, which comprises: the camera comprises an outer mounting frame, an inner mounting frame and a camera mounted between the outer mounting frame and the inner mounting frame, wherein an outer connecting disc on the outer mounting frame is mutually attached to an inner connecting disc on the inner mounting frame and can rotate relatively, a positioning mechanism is arranged between the outer mounting frame and the inner mounting frame and is a first positioning component or a second positioning component, the angle between the outer mounting frame and the inner mounting frame can be adjusted according to actual needs under the action of the first positioning component or the second positioning component, the outer mounting frame and the inner mounting frame are fixedly connected, the camera is easy to operate and convenient to use, the variable-angle mounting of the camera is realized, the occurrence of singular points of a robot is greatly reduced, and the camera has high use value.

Description

Novel mounting cage for robot shooting

Technical Field

The utility model relates to the technical field of mounting cages, in particular to a novel mounting cage for robot shooting.

Background

Film and television shooting is a process of recording objective things and movements thereof by using a camera, a lens and a film. Film and television shooting is based on the principle of persistence of vision, continuous motion is decomposed into a series of still pictures through an intermittent mechanism inside a camera, and then the series of still pictures are continuously presented through the operation of a projector, so that the illusion of motion is reproduced. When shooting video, the camera or the video camera is required to be installed through the mounting cage, then the mounting cage is installed on the mechanical arm of the shooting robot, and the position of the mounting cage is adjusted through the mechanical arm of the robot, so that the shooting angle of the video camera can be adjusted.

The traditional mounting cage structure is a metal frame structure and is used for connecting the mechanical arm and fixing a camera or a video camera. The bottom of the camera is fixedly connected with the bottom of the mounting cage by a screw. The camera can be assembled, disassembled and replaced at any time. The loading cage provides convenience for fixing the camera and replacing the camera.

After the existing mounting cage is provided with the camera, the camera can be installed at a fixed angle, the camera transformation angle is changed by all angles of all joints of the mechanical arm, and the mechanical arm needs to plan a movement route according to the on-site condition, so that the real-time performance and the randomness of the movement route are realized, the singular point of the robot is difficult to avoid by planning the route in the earlier stage, the probability that the robot enters the working state of the singular point is greatly increased, and the normal use of the mechanical arm is influenced. Where a singular point refers to a specific point in the robot workspace, caused by the inverse kinematics of the robot, which may cause the robot to lose one or more degrees of freedom (DoF). When the Tool Center Point (TCP) of the robot enters or approaches the singularity, the robot will stop moving or move in an unexpected manner. For example, when a 6 degree of freedom robot enters a singularity, one or more of its joints will work, essentially changing it to a 5 or less degree of freedom robot. The singular point is harmful in that the robot can deviate from a stable running state, and unexpected movement stop or abnormal movement can occur.

In practical shooting application, the camera is difficult to conveniently change various angles to shoot after reaching a certain angle due to the limitation of each joint of the mechanical arm, so that some creative film and television shooting angles are difficult to realize. For example, the front view shooting and the nodding of the camera are switched, the angles can be changed only by means of each shaft of the mechanical arm, when the terminal motor of the robot rotates 90 degrees to finish the nodding angle of the camera, the angle of the terminal motor can not be changed any more, and the position of the terminal motor can prevent other shafts from conveniently changing shooting angles. Singular points most often occur at joints at integer angles of 0 degrees and 90 degrees. The traditional mounting cage has the mounting angle which accords with the integer angle of 0 degree and 90 degrees, so that the robot singular point state is easier to meet.

In view of this, the present utility model proposes a new type of mounting cage for robot photography.

Disclosure of utility model

The utility model provides a novel mounting cage for robot shooting, which solves the problems that the mounting cage can only be installed at a fixed angle, the probability of the robot entering a singular point working state is greatly increased, and the normal use of a mechanical arm is influenced in the prior art.

The technical scheme of the utility model is as follows: a novel mounting cage for robot shooting, comprising: the camera is detachably mounted between the outer mounting frame and the inner mounting frame, the outer mounting frame comprises a top plate, outer connecting discs are symmetrically arranged at two ends of the top plate, mounting grooves are formed in the top of the top plate, the inner mounting frame comprises a bottom plate, inner connecting discs are symmetrically arranged at two ends of the bottom plate, the inner connecting discs are mutually attached to the outer connecting discs, and the bottom of the camera is detachably fixed on the bottom plate;

The positioning mechanism is arranged between the outer mounting frame and the inner mounting frame, and is a first positioning assembly or a second positioning assembly and used for locking and connecting the positions of the relative included angles between the outer connecting disc and the inner connecting disc.

Preferably, the first positioning component comprises a limiting chute arranged at the bottom of the top plate, fixing blocks are symmetrically fixed at two ends of the limiting chute, a locking component is arranged between the two fixing blocks, and the locking component is arranged between the inner connecting plate and the top plate and used for limiting the space between the top plate and the inner connecting plate.

Preferably, the locking part comprises two T-shaped sliding plates arranged between the two fixed blocks, the cross section of the limiting sliding groove is T-shaped, the T-shaped sliding plates are in sliding fit with the limiting sliding groove, two inserting rods are fixed on the outer walls of one ends of the two T-shaped sliding plates, which are far away from each other, and the inserting rods are vertically arranged between the inserting rods and the T-shaped sliding plates.

Preferably, the outer connection disc and the inner connection disc which are mutually attached are rotationally connected through a rotating shaft, a plurality of jacks matched with the inserting rods are penetratingly arranged on the outer wall of the outer connection disc, a plurality of jacks are all positioned on the outer connection disc outside the rotating shaft and are annularly arranged on the outer connection disc, and the inserting rods can be released to slidably penetrate the inner connection disc and extend to the inside of the jacks.

Preferably, the locking component further comprises a shaft rod fixedly connected between the two fixing blocks, the shaft rod penetrates through the inside of the two T-shaped sliding plates and is in sliding connection with the two T-shaped sliding plates, return springs are fixedly connected between the fixing blocks at adjacent positions and the T-shaped sliding plates and between the two T-shaped sliding plates, and the return springs are sleeved on the outer sides of the shaft rod.

Preferably, the second positioning assembly comprises a plurality of threaded holes penetrating through the inner part of the inner connecting disc, one of the threaded holes is formed in the center of the inner connecting disc, and the other threaded holes are annularly arrayed outside the threaded holes in the center of the inner connecting disc.

Preferably, the second positioning assembly further comprises an arc-shaped guide groove penetrating through the outer wall of the outer connecting disc, the three arc-shaped guide grooves are annularly arranged on the outer connecting disc, and fastening bolts matched with the threaded holes are arranged at the centers of the three arc-shaped guide grooves and the outer connecting disc.

Preferably, the inner mounting frame further comprises a slideway penetrating through the bottom plate, a mounting bolt is slidably arranged on the inner side of the slideway, and a bolt hole matched with the camera is formed in the bottom of the camera.

The working principle and the beneficial effects of the utility model are as follows:

According to the utility model, the outer mounting frame and the inner mounting frame are arranged, wherein the outer connecting disc on the outer mounting frame and the inner connecting disc on the inner mounting frame can rotate relatively, the positioning mechanism is arranged between the outer mounting frame and the inner mounting frame, and is a first positioning component or a second positioning component, and under the action of the first positioning component or the second positioning component, the angle between the outer mounting frame and the inner mounting frame can be adjusted according to actual needs, and after the angle is adjusted to a proper included angle, the outer mounting frame and the inner mounting frame are connected and fixed, so that the operation is simple and convenient, the variable angle mounting of a camera is realized, the occurrence of singular points of a robot is greatly reduced, and the camera has high use value.

Drawings

The utility model will be described in further detail with reference to the drawings and the detailed description.

Fig. 1 is a schematic perspective view of a novel mounting cage for robot shooting according to an embodiment;

fig. 2 is a schematic view of a bottom structure of a novel mounting cage for robot shooting according to an embodiment;

FIG. 3 is a schematic structural diagram of a first positioning mechanism according to a first embodiment;

Fig. 4 is a schematic perspective view of a novel mounting cage for robot shooting according to a second embodiment;

Fig. 5 is a schematic structural diagram of a second positioning mechanism according to a second embodiment;

In the figure: 1. an outer mounting frame; 11. a top plate; 12. an outer connection pad; 13. a mounting groove; 2. a first positioning assembly; 21. limiting sliding grooves; 22. a locking member; 221. a rod; 222. a T-shaped sliding plate; 223. a shaft lever; 224. a return spring; 23. a fixed block; 24. a jack; 25. a rotating shaft; 3. an inner mounting frame; 31. an inner connection plate; 32. a bottom plate; 33. a slideway; 4. a camera; 5. installing a bolt; 6. a second positioning assembly; 61. a threaded hole; 62. a fastening bolt; 63. arc guide slot.

Detailed Description

The technical solutions of the embodiments of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

Referring to fig. 1, 2 and 3, the present embodiment provides a technical solution: a novel mount cage for robot is shot, including outer mounting frame 1 and interior mounting frame 3, camera 4 demountable installation is between outer mounting frame 1 and interior mounting frame 3, outer mounting frame 1 includes roof 11, is provided with outer connection pad 12 at roof 11 both ends symmetry, has seted up mounting groove 13 at roof 11 top, conveniently installs the mount cage on the arm of outside shooting robot, interior mounting frame 3 includes bottom plate 32, is provided with interior connection pad 31 at bottom plate 32 both ends symmetry, interior connection pad 31 laminates each other with outer connection pad 12, camera 4 bottom demountable fixation in on the bottom plate 32. The inner mounting frame 3 further comprises a slide way 33 penetrating through the bottom plate 32, a mounting bolt 5 is slidably arranged on the inner side of the slide way 33, and a bolt hole matched with the mounting bolt 5 is formed in the bottom of the camera 4. By screwing the mounting bolt 5 into the bolt hole formed in the bottom of the camera 4, the nut on the mounting bolt 5 presses and compresses the bottom plate 32 positioned at the slide way 33, so that the preliminary installation of the camera 4 is completed. The outer connection pads 12 may be integrally formed at both ends of the top plate 11, and the outer connection pads 12 may be fixedly connected to both ends of the top plate 11 by other fixing means. Similarly, the inner connecting plate 31 may be integrally formed at both ends of the bottom plate 32, and the inner connecting plate 31 may be fixed at both ends of the bottom plate 32 by other fixing means.

A positioning mechanism is arranged between the outer mounting frame 1 and the inner mounting frame 3, the positioning mechanism is a first positioning component 2, wherein the first positioning component 2 comprises a limiting chute 21 arranged at the bottom of the top plate 11, fixing blocks 23 are symmetrically fixed at two ends of the limiting chute 21, a locking part 22 is arranged between the two fixing blocks 23, and the locking part 22 is arranged between the inner connecting plate 31 and the top plate 11 and used for limiting the space between the top plate 11 and the inner connecting plate 31. The locking component 22 comprises two T-shaped sliding plates 222 arranged between the two fixing blocks 23, the cross section of the limiting sliding groove 21 is of a T shape, the T-shaped sliding plates 222 are in sliding fit with the limiting sliding groove 21, inserting rods 221 are fixed on the outer walls of the ends, away from each other, of the two T-shaped sliding plates 222, and the inserting rods 221 and the T-shaped sliding plates 222 are vertically arranged. The outer connecting disc 12 and the inner connecting disc 31 which are mutually attached are connected in a rotating way through the rotating shaft 25, a plurality of jacks 24 matched with the inserting rods 221 are arranged on the outer wall of the outer connecting disc 12 in a penetrating way, the jacks 24 are all positioned on the outer side of the rotating shaft 25 and are annularly arranged on the outer connecting disc 12, and the inserting rods 221 can be detachably and slidably penetrated through the inner connecting disc 31 and extend into the jacks 24. The locking component 22 further comprises a shaft lever 223 fixedly connected between the two fixed blocks 23, the shaft lever 223 penetrates through the inside of the two T-shaped sliding plates 222 and is in sliding connection with the two T-shaped sliding plates, return springs 224 are fixedly connected between the fixed blocks 23 and the T-shaped sliding plates 222 at adjacent positions and between the two T-shaped sliding plates 222, and the return springs 224 are sleeved outside the shaft lever 223.

The working principle and the use flow of the embodiment are as follows: according to the actual working requirement, the installation angle between the outer installation frame 1 and the inner installation frame 3 is adjusted, when the adjustment is carried out, the two T-shaped sliding plates 222 are mutually extruded, the two T-shaped sliding plates 222 slide inside the limiting sliding groove 21 and are mutually close, the reset springs 224 positioned at the middle position are compressed, the reset springs 224 positioned at the two sides are stretched, the two inserting rods 221 are driven to be mutually close, the inserting rods 221 are pulled out of the inserting holes 24, at the moment, the outer connecting disc 12 and the inner connecting disc 31 can relatively rotate through the rotating shaft 25, the installation angle between the outer installation frame 1 and the inner installation frame 3 can be adjusted, after the adjustment is finished, the two T-shaped sliding plates 222 are loosened, the two T-shaped sliding plates 222 drive the two inserting rods 221 to be mutually far away under the action of the reset springs 224, the inserting rods 221 are re-inserted into the inserting holes 24, the outer connecting disc 12 and the inner connecting disc 31 are locked in position, and therefore connection fixing between the outer installation frame 1 and the inner installation frame 3 is finished. The operation is simple and convenient, can carry out the position locking and relax between outer connection pad 12 and the interior connection pad 31 fast, can realize the changeable angle installation of camera, the emergence of the robot singular point that significantly reduces.

Example two

Referring to fig. 4 and 5, a novel mounting cage for robot shooting includes an outer mounting frame 1, an inner mounting frame 3, and a camera 4 mounted between the outer mounting frame 1 and the inner mounting frame 3, wherein the outer mounting frame 1 includes a top plate 11, outer connection plates 12 are symmetrically fixed at two ends of the top plate 11, mounting grooves 13 are formed in the top of the top plate 11, the inner mounting frame 3 includes a bottom plate 32, inner connection plates 31 are symmetrically fixed at two ends of the bottom plate 32, and the inner connection plates 31 are mutually attached to the outer connection plates 12. A positioning mechanism is arranged between the outer mounting frame 1 and the inner mounting frame 3, and the positioning mechanism is a second positioning component 6 and is used for locking the relative position between the outer connecting disc 12 and the inner connecting disc 31.

The second positioning component 6 includes a plurality of threaded holes 61 penetrating through the inner portion of the inner connecting plate 31, one of the threaded holes 61 is formed at the center of the inner connecting plate 31, and the remaining threaded holes 61 are annularly arranged outside the threaded holes 61 at the center of the inner connecting plate 31. The second positioning assembly 6 further comprises arc-shaped guide grooves 63 penetrating through the outer wall of the outer connecting disc 12, the three arc-shaped guide grooves 63 are annularly arranged on the outer connecting disc 12, and fastening bolts 62 matched with the threaded holes 61 are arranged at the centers of the three arc-shaped guide grooves 63 and the outer connecting disc 12.

The working principle and the use flow of the embodiment are as follows: according to the actual working requirement, the mounting angle between the outer mounting frame 1 and the inner mounting frame 3 is adjusted, when the outer mounting frame is adjusted, firstly, the outer connecting disc 12 and the inner connecting disc 31 are mutually attached, the fastening bolts 62 at the center of the outer connecting disc 12 are screwed into the threaded holes 61 at the center of the inner connecting disc 31, then, the other three fastening bolts 62 penetrate through the arc-shaped guide grooves 63 and are screwed into the threaded holes 61 distributed in an annular shape, and in order to ensure better stability when the outer connecting disc 12 is connected with the inner connecting disc 31, the three fastening bolts 62 are distributed in an annular array, namely, the three fastening bolts 62 are positioned at three vertexes of an equilateral triangle. It is to be noted that, before the adjustment of the mounting angle between the outer mounting frame 1 and the inner mounting frame 3 is not completed, the fastening bolt 62 is used as an axis to perform rotational adjustment with respect to the inner joint plate 31, and at this time, the arc-shaped guide groove 63 slides on the outer wall of the fastening bolt 62 to perform constraint guiding of the rotation of the outer joint plate 12. After the mounting angle between the outer mounting frame 1 and the inner mounting frame 3 is adjusted, the tightening bolts 62 are continued to be screwed, and the outer connection disc 12 and the inner connection disc 31 are tightened and fixed by the tightening bolts 62, so that the connection and fixation between the outer mounting frame 1 and the inner mounting frame 3 are completed. Under the effect of second locating component 6, through being three fastening bolts 62 that triangle-shaped distributes, can carry out stable connection fixedly between external connection pad 12 and the interior connection pad 31, avoid taking place not hard up rotation between external connection pad 12 and the interior connection pad 31 when shooing, can realize the changeable angle stable installation of camera, reduce the emergence of robot singular point, have very high use value.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims (8)

1. A novel mounting cage for robot shooting, comprising: the camera comprises an outer mounting frame (1) and an inner mounting frame (3), wherein a camera (4) is detachably mounted between the outer mounting frame (1) and the inner mounting frame (3), the camera is characterized in that the outer mounting frame (1) comprises a top plate (11), outer connecting discs (12) are symmetrically arranged at two ends of the top plate (11), mounting grooves (13) are formed in the top of the top plate (11), the inner mounting frame (3) comprises a bottom plate (32), inner connecting discs (31) are symmetrically arranged at two ends of the bottom plate (32), the inner connecting discs (31) are mutually attached to the outer connecting discs (12), and the bottom of the camera (4) is detachably fixed on the bottom plate (32);

A positioning mechanism is arranged between the outer mounting frame (1) and the inner mounting frame (3), and the positioning mechanism is a first positioning component (2) or a second positioning component (6) and is used for locking and connecting the relative included angle position between the outer connecting disc (12) and the inner connecting disc (31).

2. The novel mounting cage for robot shooting according to claim 1, wherein the first positioning assembly (2) comprises a limiting chute (21) formed in the bottom of the top plate (11), fixing blocks (23) are symmetrically fixed at two ends of the limiting chute (21), a locking part (22) is arranged between the two fixing blocks (23), and the locking part (22) is arranged between the inner connecting plate (31) and the top plate (11) and used for limiting the space between the top plate (11) and the inner connecting plate (31).

3. The novel mounting cage for robot shooting according to claim 2, wherein the locking component (22) comprises two T-shaped sliding plates (222) arranged between the two fixing blocks (23), the cross section of the limiting sliding groove (21) is of a T shape, the T-shaped sliding plates (222) are in sliding fit with the limiting sliding groove (21), inserting rods (221) are fixed on the outer walls of one ends, far away from each other, of the two T-shaped sliding plates (222), and the inserting rods (221) are vertically arranged between the T-shaped sliding plates (222).

4. A novel mounting cage for robot shooting according to claim 3, characterized in that the outer connecting disc (12) and the inner connecting disc (31) which are mutually attached are rotationally connected through a rotating shaft (25), a plurality of jacks (24) matched with the inserting rods (221) are penetratingly arranged on the outer wall of the outer connecting disc (12), a plurality of the jacks (24) are all positioned on the outer side of the rotating shaft (25) and are annularly arranged on the outer connecting disc (12), and the inserting rods (221) can be detachably and slidably penetrated through the inner connecting disc (31) and extend into the jacks (24).

5. The novel mounting cage for robot shooting according to claim 4, wherein the locking component (22) further comprises a shaft rod (223) fixedly connected between the two fixing blocks (23), the shaft rod (223) penetrates through the two T-shaped sliding plates (222) and is in sliding connection with the two T-shaped sliding plates, a reset spring (224) is fixedly connected between the fixing blocks (23) at adjacent positions and the T-shaped sliding plates (222) and between the two T-shaped sliding plates (222), and the reset spring (224) is sleeved outside the shaft rod (223).

6. A novel mounting cage for robot shooting according to claim 1, characterized in that the second positioning assembly (6) comprises a plurality of threaded holes (61) penetrating through the inner part of the inner connecting disc (31), one threaded hole (61) being formed in the center of the inner connecting disc (31), and the remaining threaded holes (61) being arranged in an annular array outside the threaded holes (61) formed in the center of the inner connecting disc (31).

7. The novel mounting cage for robot shooting according to claim 6, wherein the second positioning assembly (6) further comprises three arc-shaped guide grooves (63) penetrating through the outer wall of the outer connecting disc (12), the three arc-shaped guide grooves (63) are annularly arranged on the outer connecting disc (12), and a fastening bolt (62) matched with the threaded hole (61) is arranged at the center of each of the three arc-shaped guide grooves (63) and the center of the outer connecting disc (12).

8. The novel mounting cage for robot shooting according to claim 1, wherein the inner mounting frame (3) further comprises a slide way (33) penetrating through the bottom plate (32), the inner side of the slide way (33) is slidably provided with a mounting bolt (5), and a bolt hole matched with the camera (4) is formed in the bottom of the camera (4).