CN105936048A - Operation mechanical arm of water surface environment monitoring cruising robot - Google Patents
Operation mechanical arm of water surface environment monitoring cruising robot Download PDFInfo
- Publication number
- CN105936048A CN105936048A CN201610470863.4A CN201610470863A CN105936048A CN 105936048 A CN105936048 A CN 105936048A CN 201610470863 A CN201610470863 A CN 201610470863A CN 105936048 A CN105936048 A CN 105936048A
- Authority
- CN
- China
- Prior art keywords
- presses
- seat
- platform
- rod
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 238000009434 installation Methods 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 6
- 229920005439 Perspex® Polymers 0.000 claims description 3
- 239000004926 polymethyl methacrylate Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 24
- 230000000694 effects Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000013519 translation Methods 0.000 description 5
- 230000014616 translation Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000002352 surface water Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an operation mechanical arm of a water surface environment monitoring cruising robot. The operation mechanical arm comprises a lifting device, a Stewart parallel connection mechanism and a shooting device. The Stewart parallel connection mechanism is located between the lifting device and the shooting device. The lower end of the Stewart parallel connection mechanism is connected with the lifting device. The upper end of the Stewart parallel connection mechanism is connected with the shooting device. The operation mechanical arm has the orientation and angle regulation function, the camera fixing function and the shooting operation function, the function of conducting the water surface environment monitoring operation can be achieved in an unmanned automatic shooting manner, the intelligent degree is high, orientation and angle regulation is convenient and flexible, camera fixing is convenient and stable, and shooting is rapid and high in quality.
Description
Technical field
The present invention relates to waters field of work machines, a kind of aquatic environment monitoring cruise robot manipulator.
Background technology
Water environment refers to the formation of water in nature, be distributed and convert the environment in residing space, refers to around people's group space and can be straight
Connect or remote-effects human lives and the water body of development, the various natural causes of its normal function and relevant social factor overall；
Also referring to of having is metastable, the environment in space residing for natural water area with land as border, and at the earth's surface, coverage of water is about
Taking up an area the 71% of ball surface area, water is made up of ocean water and terrestrial water two part, respectively with the 97.28% and 2.72% of total Water.
Shared by the latter, sum-rate is the least, and the environment in residing space is sufficiently complex.Water environment is mainly by surface water environment and underground water ring
Border two parts composition, surface water environment includes river, lake, reservoir, ocean, pond, marsh, glacier etc., underground water ring
Border includes spring water, phreatic water, deep phreatic water etc., and water environment is one of fundamental of composing environment, is human society
The important place depended on for existence and development, is also by Human impact and to destroy the most serious field.
Water is the affluent resources that people depend on for existence, and people utilize water environment can carry out multiple affairs, such as Fishery cultivation,
Water transportation waterborne, water resource generating etc., the progressively increasing utilized water resource along with people, operation at sea therewith is also got over
Come the most, such as aquatic environment monitoring observation, water surface traffic cruise, waters shooting passback, water-quality observation, search and rescue waterborne rescue
Etc., the one side all be unableing to do without for above work at present shoots operation exactly, first water environment table body is carried out photo
Carrying out data and picture analysis after collection, finding out useful information, at present shooting operation waterborne mostly is the most hand-held
Camera shoots, but manually there is person risk in waters operation, also has and carries out unmanned plane on a small quantity and take photo by plane, but unmanned plane due to
Continuation of the journey problem can not large area long working, therefore suffer from limiting accordingly；In addition, the present many employings of shooting operation
Spider, but regulation orientation angles is limited, and very flexible when regulating, it is poor to stablize, due to motion carrier when causing shooting
Fluctuation cause shooting picture jitter big, the quality of impact shooting.In view of the above circumstances, the invention provides a kind of water surface ring
Border monitoring cruise robot manipulator.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of aquatic environment monitoring cruise robot manipulator.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of aquatic environment monitoring cruise robot manipulator, including lowering or hoisting gear, Stewart parallel institution and shooting dress
Put；Described Stewart parallel institution is between lowering or hoisting gear and filming apparatus, and Stewart parallel institution lower end and liter
Falling unit is connected, and Stewart parallel institution upper end is connected with filming apparatus.
As a further improvement on the present invention, described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；Described
Lifting push rod quantity be four, lifting push rod be positioned at lifting round platform below, and lifting push rod upper end with lifting round platform lower surface be connected
Connecing, electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, described Stewart parallel institution include fixed platform, moving platform, connection seat, on
Spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, moving platform is positioned at directly over fixed platform, connects seat and is arranged on the upper surface of fixed platform, and connects seat at fixed platform
On in equilateral triangle location arrangements, Triangulum is arranged on moving platform lower surface, and connects the installation site between seat and Triangulum
Interlocking two-by-two, and Triangulum is equilateral triangle column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane,
Offer the installation screwed hole matched with lower spherical hinge lower end external screw thread in inclined plane, electric pushrod bottom by upper spherical hinge with
Connecting seat to be connected, electric pushrod top is connected with block plate seat lower end, and block plate seat upper end is connected with lower spherical hinge one end, under
The spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one end and electric pushrod phase
Connecting, the limit spring other end is connected with block plate seat.By the stretching motion up and down of electric pushrod, thus drive moving platform
Pumping, and added the stationarity of moving platform by limit spring, the present invention uses the Stewart of 6-SPS in parallel
Mechanism, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and Stewart parallel institution exists
Three translations three can be carried out in space and rotate the motion in six-freedom degree direction altogether, and motion flexibility is good, space is little, motion is fast
Degree is fast, kinematic dexterity is good, is applied in the present invention by Stewart parallel institution, on the one hand serves filming apparatus overall
The regulation of orientation angles so that the present invention can carry out under various attitudes full angle comprehensive without dead angle carry out shoot operation；Another
Aspect improves the damping performance of the present invention by Stewart parallel institution, even at jolting or time under nonequilibrium condition,
Filming apparatus is in horizontal plateau all the time, prevents filming apparatus when shooting operation because of jitter or obliquity is excessive causes
The problem of shooting picture difference, further increases the stability when present invention shoots operation and safety.
As a further improvement on the present invention, described filming apparatus includes pedestal, rotating disk, ball, fixing device, presses
Device and containment envelope；Described pedestal lower end is provided with base station, and pedestal upper end is provided with ring, along it outside ring lower semisection
Circumferencial direction is evenly arranged with scale mark, and the regulation of filming apparatus integral-rotation angle in the horizontal plane is played by scale mark
Reference role, is provided with external screw thread, is provided with annular cavity inside ring outside ring upper semisection, rotating disk is positioned on pedestal
End is internal, and rotating disk lower end is provided with electric rotating machine, and the base station of electric rotating machine and pedestal lower end is connected to a fixed, outside rotating disk
Being provided with semi-circular recesses on sidewall, ball is arranged between pedestal and rotating disk, and ball side is stuck in the annular inside ring
In cavity, ball opposite side is stuck in the semi-circular recesses on rotating disk lateral wall；Described fixing device quantity is two, fixing dress
Put to be respectively symmetrically and be arranged in the rotating disk left and right sides, press device and be positioned at fixing device rear side end, the hemispherical housing of containment envelope
Structure, containment envelope lower end inside is provided with the female thread matched with external screw thread outside the ring upper semisection of pedestal, containment envelope
Being positioned at above pedestal, containment envelope material is clear perspex material, uses screw thread to install the mode connected and is easy to containment envelope
Installation and dismounting, containment envelope serves the effect of waterproof and anti-fall junk to filming apparatus, simultaneously because the material of containment envelope
Matter is transparent, does not affect the carrying out of shooting operation.
As a further improvement on the present invention, described fixing device includes shifting sledge, position limiting slide block, clamping screw, laterally
Gu latch mechanism and the most admittedly latch mechanism；Uniformly offering spacing hole on described shifting sledge, position limiting slide block is arranged on shifting sledge
On, and be locked by clamping screw between position limiting slide block and shifting sledge, the T-shaped structure of position limiting slide block, laterally solid
Latch mechanism quantity is two, and latch mechanism lays respectively at both sides before and after position limiting slide block the most admittedly, and latch mechanism is just being positioned at position limiting slide block the most admittedly
Top；Described latch mechanism the most admittedly includes cross-brace plate, laterally steering bar, horizontal locking spring, lateral connection post and horizontal stroke
To locking head；Described cross-brace plate is to be connected between L-type structure, and cross-brace plate and position limiting slide block, laterally steering bar
Between cross-brace plate and horizontal locking head, horizontal locking spring is positioned at outside laterally steering bar, and laterally locking spring one
End is connected with cross-brace plate by lateral connection post, and the horizontal locking spring other end is by lateral connection post and horizontal locking head
Being connected, horizontal locking head is waist type plate-like structure；The solid latch mechanism of described longitudinal direction include longitudinal supporting plate, longitudinally guiding bar,
Longitudinal locking spring, longitudinally connected post and longitudinal locking head；Described longitudinal supporting plate is in the L-type structure stood upside down, and longitudinally props up
Being provided with connection floor outside fagging, longitudinally guiding bar is positioned at inside longitudinal locking spring, and longitudinal locking spring two ends are by longitudinally
Connecting post to be connected with longitudinal supporting plate and longitudinal locking head respectively, longitudinal locking head is rake shape structure, longitudinal locking head front end
It is evenly arranged with locking jaw, and the wedge shaped structure of locking jaw, locking jaw lower surface is provided with flexible sponge block.During concrete operations,
First according to the size model size of installation camera, corresponding is regulated by mobile position limiting slide block motion on shifting sledge
Joining size, and be locked with clamping screw, position limiting slide block serves and fixes spacing to camera right position simultaneously；So
After camera is placed into two the most admittedly between latch mechanisms, latch mechanism serves the spacing fixing work to camera front and back position the most admittedly
With, latch mechanism serves the spacing fixation to camera top position, and latch mechanism and the most admittedly latch mechanism the most admittedly the most admittedly
Easy to adjust fast, admittedly lock dynamics be suitable for, by fixing device to around camera and upper and lower position all locked
Fixing, it is therefore prevented that the phenomenon that camera slips in shooting operation process, improve the present invention and shoot the safety and stability of operation.
As a further improvement on the present invention, described press device include pressing guide rail, sealing block, directive wheel, press motor,
Press rotating shaft, press bearing, guide slide bar, press lifting column, the first shrinking connecting-rod, the first motor, the second motor, transition
Rotating shaft, the second shrinking connecting-rod and some head；Described guide rail quantity of pressing is two, presses and offers matrix guide groove inside guide rail,
Pressing two ends, guide rail left and right and carry out spacing by sealing block respectively, directive wheel is positioned at the matrix guide groove pressed on guide rail, presses electricity
Machine is positioned between directive wheel, presses motor and uses Biaxial synchronous output motor, presses rotating shaft one end and be connected with directive wheel, press
The rotating shaft other end is connected with pressing motor output shaft, presses bearing lower end and is provided with motor connecting base, presses and arranges in the middle part of bearing
Having mobile bar, mobile bar rear and front end to be respectively arranged with Mobile base, Mobile base lower end is provided with sliding bearing, presses bearing upper end
It is provided with and presses platform, and press to be provided with on platform and press turntable, guide slide bar and be positioned at and press directly over guide rail, and guide sliding
Bar two ends are respectively arranged with presses ear mount, presses ear mount and is fixed on and presses on guide rail, and sliding bearing is arranged on guiding slide bar, point
Being fixed on by lifting column bottom presses on turntable, presses lifting column top and connects and have the first shrinking connecting-rod, the first electric machine main shaft and the
One expansion link one end is connected, and the second motor is positioned at above the first shrinking connecting-rod other end, and the second electric machine main shaft is stretched through first
The contracting connecting rod other end is connected with transition rotating shaft upper end, and transition rotating shaft lower end fixes with second shrinking connecting-rod one end, and second stretches
A head is installed below the connecting rod other end, and some head is round table-like structure.Rotating shaft is pressed by pressing the rotation drive of motor
Rotation, it is achieved thereby that the function that directive wheel moves in the matrix guide groove pressing slide rail, simultaneously by pressing bearing and guiding
Slide bar with the use of, on the one hand serve the supporting role pressing device, on the other hand also play and lead pressing device
To the effect of movement, the height pressing device can be adjusted by pressing lifting column, can be driven by the rotation of the first motor
The rotation of the first shrinking connecting-rod, can drive the rotation of the second shrinking connecting-rod by the rotation of the second motor, and the first shrinking connecting-rod and
Second shrinking connecting-rod all can carry out telescopic, presses device and can carry out three translations two in space and rotate totally five degree of freedom directions
Motion, and motion is flexibly, easy to adjust, by press device camera shooting push button can be adjusted para-position and touch by,
And para-position is accurate, presses quickly.
Compared with prior art, the invention have the advantages that
(1) present invention has orientation angles regulation, camera is fixed and shoots the function of operation, the side shot by unmanned automatization
Formula can realize the function to aquatic environment monitoring results, and intelligence degree is high, orientation angles is easy to adjust flexibly, camera is fixed
Conveniently stablize and shooting fast mass is high.
(2) present invention uses the Stewart parallel institution of 6-SPS, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, carrying
Ability is strong and fine motion precision is high, and Stewart parallel institution can carry out three translations three rotation six-freedom degree directions altogether in space
Motion, on the one hand serves the regulation to filming apparatus entirety orientation angles so that the present invention can carry out full-shape under various attitudes
Spend comprehensive without dead angle carry out shoot operation；On the other hand the damping performance of the present invention is improve by Stewart parallel institution,
Even at jolting or time under nonequilibrium condition, filming apparatus is in horizontal plateau all the time, prevents filming apparatus in shooting
Because of jitter or the excessive problem causing shooting picture difference of obliquity during operation, further increase when the present invention shoots operation
Stability and safety.
(3) filming apparatus of the present invention there is waterproof anti-fall junk, the function such as camera is fixed, shooting push button control, by fixing
Around camera and upper and lower position is all locked by device, it is therefore prevented that camera slips in shooting operation process
Phenomenon, improve the present invention and shoot the safety and stability of operation；It presses device can carry out three translation two turns in space
The motion in dynamic totally five degree of freedom directions, and motion is flexibly, easy to adjust, camera shooting push button can be carried out by pressing device
Regulation para-position and touching is pressed, and para-position is accurate, presses quickly.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of Stewart parallel institution of the present invention；
Fig. 3 is the perspective view of filming apparatus of the present invention；
Fig. 4 is the perspective view of fixing device of the present invention；
Fig. 5 is the perspective view that the present invention presses device；
Fig. 6 is the perspective view of containment envelope of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of aquatic environment monitoring cruise robot manipulator, including lowering or hoisting gear 3, Stewart
Parallel institution 4 and filming apparatus 5；Described Stewart parallel institution 4 between lowering or hoisting gear 3 and filming apparatus 5,
And Stewart parallel institution 4 lower end is connected with lowering or hoisting gear 3, Stewart parallel institution 4 upper end and filming apparatus 5 phase
Connect.
As it is shown in figure 1, described lowering or hoisting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
Lifting push rod 31 quantity is four, and lifting push rod 31 is positioned at below lifting round platform 32, and lifts push rod 31 upper end and lifting round platform
32 lower surfaces are connected, and electric turntable 33 is fixed on lifting round platform 32 upper surface center position.
As depicted in figs. 1 and 2, described Stewart parallel institution 4 include fixed platform 41, moving platform 42, connect seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described company
Joint chair 43 and Triangulum 48 quantity are three, upper spherical hinge 44, electric pushrod 45, block plate seat 46 and the quantity of lower spherical hinge 47
It is six, described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at directly over fixed platform 41,
Connect seat 43 to be arranged on the upper surface of fixed platform 41, and connect seat 43 on fixed platform 41 in equilateral triangle location arrangements,
Triangulum 48 is arranged on moving platform 42 lower surface, and the installation site connected between seat 43 and Triangulum 48 is interlocked two-by-two,
And Triangulum 48 is in equilateral triangle column structure, Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane, tilts
Offering the installation screwed hole matched with lower spherical hinge 47 lower end external screw thread on face, electric pushrod 45 bottom is by upper spherical hinge
44 are connected with being connected seat 43, and electric pushrod 45 top is connected with block plate seat 46 lower end, block plate seat 46 upper end and lower ball pivot
Chain 47 one end is connected, and lower spherical hinge 47 other end is arranged on Triangulum 48, and limit spring 49 is around being enclosed within electric pushrod 45
On, and limit spring 49 one end is connected with electric pushrod 45, limit spring 49 other end is connected with block plate seat 46；Logical
Cross the stretching motion up and down of electric pushrod 45, thus drive pumping of moving platform 42, and increased by limit spring 49
Having added the stationarity of moving platform 42, the present invention uses the Stewart parallel institution 4 of 6-SPS, big with serial mechanism phase specific stiffness,
Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and Stewart parallel institution 4 can carry out three translations three in space and rotate altogether
The motion in six-freedom degree direction, and motion flexibility is good, space is little, movement velocity is fast, kinematic dexterity is good, by Stewart
Parallel institution 4 is applied in the present invention, on the one hand serves the regulation of orientation angles overall to filming apparatus 5 so that the present invention
Can carry out under various attitudes full angle comprehensive without dead angle carry out shoot operation；On the other hand by Stewart parallel institution 4
Improve the damping performance of the present invention, even at jolting or time under nonequilibrium condition, filming apparatus 5 is in level all the time and puts down
Steady state, prevents filming apparatus 5 when shooting operation because of jitter or the excessive problem causing shooting picture difference of obliquity, enters
One step improves the stability when present invention shoots operation and safety.
As shown in Figures 3 to 6, described filming apparatus 5 include pedestal 51, rotating disk 52, ball 53, fixing device 54,
Press device 55 and containment envelope 56；Described pedestal 51 lower end is provided with base station, and pedestal 51 upper end is provided with ring, ring
Being evenly arranged with scale mark along its circumferencial direction outside circle lower semisection, scale mark is to filming apparatus 5 entirety in the horizontal plane
The regulation of the anglec of rotation serves reference role, is provided with external screw thread outside ring upper semisection, is provided with annular cavity inside ring,
Rotating disk 52 is positioned at inside pedestal upper end, and rotating disk 52 lower end is provided with electric rotating machine, and the base of electric rotating machine and pedestal lower end
Platform is connected to a fixed, and rotating disk 52 lateral wall is provided with semi-circular recesses, and ball 53 is arranged between pedestal and rotating disk 52,
And ball 53 side is stuck in the annular cavity inside ring, ball 53 opposite side is stuck in the semicircle on rotating disk 52 lateral wall
Groove；Described fixing device 54 quantity is two, and fixing device 54 is respectively symmetrically and is arranged in rotating disk 52 left and right sides, presses
Device 55 is positioned at fixing device 54 rear side end, the hemispherical shell structure of containment envelope 56, and containment envelope 56 lower end inside sets
Being equipped with the female thread matched with external screw thread outside the ring upper semisection of pedestal, containment envelope 56 is positioned at above pedestal, containment envelope
56 materials are clear perspex material, use screw thread to install the mode connected and are easy to installation and the dismounting of containment envelope 56, anti-
Protect outer housing 56 and filming apparatus 5 is served the effect of waterproof and anti-fall junk, simultaneously because the material of containment envelope 56 is transparent,
Do not affect the carrying out of shooting operation.
As shown in Figure 3 and Figure 4, described fixing device 54 include shifting sledge 541, position limiting slide block 542, clamping screw 543,
The most admittedly latch mechanism 544 and the most admittedly latch mechanism 545；Spacing hole, spacing cunning is uniformly offered on described shifting sledge 541
Block 542 is arranged on shifting sledge 541, and is carried out by clamping screw 543 between position limiting slide block 542 and shifting sledge 541
Being locked, the T-shaped structure of position limiting slide block 542, latch mechanism 544 quantity is two the most admittedly, and latch mechanism 544 is respectively the most admittedly
Being positioned at both sides before and after position limiting slide block 542, latch mechanism 545 is positioned at directly over position limiting slide block 542 the most admittedly；The most solid described lock
Mechanism 544 includes cross-brace plate 5441, laterally steering bar 5442, horizontal locking spring 5443, lateral connection post 5444 and
Laterally locking head 5445；Described cross-brace plate 5441 is L-type structure, and cross-brace plate 5441 and position limiting slide block 542
Between be connected, laterally steering bar 5442 at cross-brace plate 5441 with laterally between locking head 5445, horizontal locking spring
5443 are positioned at outside laterally steering bar 5442, and laterally locking spring 5443 one end is propped up with horizontal by lateral connection post 5444
Fagging 5441 is connected, and horizontal locking spring 5443 other end is connected with horizontal locking head 5445 by lateral connection post 5444
Connecing, horizontal locking head 5445 is in waist type plate-like structure；The solid latch mechanism 545 of described longitudinal direction include longitudinal supporting plate 5451,
Longitudinally guiding bar 5452, longitudinal locking spring 5453, longitudinally connected post 5454 and longitudinal locking head 5455；Described longitudinal direction is propped up
Fagging 5451 is in the L-type structure stood upside down, and is provided with connection floor outside longitudinal supporting plate 5451,5452, longitudinally guiding bar
Inside longitudinal locking spring 5453, longitudinal locking spring 5453 two ends by longitudinally connected post 5454 respectively with longitudinal supporting plate
5451 are connected with longitudinal locking head 5455, and longitudinal locking head 5455 is in rake shape structure, and longitudinal locking head 5455 front end is equal
The even locking jaw that is provided with, and the wedge shaped structure of locking jaw, locking jaw lower surface is provided with flexible sponge block.During concrete operations,
First according to the size model size of installation camera, regulated by the mobile position limiting slide block 542 motion on shifting sledge 541
Corresponding matching size, and be locked with clamping screw 543, position limiting slide block 542 serves position about camera simultaneously
That puts is fixing spacing；Then camera being placed into two laterally consolidate between latch mechanism 544, it is right that horizontal latch mechanism 544 admittedly serves
The spacing fixation of camera front and back position, latch mechanism 545 serves the spacing fixation to camera top position the most admittedly,
And latch mechanism 544 and longitudinal latch mechanism 545 admittedly are easy to adjust fast the most admittedly, admittedly lock dynamics is suitable for, right by fixing device 54
Around camera and upper and lower position is all locked, it is therefore prevented that the phenomenon that camera slips in shooting operation process,
Improve the present invention and shoot the safety and stability of operation.
As shown in Figure 3 and Figure 5, described press device 55 include pressing guide rail 551, sealing block 552, directive wheel 553,
Press motor 554, press rotating shaft 555, press bearing 556, guide slide bar 557, to press lifting column 558, first flexible even
Bar the 559, first motor the 5510, second motor 5511, transition rotating shaft the 5512, second shrinking connecting-rod 5513 and some head 5514；
Described guide rail 551 quantity of pressing is two, presses and offers matrix guide groove inside guide rail 551, presses guide rail about 551 two ends
Carrying out spacing by sealing block 552 respectively, directive wheel 553 is positioned at the matrix guide groove pressed on guide rail 551, presses motor 554
Between directive wheel 553, press motor 554 and use Biaxial synchronous output motor, press rotating shaft 555 one end and directive wheel 553
It is connected, presses rotating shaft 555 other end and press motor 554 output shaft and be connected, pressing bearing 556 lower end and be provided with motor
Connecting seat, press and be provided with mobile bar in the middle part of bearing 556, mobile bar rear and front end is respectively arranged with Mobile base, Mobile base lower end
It is provided with sliding bearing, presses bearing 556 upper end and be provided with and press platform, and press to be provided with on platform and press turntable, guide
Slide bar 557 is positioned to be pressed directly over guide rail 551, and guiding slide bar 557 two ends are respectively arranged with and press ear mount, press ear mount solid
Be scheduled on and press on guide rail 551, sliding bearing be arranged on guiding slide bar 557 on, press lifting column 558 bottom be fixed on press turn
On platform, pressing the connection of lifting column 558 top has the first shrinking connecting-rod 559, the first motor 5510 main shaft and the first expansion link 559
One end is connected, and the second motor 5511 is positioned at above first shrinking connecting-rod 559 other end, and the second motor 5511 main shaft passes
First shrinking connecting-rod 559 other end is connected with transition rotating shaft 5512 upper end, transition rotating shaft 5512 lower end and the second shrinking connecting-rod
5513 one end fix, and be provided with a head 5514, and some head 5514 is in round platform below second shrinking connecting-rod 5513 other end
Shape structure.The rotation of rotating shaft 555 is pressed, it is achieved thereby that directive wheel 553 is being pressed by pressing the drive that rotates of motor 554
The function of motion in the matrix guide groove of slide rail 551, simultaneously by press bearing 556 and guide slide bar 557 with the use of, one
Aspect serves the supporting role pressing device 55, on the other hand also plays the effect to the guiding movement pressing device 55,
The height pressing device 55 can be adjusted by pressing lifting column 558, can be driven by the rotation of the first motor 5510
The rotation of one shrinking connecting-rod 559, can drive the rotation of the second shrinking connecting-rod 5513, and by the rotation of the second motor 5511
One shrinking connecting-rod 559 and the second shrinking connecting-rod 5513 all can carry out telescopic, and pressing device 55, can to carry out three in space flat
Move the motion in two rotation totally five degree of freedom directions, and motion is flexibly, easy to adjust, camera can be shot by pressing device 55
Button is adjusted para-position and touching and presses, and para-position is accurate, presses quickly.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (3)
1. an aquatic environment monitoring cruise robot manipulator, it is characterised in that: include lowering or hoisting gear, Stewart also
Online structure and filming apparatus；Described Stewart parallel institution is between lowering or hoisting gear and filming apparatus, and Stewart is also
Online structure lower end is connected with lowering or hoisting gear, and Stewart parallel institution upper end is connected with filming apparatus；Wherein:
Described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；Described lifting push rod quantity is four, lifting
Push rod is positioned at below lifting round platform, and lifting push rod upper end is connected with lifting round platform lower surface, and electric turntable is fixed on lifting circle
Platform upper surface center position；
Described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat,
Lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, gear
The quantity of dish seat and lower spherical hinge is six, and described fixed platform and moving platform the most rounded shape structure, moving platform is positioned at fixed platform
Surface, connects seat and is arranged on the upper surface of fixed platform, and connects seat on fixed platform in equilateral triangle location arrangements, triangle
Seat is arranged on moving platform lower surface, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is positive triangle
Shape column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers with under lower spherical hinge
The installation screwed hole that end external screw thread matches, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod top
Being connected with block plate seat lower end, block plate seat upper end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum,
Limit spring is around being enclosed within electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end and block plate seat
It is connected；
Described filming apparatus includes pedestal, rotating disk, ball, fixing device, presses device and containment envelope；Described base
Seat lower end is provided with base station, and pedestal upper end is provided with ring, is evenly arranged with graduated scale along its circumferencial direction outside ring lower semisection
Note, is provided with external screw thread, is provided with annular cavity inside ring outside ring upper semisection, rotating disk is positioned at inside pedestal upper end,
Rotating disk lower end is provided with electric rotating machine, and the base station of electric rotating machine and pedestal lower end is connected to a fixed, and rotating disk sets on lateral wall
Being equipped with semi-circular recesses, ball is arranged between pedestal and rotating disk, and ball side is stuck in the annular cavity inside ring,
Ball opposite side is stuck in the semi-circular recesses on rotating disk lateral wall；Described fixing device quantity is two, and fixing device is the most right
Claim to be arranged in the rotating disk left and right sides, press device and be positioned at fixing device rear side end, the hemispherical shell structure of containment envelope, anti-
Protecting outer housing lower end inside and be provided with the female thread matched with external screw thread outside the ring upper semisection of pedestal, containment envelope is positioned at pedestal
Top, containment envelope material is clear perspex material；
Described fixing device includes shifting sledge, position limiting slide block, clamping screw, the most admittedly latch mechanism and longitudinally consolidates latch mechanism；
Uniformly offering spacing hole on described shifting sledge, position limiting slide block is arranged on shifting sledge, and position limiting slide block and shifting sledge
Between be locked by clamping screw, the T-shaped structure of position limiting slide block, laterally admittedly latch mechanism quantity is two, the most solid lock
Mechanism lays respectively at both sides before and after position limiting slide block, and latch mechanism is positioned at directly over position limiting slide block the most admittedly；
Described device of pressing includes pressing guide rail, sealing block, directive wheel, presses motor, presses rotating shaft, presses bearing, leads
To slide bar, press lifting column, the first shrinking connecting-rod, the first motor, the second motor, transition rotating shaft, the second shrinking connecting-rod and point
Head；Described guide rail quantity of pressing is two, presses and offers matrix guide groove inside guide rail, presses two ends, guide rail left and right and leads to respectively
Crossing sealing block and carry out spacing, directive wheel is positioned at the matrix guide groove pressed on guide rail, presses motor between directive wheel, presses
Motor uses Biaxial synchronous output motor, presses rotating shaft one end and is connected with directive wheel, presses the rotating shaft other end with to press motor defeated
Shaft is connected, and presses bearing lower end and is provided with motor connecting base, presses and is provided with mobile bar in the middle part of bearing, before and after mobile bar two
End is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding bearing, presses bearing upper end and is provided with and presses platform, and presses
Being provided with on platform and press turntable, guiding slide bar is positioned to be pressed directly over guide rail, and guiding slide bar two ends are respectively arranged with and press ear
Seat, presses ear mount and is fixed on and presses on guide rail, and sliding bearing is arranged on guiding slide bar, presses lifting column bottom and is fixed on and presses
On turntable, pressing the connection of lifting column top has the first shrinking connecting-rod, the first electric machine main shaft and first expansion link one end to be connected, the
Two motors are positioned at above the first shrinking connecting-rod other end, and the second electric machine main shaft is through the first shrinking connecting-rod other end and transition rotating shaft
Upper end is connected, and transition rotating shaft lower end fixes with second shrinking connecting-rod one end, installs a little below the second shrinking connecting-rod other end
Head, and some head be round table-like structure.
A kind of aquatic environment monitoring cruise robot manipulator the most according to claim 1, it is characterised in that: described
Laterally admittedly latch mechanism include cross-brace plate, laterally steering bar, horizontal locking spring, lateral connection post and horizontal locking head；
Described cross-brace plate is to be connected between L-type structure, and cross-brace plate and position limiting slide block, and laterally steering bar is positioned at and laterally props up
Between fagging and laterally locking head, horizontal locking spring is positioned at outside laterally steering bar, and laterally locking spring one end is passed through laterally
Connecting post to be connected with cross-brace plate, the horizontal locking spring other end is connected with horizontal locking head by lateral connection post, horizontal
It is waist type plate-like structure to locking head.
A kind of aquatic environment monitoring cruise robot manipulator the most according to claim 1, it is characterised in that: described
The solid latch mechanism of longitudinal direction include longitudinal supporting plate, longitudinally guiding bar, longitudinal locking spring, longitudinally connected post and longitudinal locking head；
Described longitudinal supporting plate is in the L-type structure stood upside down, and is provided with connection floor outside longitudinal supporting plate, and longitudinally guiding bar is positioned at
Inside longitudinal locking spring, longitudinal locking spring two ends are connected with longitudinal supporting plate and longitudinal locking head respectively by longitudinally connected post
Connecing, longitudinal locking head is rake shape structure, and longitudinal locking head front end is evenly arranged with locking jaw, and the wedge shaped structure of locking jaw,
Flexible sponge block it is provided with on locking jaw lower surface.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014899.0A CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
| CN201610470863.4A CN105936048B (en) | 2016-06-23 | 2016-06-23 | A kind of aquatic environment monitors cruise robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470863.4A CN105936048B (en) | 2016-06-23 | 2016-06-23 | A kind of aquatic environment monitors cruise robot manipulator |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810014899.0A Division CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105936048A true CN105936048A (en) | 2016-09-14 |
| CN105936048B CN105936048B (en) | 2017-12-22 |
Family
ID=56871967
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470863.4A Active CN105936048B (en) | 2016-06-23 | 2016-06-23 | A kind of aquatic environment monitors cruise robot manipulator |
| CN201810014899.0A Active CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810014899.0A Active CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105936048B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108917807A (en) * | 2018-08-15 | 2018-11-30 | 苏州艾捷尔斯生物科技有限公司 | A kind of simple farmland monitoring device on the spot |
| CN111458460A (en) * | 2020-04-20 | 2020-07-28 | 湖州锦鸿环保工程有限公司 | Touch control environment detection device |
| CN111894038A (en) * | 2020-07-03 | 2020-11-06 | 中交广州航道局有限公司 | Underwater self-righting construction platform and operation method thereof |
| CN113695640A (en) * | 2021-09-16 | 2021-11-26 | 江苏安全技术职业学院 | Transmission machinery elevating movement device |
| CN115247746A (en) * | 2022-01-05 | 2022-10-28 | 西安外事学院 | Photographic platform of making a video recording suitable for surface of water region is framed |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
| CN109442171B (en) * | 2018-11-30 | 2021-04-20 | 西安交通大学 | Monocular stereoscopic vision system and using method thereof |
| CN109895394B (en) * | 2019-04-02 | 2024-09-24 | 苏州慧通汇创科技有限公司 | High DLP laser rapid prototyping 3D printer support of stability |
| CN110815245A (en) * | 2019-11-19 | 2020-02-21 | 清华大学 | Service robot for welcoming |
| CN113291483B (en) * | 2021-05-28 | 2022-06-17 | 河北华领地理信息工程有限公司 | Road surface mapping device based on unmanned aerial vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1179652A (en) * | 1997-09-17 | 1999-03-23 | Fuji Xerox Ryutsu Kk | Cargo pinch apparatus |
| DE19753949A1 (en) * | 1997-12-05 | 1999-09-02 | Doege | Flexible deforming press with non-linear ram movement |
| US5982127A (en) * | 1997-10-17 | 1999-11-09 | Janome Sewing Machine Co., Ltd. | Spring device for balancing vertical movements of multi-joint robot |
| CN101487510A (en) * | 2009-02-24 | 2009-07-22 | 江苏大学 | Multidimensional vibration-isolating apparatus |
| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN203497145U (en) * | 2013-08-26 | 2014-03-26 | 北京自动化控制设备研究所 | Anti-shock device based on Stewart structure |
| CN203767074U (en) * | 2014-04-03 | 2014-08-13 | 储德江 | Self-stabilization aerial photography cloud deck based on parallel mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201018065D0 (en) * | 2010-10-26 | 2010-12-08 | Holker Anthony J | A motorized camera dolly |
| CN202661767U (en) * | 2012-05-25 | 2013-01-09 | 浙江大学 | Three-dimensional surrounding framing liftable shooting pan head device |
| CN104149985B (en) * | 2014-04-03 | 2016-02-17 | 浙江智天科技有限公司 | A kind of based on parallel institution from steady holder for aerial photographing |
| CN104301472A (en) * | 2014-10-17 | 2015-01-21 | 张耀忠 | Vehicle-mounted mobile phone support allowing angle of mobile phone to be adjusted through rotation |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| CN204721467U (en) * | 2015-06-12 | 2015-10-21 | 孙浩光 | Time-lapse photography car on a large scale |
-
2016
- 2016-06-23 CN CN201610470863.4A patent/CN105936048B/en active Active
- 2016-06-23 CN CN201810014899.0A patent/CN108145723B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1179652A (en) * | 1997-09-17 | 1999-03-23 | Fuji Xerox Ryutsu Kk | Cargo pinch apparatus |
| US5982127A (en) * | 1997-10-17 | 1999-11-09 | Janome Sewing Machine Co., Ltd. | Spring device for balancing vertical movements of multi-joint robot |
| DE19753949A1 (en) * | 1997-12-05 | 1999-09-02 | Doege | Flexible deforming press with non-linear ram movement |
| CN101487510A (en) * | 2009-02-24 | 2009-07-22 | 江苏大学 | Multidimensional vibration-isolating apparatus |
| CN203497145U (en) * | 2013-08-26 | 2014-03-26 | 北京自动化控制设备研究所 | Anti-shock device based on Stewart structure |
| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN203767074U (en) * | 2014-04-03 | 2014-08-13 | 储德江 | Self-stabilization aerial photography cloud deck based on parallel mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108917807A (en) * | 2018-08-15 | 2018-11-30 | 苏州艾捷尔斯生物科技有限公司 | A kind of simple farmland monitoring device on the spot |
| CN111458460A (en) * | 2020-04-20 | 2020-07-28 | 湖州锦鸿环保工程有限公司 | Touch control environment detection device |
| CN111894038A (en) * | 2020-07-03 | 2020-11-06 | 中交广州航道局有限公司 | Underwater self-righting construction platform and operation method thereof |
| CN113695640A (en) * | 2021-09-16 | 2021-11-26 | 江苏安全技术职业学院 | Transmission machinery elevating movement device |
| CN113695640B (en) * | 2021-09-16 | 2023-09-22 | 江苏安全技术职业学院 | Lifting movement device of transmission machinery |
| CN115247746A (en) * | 2022-01-05 | 2022-10-28 | 西安外事学院 | Photographic platform of making a video recording suitable for surface of water region is framed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108145723B (en) | 2021-05-07 |
| CN108145723A (en) | 2018-06-12 |
| CN105936048B (en) | 2017-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105936048A (en) | Operation mechanical arm of water surface environment monitoring cruising robot | |
| CN106041888B (en) | A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator | |
| CN105947125A (en) | Water surface environment monitoring and navigation robot | |
| CN106090536B (en) | A kind of water quality table environment shooting, collecting is intelligently equipped | |
| CN106122704A (en) | A kind of amphibious automation integrated machine of environment-friendly type water quality monitoring performs device | |
| CN106143026B (en) | Full-automatic ocean water environment inspection observation equipment | |
| CN106090546B (en) | A kind of full-automatic sea water environment inspection scope harvester | |
| CN106002944A (en) | Multi-degree-of-freedom manipulator for intelligent robot for over-water filming operation | |
| CN106004282A (en) | Intelligent robot for multi-degree-of-freedom overwater shooting operation | |
| CN106080068B (en) | A kind of amphibious automation integrated machine of environment-friendly type water quality monitoring | |
| CN105936051B (en) | A kind of aquatic environment monitoring cruise robot is with pressing device | |
| CN106003155A (en) | Photographing device for water surface environment monitoring cruising robot | |
| CN205770080U (en) | A kind of seabed revolution extension means | |
| CN211466320U (en) | Horizontal adjusting device of degree of freedom platform | |
| CN107791256A (en) | Imitative spider-shaped rescue robot | |
| CN105936050A (en) | Fixing device used for water surface environment monitoring cruising robot | |
| CN208954486U (en) | A kind of urban planning three-dimensional digital sand table | |
| CN107687810A (en) | A kind of high-precision bubble 3D shape of intelligence obtains system | |
| CN209355913U (en) | A kind of civil engineering plotting board | |
| CN210627664U (en) | Real estate building planning model sand table | |
| CN210678744U (en) | Machining platform material loading manipulator | |
| CN221350890U (en) | Brinell hardness indentation reading device | |
| CN210515859U (en) | Level crossing formation of image physical experiment teaching equipment for middle school student | |
| CN219775323U (en) | Three-dimensional scanner | |
| CN217654537U (en) | Three-axis rotary table capable of moving in all directions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Jianying Inventor after: Wang Hongbo Inventor after: Cao Yu Inventor before: He Cheng |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20171123 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: The central North West Anhui province 246001 Anqing City Yingjiang District No. 7 Lane 2 Building 2 unit 203 room Applicant before: He Cheng |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181102 Address after: 414002 room 538, Yungang Road Customs Service building, Chenglingji new port, Yueyang, Hunan Patentee after: Hakda robotics group Yueyang Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181225 Address after: 414002 Fourth Floor, Building 2, Xindeng Incubation Building, Yungang Road Military-Civil Integration Industrial Park, Chenglingji New Port District, Yueyang City, Hunan Province Patentee after: Harbin University of Technology Robot (Yueyang) Research Institute Co., Ltd. Address before: 414002 room 538, Yungang Road Customs Service building, Chenglingji new port, Yueyang, Hunan Patentee before: Hakda robotics group Yueyang Co., Ltd. |