CN105936048B - A kind of aquatic environment monitors cruise robot manipulator - Google Patents
A kind of aquatic environment monitors cruise robot manipulator Download PDFInfo
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- CN105936048B CN105936048B CN201610470863.4A CN201610470863A CN105936048B CN 105936048 B CN105936048 B CN 105936048B CN 201610470863 A CN201610470863 A CN 201610470863A CN 105936048 B CN105936048 B CN 105936048B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 claims description 34
- 238000003825 pressing Methods 0.000 claims description 28
- 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 12
- 239000000463 material Substances 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 4
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000036544 posture Effects 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000003673 groundwater Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method 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
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- 238000005086 pumping Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- 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 present invention relates to a kind of aquatic environment to monitor cruise robot manipulator, including lowering or hoisting gear, Stewart parallel institutions and filming apparatus；Described Stewart parallel institutions are between lowering or hoisting gear and filming apparatus, and Stewart parallel institutions lower end is connected with lowering or hoisting gear, and Stewart parallel institutions upper end is connected with filming apparatus.The present invention has orientation angles regulation, camera is fixed and the function of shooting operation, the function to aquatic environment monitoring resultses can be realized by way of unmanned automation shooting, and intelligence degree is high, orientation angles are easy to adjust flexibly, camera is fixed conveniently, and stable and shooting fast mass is high.
Description
Technical field
The present invention relates to waters field of work machines, specifically a kind of aquatic environment monitoring cruise robot working rig
Tool hand.
Background technology
Water environment refers to the environment in space residing for the formation, distribution and conversion of nature reclaimed water, refers to surround people's group space
And can directly or indirectly influence the water body of human lives and development, the various natural causes of its normal function and it is relevant it is social because
The totality of element；Also some refers to environment metastable, using land as space residing for the natural water area on border, at the earth's surface,
Coverage of water account for earth surface product 71%, water is made up of ocean water and the part of terrestrial water two, respectively with total Water
97.28% and 2.72%.Sum-rate very little shared by the latter, and the environment in residing space is sufficiently complex.Water environment is mainly by ground
Table water environment and groundwater environment two parts composition, surface water environment include river, lake, reservoir, ocean, pond, marsh, ice
River etc., groundwater environment include spring, phreatic water, deep phreatic water etc., water environment be composing environment fundamental it
One, it is the important place that human society is depended on for existence and development, and by Human impact and the field of destruction most serious.
Water is the affluent resources that people depend on for existence, and people can carry out a variety of affairs, such as fishery water using water environment
Produce cultivation, the generating of water transportation waterborne, water resource etc., the progressively increasing utilized with people to water resource, therewith waterborne
Operation is also more and more, for example aquatic environment monitoring observation, water surface traffic cruise, waters shooting passback, water-quality observation, waterborne searches
Help and help etc., all too busy to get away one side that carries out of work is exactly shooting operation for more than at present, first to water environment table body
Data and picture analysis are being carried out after carrying out photo acquisition, is finding out useful information, is being mostly at present people for shooting operation waterborne
Work is gone by ship handheld camera shooting, but manually in waters, operation has personal risk, also have it is a small amount of carry out unmanned plane, still
Unmanned plane is limited accordingly because continuation of the journey problem is unable to large area long working；In addition, present shooting
Operation uses tripod more, but it is limited to adjust orientation angles, and very flexible when adjusting, and it is poor to stablize, when causing shooting by
Cause shooting picture jitter big in the fluctuation of motion carrier, influence the quality of shooting.In view of the above circumstances, the invention provides
A kind of aquatic environment monitors cruise robot manipulator.
The content of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of aquatic environment to monitor cruise robot Work machine
Hand.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of aquatic environment monitors cruise robot manipulator, including lowering or hoisting gear, Stewart parallel institutions and bat
Take the photograph device；Described Stewart parallel institutions are between lowering or hoisting gear and filming apparatus, and Stewart parallel institutions lower end
It is connected with lowering or hoisting gear, Stewart parallel institutions 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 is four, and lifting push rod lifts push rod upper end and lifting round platform lower end below lifting round platform
Face is connected, and electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, described Stewart parallel institutions include fixed platform, moving platform, connecting seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connecting seat and Triangulum quantity be
Three, upper spherical hinge, electric pushrod, the quantity of block plate seat and lower spherical hinge are six, and described fixed platform and moving platform are in circle
Shape and structure, moving platform are located at directly over fixed platform, and connecting seat is arranged on the upper surface of fixed platform, and connecting seat is in fixed platform
Upper is in equilateral triangle location arrangements, and Triangulum is arranged on moving platform lower surface, and the installation position between connecting seat and Triangulum
Put and interlock two-by-two, and Triangulum is in equilateral triangle column structure, Triangulum is respectively symmetrically provided with inclination along its vertical center line
Face, the installation screwed hole being engaged with lower spherical hinge upper external screw thread is offered in inclined plane, electric pushrod bottom passes through upper ball
Hinge is connected with connecting seat, and electric pushrod top is connected with block plate seat lower end, block plate seat upper end and lower spherical hinge one end phase
Connection, the lower spherical hinge other end are arranged on Triangulum, and limit spring is around being enclosed on electric pushrod, and limit spring one end and electricity
Dynamic push rod is connected, and the limit spring other end is connected with block plate seat.By the stretching motion up and down of electric pushrod, so as to drive
Moving platform is pumped, and the stationarity of moving platform is added by limit spring, and the present invention is using 6-SPS's
Stewart parallel institutions, rigidity is big compared with serial mechanism, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, Stewart
Parallel institution can carry out the motion that three translations three rotate six-freedom degree direction altogether in space, and motion flexibility is good, motion is empty
Between it is small, movement velocity is fast, kinematic dexterity is good, and Stewart parallel institutions are applied in the present invention, on the one hand serve to clap
Take the photograph the regulation of device entirety orientation angles so that the present invention can carry out the comprehensive no dead angle of full angle under various postures and be clapped
Take the photograph operation；On the other hand the damping performance of the present invention is improved by Stewart parallel institutions, even at jolting or non-flat
When under weighing apparatus state, filming apparatus is in horizontal plateau all the time, prevent filming apparatus in shooting operation because of jitter or
Obliquity excessive the problem of causing shooting picture difference, further increase the stability and security during shooting operation of the present invention.
As a further improvement on the present invention, described filming apparatus includes pedestal, rotating disk, ball, fixing device, point
By device and containment envelope；Described pedestal lower end is provided with base station, and pedestal upper end is provided with ring, edge on the outside of ring lower semisection
Its circumferencial direction is evenly arranged with scale mark, the regulation of integral-rotation angle of the scale mark to filming apparatus in the horizontal plane
Reference role is served, external screw thread is provided with the outside of ring upper semisection, is provided with annular cavity on the inside of ring, rotating disk is located at base
Inside seat upper end, rotating disk lower end is provided with electric rotating machine, and electric rotating machine and the base station of pedestal lower end are connected to a fixed, rotation
Semi-circular recesses are provided with disk lateral wall, ball is arranged between pedestal and rotating disk, and ball side is stuck on the inside of ring
Annular cavity in, ball opposite side is stuck in the semi-circular recesses on rotate the outside of the disc wall；Described fixing device quantity is two,
Fixing device is respectively symmetrically arranged at left and right sides of rotating disk, is pressed device and is located at fixing device rear side end, containment envelope is in half
Spherical shell structure, containment envelope lower end inside are provided with the interior spiral shell that external screw thread is engaged on the outside of the ring upper semisection with pedestal
Line, containment envelope are located above pedestal, and containment envelope material is clear perspex material, by the way of screw thread installation connection
It is easy to the installation and dismounting of containment envelope, containment envelope serves the effect of waterproof and anti-fall junk to filming apparatus, while by
It is transparent in the material of containment envelope, does not influence the progress of shooting operation.
As a further improvement on the present invention, described fixing device include shifting sledge, position limiting slide block, clamping screw,
Horizontal solid lock mechanism and longitudinal solid lock mechanism；Spacing hole is uniformly offered on described shifting sledge, position limiting slide block, which is arranged on, to be moved
On dynamic slide rail, and it is locked between position limiting slide block and shifting sledge by clamping screw, the T-shaped structure of position limiting slide block,
Horizontal solid lock mechanism quantity is two, and horizontal solid lock mechanism is located at position limiting slide block front and rear sides respectively, and longitudinal solid lock mechanism is positioned at limit
Directly over the sliding block of position；Described horizontal solid lock mechanism includes cross-brace plate, laterally steering bar, horizontal locking spring, transverse direction and connected
Connect post and horizontal locking head；Described cross-brace plate is L-type structure, and is connected between cross-brace plate and position limiting slide block, horizontal
To guide rod between cross-brace plate and horizontal locking head, horizontal locking spring is located on the outside of laterally steering bar, and laterally
Locking spring one end is connected by lateral connection post with cross-brace plate, and the horizontal locking spring other end passes through lateral connection post
It is connected with horizontal locking head, horizontal locking head is in waist type plate-like structure；Described longitudinal solid lock mechanism includes longitudinal bracing
Plate, longitudinally guiding bar, longitudinal locking spring, longitudinally connected post and longitudinal locking head；Described longitudinal supporting plate is in the L-type stood upside down
Structure, and connection floor is provided with the outside of longitudinal supporting plate, longitudinally guiding bar is located on the inside of longitudinal locking spring, and bullet is locked in longitudinal direction
Spring both ends are connected with longitudinal supporting plate and longitudinal locking head respectively by longitudinally connected post, and longitudinal locking head is in rake shape knot
Structure, longitudinal locking head front end are evenly arranged with locking jaw, and the wedge shaped structure of locking jaw, set on locking jaw lower surface flexible
Sponge block.During concrete operations, first according to the size model number size of installation camera, by mobile position limiting slide block on shifting sledge
Motion to adjust corresponding matching size, and be locked with clamping screw, while position limiting slide block is served to camera
The fixation of right position is spacing；Then between camera being placed into two horizontal solid lock mechanisms, horizontal solid lock mechanism serves pair
The spacing fixation of camera front and back position, longitudinal solid lock mechanism serve the spacing fixation to camera top position, and
Horizontal solid lock mechanism and longitudinal solid lock mechanism are easy to adjust quick, and solid lock dynamics is adapted to, by fixing device to before and after camera, it is left
Right and upper and lower position is locked, it is therefore prevented that the phenomenon that camera slips during shooting operation, improves this
The safety and stability of invention shooting operation.
As a further improvement on the present invention, described device of pressing includes pressing guide rail, sealing block, directive wheel, pressed
Motor, rotating shaft is pressed, bearing is pressed, is oriented to slide bar, presses lifting column, the first shrinking connecting-rod, the first motor, the second motor, mistake
Cross rotating shaft, the second shrinking connecting-rod and point head；Described guide rail quantity of pressing is pressed and offers matrix on the inside of guide rail and lead for two
Groove, press guide rail left and right ends and carry out spacing by sealing block respectively, directive wheel, which is located at, to be pressed in matrix guide groove on guide rail, point
By motor between directive wheel, press motor and use Biaxial synchronous output motor, press rotating shaft one end and be connected with directive wheel,
Press the rotating shaft other end with pressing motor output shaft to be connected, press bearing lower end and be provided with motor connecting base, press in bearing
Portion is provided with mobile bar, and mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding bearing, presses branch
Seat upper end, which is provided with, presses platform, and presses to be provided with platform and press turntable, and guiding slide bar, which is located at, to be pressed directly over guide rail, and
It is oriented to slide bar both ends and is respectively arranged with and presses ear mount, presses ear mount and be fixed on and press on guide rail, sliding bearing is arranged on to be oriented to and slided
On bar, press lifting column bottom and be fixed on and press on turntable, press lifting top end and be connected with the first shrinking connecting-rod, the first motor
Main shaft is connected with first expansion link one end, and the second motor is located above the first shrinking connecting-rod other end, and the second electric machine main shaft
It is connected through the first shrinking connecting-rod other end with transition rotating shaft upper end, transition rotating shaft lower end is mutually solid with second shrinking connecting-rod one end
It is fixed, a head is installed, and it is in round-like structure to put head below the second shrinking connecting-rod other end.By the rotation for pressing motor
The rotation for pressing rotating shaft is driven, it is achieved thereby that the function that directive wheel moves in the matrix guide groove for pressing slide rail, passes through simultaneously
Press bearing and be oriented to being used cooperatively for slide bar, on the one hand serve the supporting role to pressing device, on the other hand also function to
The effect of guiding movement to pressing device, can be adjusted to the height for pressing device by pressing lifting column, passes through
The rotation of one motor can drive the rotation of the first shrinking connecting-rod, and turning for the second shrinking connecting-rod can be driven by the rotation of the second motor
It is dynamic, and the first shrinking connecting-rod and the second shrinking connecting-rod can carry out telescopic, three translations can be carried out in space by pressing device
Two rotate the motion in totally five free degree directions, and move flexibly, easy to adjust, can be to camera shooting push button by pressing device
Contraposition is adjusted and touches by and aligning accurate, press quick.
Compared with prior art, the present invention has advantages below：
(1) present invention has orientation angles regulation, camera is fixed and the function of shooting operation, is shot by unmanned automation
Mode can realize function to aquatic environment monitoring resultses, and intelligence degree is high, orientation angles are easy to adjust flexibly, camera
The stable and shooting fast mass that is fixed conveniently is high.
(2) present invention uses 6-SPS Stewart parallel institutions, and rigidity is big compared with serial mechanism, Stability Analysis of Structures, holds
Loading capability is strong and fine motion precision is high, and Stewart parallel institutions can carry out three translations three in space and rotate six-freedom degree side altogether
To motion, on the one hand serve the regulation to filming apparatus entirety orientation angles so that the present invention can enter under various postures
The comprehensive no dead angle of row full angle carries out shooting operation；On the other hand subtracting for the present invention is improved by Stewart parallel institutions
Shock stability, even at jolt or nonequilibrium condition under when, filming apparatus is in horizontal plateau all the time, prevent shooting fill
Put in shooting operation because of jitter or obliquity excessive the problem of causing shooting picture difference, further increase bat of the present invention
Take the photograph the stability and security during operation.
(3) filming apparatus of the invention has the functions such as the anti-fall junk of waterproof, camera are fixed, shooting push button controls, and passes through
Fixing device is locked with upper and lower position around to camera, it is therefore prevented that camera is in shooting operation process
The phenomenon of middle slippage, improve the safety and stability of shooting operation of the present invention；It presses device can carry out three in space
Translation two rotates the motion in totally five free degree directions, and moves flexibly, easy to adjust, and camera can be shot by pressing device
Button is adjusted contraposition and touched and presses, and aligns precisely, presses quick.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of Stewart parallel institutions of the present invention；
Fig. 3 is the dimensional structure diagram of filming apparatus of the present invention；
Fig. 4 is the dimensional structure diagram of fixing device of the present invention；
Fig. 5 is the dimensional structure diagram that the present invention presses device；
Fig. 6 is the dimensional structure diagram of containment envelope of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, 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 institutions 4 and filming apparatus 5；Described Stewart parallel institutions 4 be located at lowering or hoisting gear 3 and filming apparatus 5 it
Between, and the lower end of Stewart parallel institutions 4 is connected with lowering or hoisting gear 3, the upper end of Stewart parallel institutions 4 and the phase of filming apparatus 5
Connection.
As shown in figure 1, described lowering or hoisting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
It is four to lift the quantity of push rod 31, and lifting push rod 31 lifts the upper end of push rod 31 and lifting round platform 32 positioned at the lower section of lifting round platform 32
Lower surface is connected, and electric turntable 33 is fixed on the lifting upper surface center position of round platform 32.
As depicted in figs. 1 and 2, described Stewart parallel institutions 4 include fixed platform 41, moving platform 42, connecting seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described connecting seat 43
It is three with the quantity of Triangulum 48, upper spherical hinge 44, electric pushrod 45, the quantity of block plate seat 46 and lower spherical hinge 47 are six, institute
Fixed platform 41 and moving platform 42 structure in rounded shape stated, moving platform 42 are located at directly over fixed platform 41, and connecting seat 43 is installed
On the upper surface of fixed platform 41, and connecting seat 43 is in equilateral triangle location arrangements on fixed platform 41, and Triangulum 48 is arranged on
On the lower surface of moving platform 42, and the installation site between connecting seat 43 and Triangulum 48 is interlocked two-by-two, and Triangulum 48 is in positive three
Angular column structure, Triangulum 48 are respectively symmetrically provided with inclined plane along its vertical center line, are offered in inclined plane and lower ball
The installation screwed hole that the upper external screw thread of hinge 47 is engaged, the bottom of electric pushrod 45 are connected by upper spherical hinge 44 with connecting seat 43
Connect, the top of electric pushrod 45 is connected with the lower end of block plate seat 46, and the upper end of block plate seat 46 is connected with lower one end of spherical hinge 47, lower ball
The other end of hinge 47 is arranged on Triangulum 48, limit spring 49 around being enclosed on electric pushrod 45, and the one end of limit spring 49 with
Electric pushrod 45 is connected, and the other end of limit spring 49 is connected with block plate seat 46；Pass through the upper and lower flexible fortune of electric pushrod 45
It is dynamic, so as to drive pumping for moving platform 42, and add by limit spring 49 stationarity of moving platform 42, this hair
The bright Stewart parallel institutions 4 using 6-SPS, rigidity is big compared with serial mechanism, Stability Analysis of Structures, and bearing capacity is strong and fine motion
Precision is high, and Stewart parallel institutions 4 can carry out the motion that three translations three rotate six-freedom degree direction altogether in space, and transport
It is dynamic it is flexible, space is small, movement velocity is fast, kinematic dexterity is good, Stewart parallel institutions 4 are applied in the present invention,
On the one hand the regulation to 5 overall orientation angles of filming apparatus is served so that the present invention can carry out full angle under various postures
Comprehensive no dead angle carries out shooting operation；On the other hand the damping performance of the present invention is improved by Stewart parallel institutions 4,
Even at jolt or nonequilibrium condition under when, filming apparatus 5 is in horizontal plateau all the time, prevents filming apparatus 5 from existing
Because of jitter or obliquity excessive the problem of causing shooting picture difference during shooting operation, further increase present invention shooting and make
Stability and security during industry.
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；The described lower end of pedestal 51 is provided with base station, and the upper end of pedestal 51 is provided with ring, under ring
Half section of outside is evenly arranged with scale mark, overall rotation of the scale mark to filming apparatus 5 in the horizontal plane along its circumferencial direction
The regulation of gyration serves reference role, and external screw thread is provided with the outside of ring upper semisection, annular cavity is provided with the inside of ring,
Rotating disk 52 is located inside pedestal upper end, and the lower end of rotating disk 52 is provided with electric rotating machine, and electric rotating machine and the base of pedestal lower end
Platform is connected to a fixed, and semi-circular recesses are provided with the lateral wall of rotating disk 52, and ball 53 is arranged between pedestal and rotating disk 52,
And the side of ball 53 is stuck in the annular cavity on the inside of ring, the opposite side of ball 53 is stuck in the semicircle on the lateral wall of rotating disk 52
Groove；The described quantity of fixing device 54 is two, and fixing device 54 is respectively symmetrically arranged in the left and right sides of rotating disk 52, presses dress
Put 55 and be located at the rear side end of fixing device 54,56 hemispherical shell structure of containment envelope, the lower end inside of containment envelope 56 is provided with
With the internal thread that external screw thread is engaged on the outside of the ring upper semisection of pedestal, containment envelope 56 is located above pedestal, containment envelope 56
Material is clear perspex material, is easy to the installation and dismounting of containment envelope 56, protection by the way of screw thread installation connection
Outer cover 56 serves the effect of waterproof and anti-fall junk to filming apparatus 5, simultaneously because the material of containment envelope 56 is transparent, no
Influence the progress of shooting operation.
As shown in Figure 3 and Figure 4, described fixing device 54 includes shifting sledge 541, position limiting slide block 542, clamping screw
543rd, horizontal solid lock mechanism 544 and longitudinal solid lock mechanism 545；Spacing hole is uniformly offered on described shifting sledge 541, it is spacing
Sliding block 542 is arranged on shifting sledge 541, and is carried out between position limiting slide block 542 and shifting sledge 541 by clamping screw 543
It is locked, 542 T-shaped structure of position limiting slide block, the horizontal quantity of solid lock mechanism 544 is two, and horizontal solid lock mechanism 544 is located at respectively
The front and rear sides of position limiting slide block 542, longitudinal solid lock mechanism 545 are located at directly over position limiting slide block 542；Described horizontal solid lock mechanism
544 include cross-brace plate 5441, laterally steering bar 5442, horizontal locking spring 5443, lateral connection post 5444 and laterally lock
Tight first 5445；Described cross-brace plate 5441 is L-type structure, and is connected between cross-brace plate 5441 and position limiting slide block 542,
Laterally steering bar 5442 is between cross-brace plate 5441 and horizontal locking head 5445, and horizontal locking spring 5443 is positioned at laterally
The outside of guide rod 5442, and the one end of horizontal locking spring 5443 is connected by lateral connection post 5444 with cross-brace plate 5441
Connect, the horizontal other end of locking spring 5443 is connected by lateral connection post 5444 with horizontal locking head 5445, horizontal locking head
5445 be in waist type plate-like structure；Described longitudinal solid lock mechanism 545 include longitudinal supporting plate 5451, longitudinally guiding bar 5452,
Longitudinal locking spring 5453, longitudinally connected post 5454 and longitudinal locking head 5455；Described longitudinal supporting plate 5451 is in the L to stand upside down
Type structure, and the outside of longitudinal supporting plate 5451 is provided with connection floor, longitudinally guiding bar 5452 is located at longitudinal locking spring 5453
Inner side, longitudinal both ends of locking spring 5453 by longitudinally connected post 5454 respectively with longitudinal supporting plate 5451 and longitudinal locking head
5455 are connected, and longitudinal locking head 5455 is in rake shape structure, and longitudinal front end of locking head 5455 is evenly arranged with locking jaw, and locks
The tight wedge shaped structure of pawl, flexible sponge block is set on locking jaw lower surface.During concrete operations, first according to the chi of installation camera
Very little model size, corresponding matching size is adjusted by motion of the mobile position limiting slide block 542 on shifting sledge 541, is used in combination
Clamping screw 543 is locked, while the fixation that position limiting slide block 542 is served to camera right position is spacing；Then will
Camera is placed between two horizontal solid lock mechanisms 544, and horizontal solid lock mechanism 544 is served to the spacing solid of camera front and back position
It is set for using, longitudinal solid lock mechanism 545 serves the spacing fixation to camera top position, and the horizontal He of solid lock mechanism 544
Longitudinal solid lock mechanism 545 is easy to adjust quick, and solid lock dynamics is adapted to, by fixing device 54 to around camera and up and down
Position be locked, it is therefore prevented that the phenomenon that camera slips during shooting operation, improve shooting of the present invention
The safety and stability of operation.
As shown in Figure 3 and Figure 5, described device 55 of pressing includes pressing guide rail 551, sealing block 552, directive wheel 553, point
By motor 554, press rotating shaft 555, press bearing 556, be oriented to slide bar 557, press lifting column 558, the first shrinking connecting-rod 559,
First motor 5510, the second motor 5511, transition rotating shaft 5512, the second shrinking connecting-rod 5513 and point head 5514；Described point
It is two by the quantity of guide rail 551, presses the inner side of guide rail 551 and offer matrix guide groove, press the left and right ends of guide rail 551 and pass through envelope respectively
Buccal mass 552 carries out spacing, and directive wheel 553, which is located at, to be pressed in matrix guide groove on guide rail 551, is pressed motor 554 and is located at directive wheel
Between 553, press motor 554 and use Biaxial synchronous output motor, press the one end of rotating shaft 555 and be connected with directive wheel 553, press
The other end of rotating shaft 555 is connected with pressing the output shaft of motor 554, presses the lower end of bearing 556 and is provided with motor connecting base, presses branch
The middle part of seat 556 is provided with mobile bar, and mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding axle
Hold, press the upper end of bearing 556 and be provided with and press platform, and press to be provided with platform and press turntable, be oriented to slide bar 557 and be located at point
By directly over guide rail 551, and it is oriented to the both ends of slide bar 557 and is respectively arranged with and press ear mount, presses ear mount and be fixed on and press guide rail 551
On, sliding bearing, which is arranged on, to be oriented on slide bar 557, is pressed the bottom of lifting column 558 and is fixed on and press on turntable, presses lifting column
558 tops are connected with the first shrinking connecting-rod 559, and the main shaft of the first motor 5510 is connected with the one end of the first expansion link 559, the second electricity
Machine 5511 is located above the other end of the first shrinking connecting-rod 559, and the main shaft of the second motor 5511 is another through the first shrinking connecting-rod 559
End is connected with the upper end of transition rotating shaft 5512, and the lower end of transition rotating shaft 5512 is mutually fixed with the one end of the second shrinking connecting-rod 5513, and second
A head 5514 is installed, and it is in round-like structure to put head 5514 below the other end of shrinking connecting-rod 5513.By pressing motor
554 rotational band dynamic point presses the rotation of rotating shaft 555, it is achieved thereby that directive wheel 553 is transported in the matrix guide groove for pressing slide rail 551
Dynamic function, while by pressing bearing 556 and being oriented to being used cooperatively for slide bar 557, on the one hand serve to pressing device 55
Supporting role, on the other hand also play the effect of the guiding movement to pressing device 55, can be right by pressing lifting column 558
The height for pressing device 55 is adjusted, and the rotation of the first shrinking connecting-rod 559 can be driven by the rotation of the first motor 5510, is led to
The rotation of the second shrinking connecting-rod 5513 can be driven by crossing the rotation of the second motor 5511, and the first shrinking connecting-rod 559 and second is flexible
Connecting rod 5513 can carry out telescopic, press device 55 three translations two can be carried out in space and rotate totally five free degree directions
Motion, and move it is flexible, it is easy to adjust, contraposition can be adjusted to camera shooting push button by pressing device 55 and touch
Press, and align precisely, press quick.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (3)
1. a kind of aquatic environment monitors cruise robot manipulator, it is characterised in that：Including lowering or hoisting gear, Stewart simultaneously
Online structure and filming apparatus；Described Stewart parallel institutions are between lowering or hoisting gear and filming apparatus, and Stewart is simultaneously
Online structure lower end is connected with lowering or hoisting gear, and Stewart parallel institutions 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 lifts push rod upper end and is connected with lifting round platform lower surface below lifting round platform, and electric turntable is fixed on lifting
Round platform upper surface center position；
Described Stewart parallel institutions include fixed platform, moving platform, connecting seat, upper spherical hinge, electric pushrod, block plate seat, under
Spherical hinge, Triangulum and limit spring；Described connecting seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate seat
Quantity with lower spherical hinge is six, and described fixed platform and moving platform structure in rounded shape, moving platform are being located at fixed platform just
Top, connecting seat are arranged on the upper surface of fixed platform, and connecting seat is in equilateral triangle location arrangements on fixed platform, Triangulum
On moving platform lower surface, and the installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum is in positive triangle
Shape column structure, Triangulum are respectively symmetrically provided with inclined plane along its vertical center line, are offered in inclined plane and lower spherical hinge
The installation screwed hole that upper external screw thread is engaged, electric pushrod bottom are connected by upper spherical hinge with connecting seat, 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, and the lower spherical hinge other end is arranged on three
In angled seat, limit spring is around being enclosed on electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end
It is connected with block plate seat；
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, and ring lower semisection outside is evenly arranged with graduated scale along its circumferencial direction
Note, ring upper semisection outside are provided with external screw thread, annular cavity are provided with the inside of ring, and rotating disk is located inside pedestal upper end,
Rotating disk lower end is provided with electric rotating machine, and electric rotating machine and the base station of pedestal lower end are connected to a fixed, on rotate the outside of the disc wall
Semi-circular recesses are provided with, ball is arranged between pedestal and rotating disk, and ball side is stuck in the annular cavity on the inside of ring
Interior, ball opposite side is stuck in the semi-circular recesses on rotate the outside of the disc wall；Described fixing device quantity is two, fixing device point
It is not arranged symmetrically at left and right sides of rotating disk, presses device and be located at fixing device rear side end, the hemispherical housing knot of containment envelope
Structure, containment envelope lower end inside are provided with the internal thread that external screw thread is engaged on the outside of the ring upper semisection with pedestal, containment envelope
Above pedestal, containment envelope material is clear perspex material；
Described fixing device includes shifting sledge, position limiting slide block, clamping screw, horizontal solid lock mechanism and longitudinal solid lock mechanism；
Spacing hole is uniformly offered on described shifting sledge, position limiting slide block is arranged on shifting sledge, and position limiting slide block is slided with mobile
It is locked between rail by clamping screw, the T-shaped structure of position limiting slide block, horizontal solid lock mechanism quantity is two, laterally solid
Latch mechanism is located at position limiting slide block front and rear sides respectively, and longitudinal solid lock mechanism is located at directly over position limiting slide block；
Described device of pressing includes pressing guide rail, sealing block, directive wheel, presses motor, press rotating shaft, press bearing, be oriented 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 on the inside of guide rail, presses guide rail left and right ends and pass through envelope respectively
Buccal mass progress is spacing, and directive wheel is located in the matrix guide groove pressed on guide rail, presses motor between directive wheel, presses motor
Using Biaxial synchronous output motor, press rotating shaft one end and be connected with directive wheel, press the rotating shaft other end and press motor output
Axle is connected, and presses bearing lower end and is provided with motor connecting base, presses and is provided with mobile bar, mobile bar rear and front end in the middle part of bearing
Mobile base is respectively arranged with, Mobile base lower end is provided with sliding bearing, presses bearing upper end and is provided with and press platform, and presses flat
It is provided with platform and presses turntable, guiding slide bar, which is located at, is pressed directly over guide rail, and guiding slide bar both ends are respectively arranged with and press ear
Seat, press ear mount and be fixed on and press on guide rail, sliding bearing, which is arranged on, to be oriented on slide bar, is pressed lifting column bottom and is fixed on and presses
On turntable, to press lifting top end and be connected with the first shrinking connecting-rod, the first electric machine main shaft is connected with first expansion link one end, the
Two motors are located above the first shrinking connecting-rod other end, and the second electric machine main shaft turns through the first shrinking connecting-rod other end and transition
Axle upper end is connected, and transition rotating shaft lower end is mutually fixed with second shrinking connecting-rod one end, is installed below the second shrinking connecting-rod other end
There is a head, and it is in round-like structure to put head.
A kind of 2. aquatic environment monitoring cruise robot manipulator according to claim 1, it is characterised in that：It is described
Horizontal solid lock mechanism include cross-brace plate, laterally steering bar, horizontal locking spring, lateral connection post and horizontal locking head；
Described cross-brace plate is L-type structure, and is connected between cross-brace plate and position limiting slide block, and laterally steering bar is positioned at laterally branch
Between fagging and horizontal locking head, horizontal locking spring is located on the outside of laterally steering bar, and horizontal locking spring one end passes through horizontal stroke
It is connected to connecting pole with cross-brace plate, the horizontal locking spring other end is connected by lateral connection post with horizontal locking head
Connect, horizontal locking head is in waist type plate-like structure.
A kind of 3. aquatic environment monitoring cruise robot manipulator according to claim 1, it is characterised in that：It is described
Longitudinal solid lock mechanism include longitudinal supporting plate, longitudinally guiding bar, longitudinal locking spring, longitudinally connected post and longitudinal locking head；
Described longitudinal supporting plate is provided with connection floor in the L-type structure stood upside down on the outside of longitudinal supporting plate, and longitudinally guiding bar is located at
On the inside of longitudinal locking spring, longitudinal locking spring both ends by longitudinally connected post respectively with longitudinal supporting plate and longitudinal locking head phase
Connection, longitudinal locking head is in rake shape structure, and longitudinal locking head front end is evenly arranged with locking jaw, and the wedge shaped knot of locking jaw
Structure, flexible sponge block is set 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 CN105936048A (en) | 2016-09-14 |
| CN105936048B true CN105936048B (en) | 2017-12-22 |
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| 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 |
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| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| 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 |
| 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 |
| CN110815245A (en) * | 2019-11-19 | 2020-02-21 | 清华大学 | Service robot for welcoming |
| 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 |
| 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 |
| 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 |
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| JPH1179652A (en) * | 1997-09-17 | 1999-03-23 | Fuji Xerox Ryutsu Kk | Cargo pinch apparatus |
| JP3754540B2 (en) * | 1997-10-17 | 2006-03-15 | 蛇の目ミシン工業株式会社 | Spring balance adjustment device for Z direction machine base in articulated robot |
| DE19753949C2 (en) * | 1997-12-05 | 1999-12-02 | Doege Eckart | Flexible forming press with controllable non-linear slide movement |
| CN101487510B (en) * | 2009-02-24 | 2012-04-04 | 江苏大学 | Multidimensional vibration-isolating apparatus |
| 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 |
| 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 |
| CN103587724B (en) * | 2013-09-24 | 2016-04-13 | 南京航空航天大学 | A kind of six-degree-of-freedom vibration isolation platform based on Stewart parallel institution |
| CN203767074U (en) * | 2014-04-03 | 2014-08-13 | 储德江 | Self-stabilization aerial photography cloud deck based on parallel mechanism |
| 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 |
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- 2016-06-23 CN CN201610470863.4A patent/CN105936048B/en active Active
- 2016-06-23 CN CN201810014899.0A patent/CN108145723B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108145723A (en) | 2018-06-12 |
| CN108145723B (en) | 2021-05-07 |
| CN105936048A (en) | 2016-09-14 |
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Inventor after: Li Jianying Inventor after: Wang Hongbo Inventor after: Cao Yu Inventor before: He Cheng |
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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 |
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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. |