CN211475394U - Leveling mechanism and vision imaging system - Google Patents
Leveling mechanism and vision imaging system Download PDFInfo
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- CN211475394U CN211475394U CN202020024388.XU CN202020024388U CN211475394U CN 211475394 U CN211475394 U CN 211475394U CN 202020024388 U CN202020024388 U CN 202020024388U CN 211475394 U CN211475394 U CN 211475394U
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Abstract
An embodiment of the utility model provides a leveling mechanism, leveling mechanism include bottom plate, mounting platform, at least three cylinder, a plurality of ear seat, biax tilt angle sensor and control module. The mounting platform is arranged opposite to the bottom plate, and the air cylinder is arranged on the bottom plate. The ear seats are connected to the mounting platform, and the piston of each cylinder is rotatably connected to one of the ear seats. The double-shaft inclination angle sensor is arranged on the mounting platform and can be used for detecting the inclination angle of the mounting platform. The control module is electrically connected with the double-shaft tilt angle sensor and the air cylinder. The installation platform is provided with the double-shaft inclination angle sensor, and the cylinder telescopic part is utilized, so that the installation platform can be leveled in real time. And the control module is adopted to control the air cylinder, so that the dynamic response is improved, and the automatic control is realized. Simultaneously the embodiment of the utility model provides a still provide a vision imaging system, vision imaging system includes leveling mechanism and sets up in mounting platform's image module.
Description
Technical Field
The utility model relates to a platform dynamic leveling technical field particularly, relates to a leveling mechanism and vision imaging system.
Background
In modern society, a platform with high flatness is often used, for example, in full physical simulation experiments such as space intersection docking, ground measurement, navigation, network communication and formation control, the whole ground simulator needs to be supported, so that a basic platform is provided for the ground simulation experiments. Besides, in many fields of automation equipment and even robots, it can be used as a cradle head of a vision equipment or other measuring device. However, some leveling mechanisms exist in the current market, most leveling mechanisms are manually or semi-automatically adjusted, the dynamic response frequency is low, and the requirements of modern industry cannot be met.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a leveling mechanism and vision imaging system to solve above-mentioned problem. The embodiment of the utility model provides an above-mentioned purpose is realized through following technical scheme.
In a first aspect, an embodiment of the present invention provides a leveling mechanism, which includes a bottom plate, a mounting platform, at least three cylinders, a plurality of ear seats, a dual-axis tilt sensor and a control module. The mounting platform is arranged opposite to the bottom plate, and the air cylinder is arranged on the bottom plate and comprises a piston. The ear seats are connected to the mounting platform, and the piston of each cylinder is rotatably connected to one of the ear seats. The double-shaft inclination angle sensor is arranged on the mounting platform and can be used for detecting the inclination angle of the mounting platform. The control module is electrically connected with the double-shaft tilt angle sensor and the air cylinder.
In one embodiment, the leveling mechanism further comprises a position sensor, the position sensor is used for detecting the expansion amount of the piston, and the position sensor is electrically connected with the control module.
In one embodiment, the leveling mechanism comprises three groups of cylinders, and the telescopic axes of the three groups of cylinders are parallel to each other and are not coplanar.
In one embodiment, the mounting platform includes first and second opposing surfaces, the first surface facing the base plate, and the dual-axis tilt sensor is disposed on the first surface.
In one embodiment, the three groups of cylinders include a first cylinder, a second cylinder and a third cylinder, connecting lines between connecting points of the first cylinder, the second cylinder and the third cylinder and the mounting platform form an isosceles triangle, the distance between the connecting line of the first cylinder and the second cylinder is equal to the distance between the connecting line of the first cylinder and the third cylinder, one detection axis of the dual-axis tilt sensor is parallel to the connecting line of the first cylinder and the second cylinder, and the other detection axis of the dual-axis tilt sensor is perpendicular to the connecting line of the first cylinder and the second cylinder.
In one embodiment, the dual-axis tilt sensor is located between the second cylinder and the third cylinder.
In one embodiment, the cylinder includes a base rotatably connected to the base plate by a hook joint.
In one embodiment, the hooke joint comprises a base fixedly mounted to the base plate and a cross shaft including a first hinge shaft and a second hinge shaft connected to each other and perpendicular to each other, the first hinge shaft being rotatably mounted to the base, the second hinge shaft being rotatably mounted to the base.
In one embodiment, the extension direction of the first hinge shaft of the cross shaft connected with the first cylinder is parallel to the connecting line of the second cylinder and the third cylinder; the extending direction of a first hinge shaft of a cross shaft connected with the second cylinder is parallel to the connecting line from the first cylinder to the third cylinder; the extending direction of a first hinge shaft of the cross shaft connected with the third cylinder is parallel to the connecting line from the first cylinder to the second cylinder.
In a second aspect, a vision imaging system includes an image module and a leveling mechanism of any one of the above devices, wherein the image module is disposed on a surface of the mounting platform, the surface being away from the base plate.
The utility model provides a leveling mechanism and vision imaging system utilizes three at least groups cylinders as the driving piece, reaches the real-time leveling to mounting platform. At least three groups of cylinders are connected with the mounting platform and the bottom plate through a plurality of ear seats and hooke joints, leveling precision and leveling range are improved, and device miniaturization is achieved.
These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a leveling mechanism according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an air cylinder provided by an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a hooke joint according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a single-ear seat according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a binaural seat according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a vision imaging system according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding of the embodiments of the present invention, the embodiments of the present invention will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
At present, some leveling mechanisms exist in the market, most of the leveling mechanisms are manually adjusted or semi-automatically adjusted, and are basically large or heavy-duty platforms, the large or heavy-duty platforms are basically driven by threads or hydraulic pressure or electric power, and the large or heavy-duty platforms are poor in flexibility, low in dynamic response frequency, large in manual leveling difficulty, long in manual leveling time, poor in shock resistance, limited in miniaturization capability and poor in moving performance.
The inventor provides a leveling mechanism through long-term research, and the leveling mechanism is simple in structure, good in dynamic response and shock resistance and achieves miniaturization by using an air cylinder as a driving piece of the leveling mechanism.
Referring to fig. 1, an embodiment of the present invention provides a leveling mechanism 10, which includes a bottom plate 200, a mounting platform 100, at least three cylinders 300, a plurality of ear seats 600, a dual-axis tilt sensor 500, and a control module (not shown in the drawings). Wherein the cylinder 300 is installed on the base plate 200, the installation platform 100 is disposed opposite to the base plate 200, and the cylinder 300 is disposed between the installation platform 100 and the base plate 200. The dual-axis tilt sensor 500 is disposed on the mounting platform 100 and can transmit signals to and from the control module.
In some embodiments, as shown in fig. 1, the bottom plate 200 is a substantially rectangular plate-like structure, and the bottom plate 200 serves as a load-bearing part of the whole device, and can bear part or all of the weight of other devices integrated on the mounting platform 100 in addition to bearing the weight of the whole device. The bottom plate 200 is further provided with a mounting hole for mounting the cylinder 300.
In other embodiments, the bottom plate 200 may also be a plate-shaped structure with other shapes, such as a circle, a triangle, etc., so as to satisfy the bearing function and the function of installing the cylinder 300.
Referring to fig. 1, in some embodiments, at least three sets of cylinders 300 are disposed between the mounting platform 100 and the base plate 200, and the mounting platform 100 and the base plate 200 are connected to form a whole capable of generating relative motion, so as to support and adjust the mounting platform 100, and the cylinders 300 are used as driving members of the leveling mechanism 10, so as to have a certain shock resistance. In the present embodiment, as an example, the leveling mechanism 10 includes three sets of cylinders 300, and the telescopic axes of the three sets of cylinders 300 are parallel to each other and are not coplanar. That is, a triangle is formed between the connection points of the three groups of cylinders 300 and the mounting platform 100, which is beneficial to improving the stability of the leveling mechanism 10. Here, the connection point means: the intersection of the telescopic axis of the cylinder 300 and the mounting platform 100. It is understood that in other embodiments, the telescopic axes of the three sets of cylinders 300 may be parallel to each other and disposed in the same plane, that is, the telescopic axes of the three sets of cylinders 300 are located in the same plane, and the angle adjustment of the mounting platform can also be realized. In other embodiments, there may be four, five or even more sets of cylinders 300 to achieve the leveling and connecting functions of the mounting platform 100.
For convenience of illustration, the three sets of cylinders 300 include a first cylinder 310, a second cylinder 320, and a third cylinder 330, wherein connecting lines between connecting points of the first cylinder 310, the second cylinder 320, and the third cylinder 330 and the mounting platform 100 form a triangle, and a distance between the connecting lines of the first cylinder 310 and the second cylinder 320 is equal to a distance between the connecting lines of the first cylinder 310 and the third cylinder 330, so as to form an isosceles triangle with the first cylinder 310 as a vertex. The connecting line means: the line connecting the telescopic axis of the cylinder 300 and the mounting platform 100 or the base plate 200 at the intersection point. The first cylinder 310 being the top point means: the intersection of the telescopic axis of the first cylinder 310 with the mounting platform 100 or the base plate 200. Furthermore, the connecting line between the connecting points of the first cylinder 310, the second cylinder 320 and the third cylinder 330 on the platform 100 may also be an equilateral triangle.
In some embodiments, as shown in fig. 2, the cylinder 300 is substantially cylindrical in structure, the cylinder 300 having a piston 340 disposed toward the first surface 110, and a base 350 disposed toward the base plate 200. The piston 340 is used to connect with the mounting platform 100. The base 350 is connected to the base plate 200 by a hooke's hinge 400. Under the action of the air source, the piston 340 can realize linear reciprocating motion in the cylinder body of the air cylinder 300, and the mounting platform 100 is pushed to move through the linear reciprocating motion of the piston 340, so that the purpose of leveling the mounting platform 100 is realized.
Further, the leveling mechanism 10 may further include a solenoid valve (not shown), which is an automated base unit for controlling the fluid. The valve can be opened or closed, parameters such as the direction, flow rate and speed of a medium can be adjusted, and the gas source gas is controlled by using the electromagnetic valve, so that the movement direction of the piston 340 is controlled. In the present embodiment, the solenoid valve is used as a basic element for controlling the gas parameters provided by the gas source, and can selectively introduce or discharge gas into or out of the cylinder body of the cylinder 300, and control the speed, flow rate, etc. of the introduced or discharged gas.
Referring to fig. 1 and 3, in the present embodiment, the cylinder 300 is mounted on the base plate 200 through a hooke joint 400. The hooke's joint 400 includes a base 420 and a cross-shaft 410, the base 420 being fixedly mounted to the base plate 200. The cross 410 includes a first hinge shaft 411 and a second hinge shaft 412 which are connected to each other and perpendicular to each other, i.e., an extending direction of the first hinge shaft 411 and an extending direction of the second hinge shaft 412 are perpendicular to each other. The first hinge shaft 411 is rotatably installed on the base 420, and the second hinge shaft 412 is rotatably installed on the base 350, so that the base 350 can be rotated in a universal direction with respect to the base plate 200.
As an embodiment, in the present embodiment, the extending direction of the first hinge shaft 411 of the cross shaft 410 connected to the first cylinder 310 is parallel to the line connecting the second cylinder 320 to the third cylinder 330; the extension direction of the first hinge shaft 411 of the cross shaft 410 connected to the second cylinder 320 is parallel to the line connecting the first cylinder 310 to the third cylinder 330; the extending direction of the first hinge shaft 411 of the cross shaft 410 of the third cylinder 330 is parallel to the line connecting the first cylinder 310 to the second cylinder 320. That is, the extending direction of each cross 410 is parallel to a line between the other two cylinders 300 except the cylinder 300 where the cross 410 is located. Thus, the extending directions of the rotation shafts of the three first hinge shafts 411 intersect to form an isosceles triangle. This has the advantage that the base 350 rotates relative to the base plate 200 when the cylinder 300 is telescopically moved, and the base 350 only needs to rotate around the first hinge shaft 411, which is structurally more stable.
The cross shaft 410 of the hook joint 400 is matched with the two isosceles triangles, so that on one hand, the cross shaft 410 comprises two hinge shafts which are perpendicular to each other, the freedom degree of the cylinder 300 connected with the hook joint 400 is greatly improved, the leveling mechanism 10 has a larger leveling range, and the capability of better adapting to different external conditions and higher leveling precision are realized; on the other hand, the isosceles triangle can improve the stability of the device, and the leveling mechanism 10 is adjusted by three sets of cylinders 300, so that the platform has better shock resistance.
It is understood that in some other embodiments, the connecting lines between the first cylinder 310, the second cylinder 320, and the third cylinder 330 and the connecting points of the mounting platform 100 may also be in other forms such as right triangles, which are sufficient for supporting and leveling the mounting platform.
Referring again to fig. 1, in some embodiments, ear mount 600 includes a monaural joint 610 and a binaural mount 620. In the present embodiment, as an example, a single lug joint 610 is fastened to the piston 340 of each cylinder 300, each single lug joint 610 is connected to a double lug seat 620, the double lug seat 620 is connected to the mounting platform 100, and a certain rotatable range is provided between the double lug seat 620 and the mounting platform 100. The three cylinder sets 300 are fixedly connected to the single lug joint 610, and the single lug joint 610 is connected to the double lug seat 620 so that a certain rotation range is provided between the three cylinder sets 300 and the mounting platform 100.
Referring to fig. 4, the single lug connector 610 includes a threaded end 612 and a single lug end 611, and the threaded end 612 is provided with an external thread, and is in threaded connection with the piston 340 through the external thread. The single lug end 611 is provided with a mounting hole for forming a rotatable connection with the double lug seat 620.
Referring to fig. 5, the dual-lug seat 620 includes a threaded base 622 and a third hinge 621, and the threaded base 622 is screwed to the mounting platform 100. The third hinge shaft 621 is rotatably coupled to the mounting hole of the one-ear end 611. In the present embodiment, as an example, the extension line of the third hinge 621 of the binaural seat 620 is parallel to the first hinge 411 of the hooke hinge 400 of the same cylinder 300 connected to the binaural seat 620, so that the intersection point of the extension lines of the three third hinge 621 also forms an isosceles triangle.
The air cylinder 300 is connected between the bottom plate 200 and the mounting platform 100 through the hooke joint 400, the single-lug joint 610 and the double-lug seat 620, on one hand, the structure of the whole leveling mechanism 10 is simpler, the air cylinder 300 can be mounted between the bottom plate 200 with a smaller surface area and the mounting platform 100, the whole device is controlled in a smaller size range, and the miniaturization of the leveling mechanism 10 is realized; on the other hand, the hooke joint 400 is connected with the bottom plate 200, and the double lug seats 620 are connected with the mounting platform 100, so that the air cylinder 300 has more degrees of freedom, and has a wider leveling range for the mounting platform 100, and the quick response in the leveling process and the stability of the mounting platform 100 after leveling are improved.
Referring again to fig. 1, in some embodiments, the mounting platform 100 is substantially a rectangular plate-shaped structure and is disposed opposite to the bottom plate 200. The mounting platform 100 is provided with mounting holes for mounting the dual-axis tilt sensor 500 and the connecting cylinder 300. The mounting platform 100 includes a first surface 110 and a second surface 120 opposite to each other, the first surface 110 is disposed toward the base plate 200, and the dual-axis tilt sensor 500 is mounted to the first surface 110. The second surface 120 may be used for mounting other components, such as in some embodiments, an image module, and may also integrate a number of automation devices, outdoor mobile robots, and other measuring devices that may be in a horizontal position when needed on the second surface 120.
In other embodiments, the mounting platform 100 may have other shapes such as a circle, a triangle, etc., which satisfy the requirements of sufficient strength, rigidity, and the ability to mount the upper cylinder 300 and the dual-axis tilt sensor 500. In other embodiments, the mounting platform 100 may not be provided with a mounting hole, and at this time, the mounting platform 100 may be connected by other methods such as welding, so as to satisfy the rigidity and strength of the connection.
The base plate 200 is disposed opposite to the mounting platform 100, and when the leveling mechanism 10 works, the mounting platform 100 and the base plate 200 are relatively moved by three sets of cylinders 300 connected between the mounting platform 100 and the base plate 200, so that the mounting platform 100 is located at a predetermined position, thereby achieving the leveling purpose.
Referring again to fig. 1, in some embodiments, the dual-axis tilt sensor 500 is mounted on the first surface 110 and between the second cylinder 320 and the third cylinder 330. The dual-axis tilt sensor 500 is an instrument for measuring horizontal angle variation, and compared with a common single-axis tilt sensor, the dual-axis tilt sensor 500 includes two detection axes perpendicular to each other, and can measure angles in two directions perpendicular to each other. In the present embodiment, as an example, one detection axis of the dual-axis tilt sensor 500 is parallel to a line connecting the first cylinder 310 to the second cylinder 320, and the other detection axis is perpendicular to a line connecting the first cylinder 310 to the second cylinder 320. This makes the two detection axes of the dual-axis tilt sensor 500 perpendicular to each other. By mounting the dual-axis tilt sensor 500 on the mounting platform 100 and disposing the two axes of the dual-axis tilt sensor 500 perpendicular to each other, the dual-axis tilt sensor 500 can always detect the tilt angle of the mounting platform 100 regardless of the direction in which the real-time spatial position of the mounting platform 100 is tilted.
In other embodiments, one detection axis of the dual-axis tilt sensor 500 may be on the connecting line of the second cylinder 320 and the third cylinder 330, while the other detection axis is perpendicular to the connecting line of the second cylinder 320 and the third cylinder 330, or one detection axis of the dual-axis tilt sensor 500 may be on the connecting line of the first cylinder 310 and the third cylinder 330, while the other detection axis is perpendicular to the connecting line of the first cylinder 310 and the third cylinder 330. When the dual-axis tilt sensor is installed, two detection axes of the dual-axis tilt sensor 500 are perpendicular to each other.
Further, referring to fig. 1 again, the leveling mechanism may further include a position sensor 700, and the position sensor 700 is disposed on the piston 310. The position sensor 700 can sense the position of the object to be measured and convert the position into a sensor capable of outputting a signal, when the leveling mechanism 10 is operated, the air cylinder 300 is under the action of the air source, the piston 340 extends or retracts, and the position sensor 700 can detect the extending or retracting stroke of the piston 340 and convert the stroke into an electric signal. In this embodiment, the position sensor 700 may be a grating scale as an example, and the signal output by the measurement is a digital pulse, which has the characteristics of a large detection range, high detection precision, and a fast response speed. In some other embodiments, the position sensor 700 may be another sensor for detecting linear displacement, such as a hall sensor, and may satisfy the requirements of good dynamic response and high detection accuracy.
Referring to fig. 1, the leveling mechanism 10 further includes a control module electrically connected to the dual-axis tilt sensor 500, the cylinder 300, and the position sensor 700 to transmit signals and/or control commands. The control module may include a data processor and a controller, the data processor may receive and process data collected by the dual-axis tilt sensor 500 and the position sensor 700, the processed data may be sent to the controller, and the controller may receive and send control instructions to the air cylinder 300, so as to control the extension or retraction of the piston 340.
To sum up, for the sake of convenience, referring to fig. 1 again, when the leveling mechanism 10 is not in operation, the mounting platform 100 is supported on the base plate 200 by three sets of cylinders 300. A connecting line between the intersections of the three groups of air cylinders 300 and the base plate 200 forms an isosceles triangle, an extension line connecting the three groups of air cylinders 300 and the first hinge shaft 411 of the base plate 200 forms an isosceles triangle, and an extension line connecting the three groups of air cylinders 300 and the third hinge shaft 621 of the mounting platform 100 forms an isosceles triangle. When external conditions change, the double-shaft inclination angle sensor 500 detects the inclination angle between the mounting platform 100 and the horizontal plane in real time, the extending or retracting amount of the air cylinder 300 is controlled by using the position sensor 700 and the control module, due to the action of a plurality of isosceles triangles, the pitching and overturning leveling of the mounting platform 10 can be realized by adjusting only one or two air cylinders, and the reduction of the number of the adjusted air cylinders is beneficial to energy conservation. For example, when the mounting platform 100 is tilted in a direction perpendicular to any one of the first hinge shafts 411, a pitch tilt angle is formed between the mounting platform 100 and the horizontal plane, and at this time, the leveling can be achieved by adjusting the extension or retraction of the cylinder 300 perpendicular to the tilt direction to eliminate the pitch tilt angle. For another example, when the installation platform 100 rolls over, taking the first cylinder 310 as an example, the first cylinder 310 is kept stationary, and the inclination angle generated by the rolling over is eliminated by adjusting the second cylinder 320 and the third cylinder 330, so as to achieve leveling.
After the initial leveling, the dual-axis tilt sensor 500 will detect again whether the mounting platform 100 has a tilt angle with the horizontal plane, if yes, the previous process is continuously executed, and the loop is repeated, so as to form a closed-loop control, the loop is dynamic and real-time, and the loop frequency is settable, so that the mounting platform 100 is adjusted to be in a horizontal state in real time.
The leveling control of the leveling mechanism 10 is formed into a closed-loop control by the double-shaft tilt angle sensor 500, the position sensor 700 and the control module, so that the dynamic response frequency of the leveling mechanism 10 is improved, and the leveling precision of the leveling mechanism 10 is improved and full-automatic leveling is realized due to higher precision of the closed-loop control. On the other hand, the air cylinder 300 is connected between the base plate 200 and the mounting platform 100 by the plurality of ear seats 600 and the hooke joint 400, so that the structure of the device is simplified, and the leveling mechanism 10 is miniaturized.
Referring to fig. 6, the present embodiment further provides a vision imaging system 1, which includes an image module 11 and the leveling mechanism 10 as described above, wherein the image module 11 is disposed on a surface of the mounting platform 100 away from the bottom plate 200.
In some embodiments, the image module 11 may be a camera, and the camera is disposed on the mounting platform 100. The vision imaging system 1 can be integrated in an outdoor mobile robot and used as a robot vision system to provide vision guarantee for the motion of the robot.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A leveling mechanism, comprising:
a base plate;
the mounting platform is arranged opposite to the bottom plate;
at least three cylinders, the cylinders being disposed on the base plate, the cylinders including pistons;
a plurality of ear mounts connected to the mounting platform, the piston of each cylinder being rotatably connected to one of the ear mounts;
the double-shaft tilt angle sensor is arranged on the mounting platform and used for detecting the tilt angle of the mounting platform; and
and the control module is electrically connected with the double-shaft tilt angle sensor and the air cylinder.
2. The leveling mechanism of claim 1, further comprising a position sensor for detecting the amount of extension and retraction of the piston, the position sensor being electrically connected to the control module.
3. The leveling mechanism of claim 1, wherein the leveling mechanism comprises three sets of cylinders, and telescopic axes of the three sets of cylinders are parallel to each other and are not coplanar.
4. The leveling mechanism of claim 3, wherein the mounting platform comprises first and second opposing surfaces, the first surface facing the base plate, the dual-axis tilt sensor disposed on the first surface.
5. The leveling mechanism according to claim 4, wherein three groups of cylinders comprise a first cylinder, a second cylinder and a third cylinder, connecting lines between connecting points of the first cylinder, the second cylinder and the third cylinder and the mounting platform form an isosceles triangle, a connecting line distance from the first cylinder to the second cylinder is equal to a connecting line distance from the first cylinder to the third cylinder, one detection axis of the dual-axis tilt angle sensor is parallel to a connecting line from the first cylinder to the second cylinder, and the other detection axis of the dual-axis tilt angle sensor is perpendicular to a connecting line between the first cylinder and the second cylinder.
6. The leveling mechanism of claim 5, wherein the dual-axis tilt sensor is located between the second cylinder and the third cylinder.
7. The leveling mechanism of claim 5, wherein the cylinder includes a base rotatably connected to the base plate by a hooke joint.
8. The leveling mechanism as recited in claim 7, wherein the hooke joint comprises a base and a cross shaft, the base is fixedly mounted to the base plate, the cross shaft comprises a first hinge shaft and a second hinge shaft that are connected to each other and perpendicular to each other, the first hinge shaft is rotatably mounted to the base, and the second hinge shaft is rotatably mounted to the base.
9. The leveling mechanism according to claim 8, wherein the first hinge shaft of the cross connected to the first cylinder extends in a direction parallel to a line connecting the second cylinder to the third cylinder; the extending direction of the first hinge shaft of the cross shaft connected with the second cylinder is parallel to the connecting line from the first cylinder to the third cylinder; the extending direction of the first hinge shaft of the cross shaft connected with the third cylinder is parallel to the connecting line from the first cylinder to the second cylinder.
10. A visual imaging system comprising an image module and the leveling mechanism of any one of claims 1-9, wherein the image module is disposed on a surface of the mounting platform remote from the base plate.
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| CN202020024388.XU CN211475394U (en) | 2020-01-06 | 2020-01-06 | Leveling mechanism and vision imaging system |
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| CN202020024388.XU CN211475394U (en) | 2020-01-06 | 2020-01-06 | Leveling mechanism and vision imaging system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112325111A (en) * | 2020-11-26 | 2021-02-05 | 江西理工大学南昌校区 | Assembled automatic leveling device and leveling method |
| CN114148742A (en) * | 2021-12-10 | 2022-03-08 | 安徽苍井精密机械有限公司 | Heavy-load battery pack carrying truss |
| CN114935067A (en) * | 2022-05-11 | 2022-08-23 | 国网江苏省电力有限公司泰州供电分公司 | Device for adjusting inclination of power equipment |
| CN116260923A (en) * | 2022-06-02 | 2023-06-13 | 武汉鑫岳光电科技有限公司 | Infrared night vision device |
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2020
- 2020-01-06 CN CN202020024388.XU patent/CN211475394U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112325111A (en) * | 2020-11-26 | 2021-02-05 | 江西理工大学南昌校区 | Assembled automatic leveling device and leveling method |
| CN112325111B (en) * | 2020-11-26 | 2022-04-01 | 江西理工大学南昌校区 | Assembled automatic leveling device and leveling method |
| CN114148742A (en) * | 2021-12-10 | 2022-03-08 | 安徽苍井精密机械有限公司 | Heavy-load battery pack carrying truss |
| CN114148742B (en) * | 2021-12-10 | 2024-06-07 | 安徽苍井精密机械有限公司 | Heavy-duty battery pack carrying truss |
| CN114935067A (en) * | 2022-05-11 | 2022-08-23 | 国网江苏省电力有限公司泰州供电分公司 | Device for adjusting inclination of power equipment |
| CN116260923A (en) * | 2022-06-02 | 2023-06-13 | 武汉鑫岳光电科技有限公司 | Infrared night vision device |
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