CN106002944A - Multi-degree-of-freedom manipulator for intelligent robot for over-water filming operation - Google Patents
Multi-degree-of-freedom manipulator for intelligent robot for over-water filming operation Download PDFInfo
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- CN106002944A CN106002944A CN201610464035.XA CN201610464035A CN106002944A CN 106002944 A CN106002944 A CN 106002944A CN 201610464035 A CN201610464035 A CN 201610464035A CN 106002944 A CN106002944 A CN 106002944A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title abstract description 25
- 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 14
- 230000006698 induction Effects 0.000 claims description 12
- 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
- 239000004744 fabric Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 27
- 230000033228 biological regulation Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000013519 translation Methods 0.000 description 4
- 230000014616 translation Effects 0.000 description 4
- 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
- 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
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- 239000008239 natural water Substances 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
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention relates to a multi-degree-of-freedom manipulator for an intelligent robot for over-water filming operation. The multi-degree-of-freedom manipulator comprises a lifting device, a delta parallel mechanism and a filming device. The delta parallel mechanism is located between the lifting device and the filming device, the lower end of the delta parallel mechanism is connected with the lifting device, and the upper end of the delta parallel mechanism is connected with the filming device. The multi-degree-of-freedom manipulator has an azimuth angle adjusting function, a camera fixing function and a filming operation function, the function of monitoring the water surface environment can be achieved through an unmanned automatic filming mode, the intelligence level is high, the azimuth angle is adjusted conveniently and flexibly, a camera is fixed conveniently and stably, and filming speed and filming quality are high.
Description
Technical field
The present invention relates to waters field of work machines, a kind of shooting operation intelligent robot multiple degrees of freedom machine waterborne
Tool hands.
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 bat waterborne
Take the photograph operation intelligent robot Multi-freedom-degreemanipulator manipulator.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of shooting operation intelligent robot multi freedom degree mechanical waterborne
Hands.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne, including lowering or hoisting gear, delta parallel institution and bat
Take the photograph device；Described delta parallel institution is between lowering or hoisting gear and filming apparatus, and delta parallel institution lower end and liter
Falling unit is connected, and delta 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 delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel connection
Motor, the first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described
Fixed platform and moving platform the most rounded shape structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface in equilateral triangle shape centered by the center of circle of fixed platform, and rotating basis is with moving platform
The center of circle centered by be arranged on moving platform lower surface in equilateral triangle shape, and motor cabinet installation site and rotating basis installation site
One_to_one corresponding respectively, parallel-connected induction motors is fixed installation by motor cabinet, and parallel-connected induction motors uses adjustable speed twin shaft output motor,
First rotating shaft one end is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, under first connecting rod
Using rotational pin to be attached between end and second connecting rod upper end, second connecting rod lower end is connected with second rotating shaft one end, second turn
The axle other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing and moving platform upper surface phase
Fixing, rotating basis upper end is provided with the double end sleeve matched with the second rotating shaft, in first connecting rod middle inside and second connecting rod
Middle side part is provided with the first mounting seat and the second mounting seat respectively, limit spring between the first mounting seat and the second mounting seat,
And limit spring upper end is connected with the first mounting seat, limit spring lower end is connected with the second mounting seat；During specific works, logical
That crosses parallel-connected induction motors rotates the rotation driving the first rotating shaft, and first connecting rod and the first rotating shaft are coaxially connected, thus by first
The rotation rotating drive second connecting rod of connecting rod, and then drive the motion of moving platform, and reduce delta also by limit spring
Jitter during connection mechanism kinematic, adds the stationarity of delta parallel institution motion, delta parallel institution and serial mechanism phase
Specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution can enter in space in motion
Row three translates the motion in three rotations six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good, will
Delta parallel institution is applied in the present invention, on the one hand serves the regulation to filming apparatus entirety orientation angles so that this
Bright can carry out under various attitudes full angle comprehensive without dead angle carry out shoot operation；On the other hand carried by delta parallel institution
The high damping performance of the present invention, even at jolting or time under nonequilibrium condition, filming apparatus is in the steady shape of level all the time
State, prevents filming apparatus when shooting operation because of jitter or the excessive problem causing shooting picture difference of obliquity, carries further
Stability when the high 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) the delta parallel institution of the present invention can carry out the motion in three translations three rotation six-freedom degree directions altogether in space,
And space is little, movement velocity is fast, kinematic dexterity is good, is applied in the present invention by delta parallel institution, on the one hand rise
Arrive the regulation to filming apparatus entirety orientation angles so that it is comprehensive without dead angle that the present invention can carry out full angle under various attitudes
Carry out shooting operation；On the other hand improve the damping performance of the present invention by delta parallel institution, even at jolting or
Time under nonequilibrium condition, filming apparatus is in horizontal plateau all the time, prevent filming apparatus when shooting operation because of jitter or
Person's obliquity is excessive causes the problem of shooting picture difference, further increases the stability when present invention shoots operation 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 delta 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 shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne, including lowering or hoisting gear 3,
Delta parallel institution 4 and filming apparatus 5；Described delta parallel institution 4 between lowering or hoisting gear 3 and filming apparatus 5,
And delta parallel institution 4 lower end is connected with lowering or hoisting gear 3, delta parallel institution 4 upper end is connected with filming apparatus 5.
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 delta parallel institution 4 include fixed platform 41, moving platform 42, motor cabinet 43,
Parallel-connected induction motors the 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod the 48, second rotating shaft 49, rotating basis
410 and limit spring 411；Described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at fixed platform
Directly over 41, the quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is centered by the center of circle of fixed platform 41
Be fixed in equilateral triangle shape on fixed platform 41 upper surface, rotating basis 410 centered by the center of circle of moving platform 42 in positive triangle
Arrangements is on moving platform 42 lower surface, and one a pair respectively of motor cabinet 43 installation site and rotating basis 410 installation site
Should, parallel-connected induction motors 44 is fixed installation by motor cabinet 43, and parallel-connected induction motors 44 uses adjustable speed twin shaft output motor, the
One rotating shaft 45 one end is connected with parallel-connected induction motors 44 main shaft, and first rotating shaft 45 other end is connected with first connecting rod 46 upper end,
Rotational pin 47 is used to be attached between first connecting rod 46 lower end and second connecting rod 48 upper end, second connecting rod 48 lower end and second
Rotating shaft 49 one end is connected, and second rotating shaft 49 other end is arranged on rotating basis 410, and rotating basis 410 lower end is provided with
Swivel bearing, and swivel bearing fixes with moving platform 42 upper surface, rotating basis 410 upper end is provided with and the second rotating shaft 49
The double end sleeve matched, first connecting rod 46 middle inside and second connecting rod 48 middle inside are provided with the first mounting seat respectively
With the second mounting seat, limit spring 411 is between the first mounting seat and the second mounting seat, and limit spring 411 upper end and the
One mounting seat is connected, and limit spring 411 lower end is connected with the second mounting seat；During specific works, motor 44 in parallel
Rotate the rotation driving the first rotating shaft 45, and first connecting rod 46 is coaxially connected with the first rotating shaft 45, thus pass through first connecting rod
The rotation rotating drive second connecting rod 48 of 46, and then drive the motion of moving platform 42, and reduced by limit spring 411
Jitter when delta parallel institution 4 moves, adds the stationarity of delta parallel institution 4 motion, delta parallel institution 4
Big with serial mechanism phase specific stiffness, flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, delta parallel institution 4 in motion
Three translations three can be carried out in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, motion
Motility is good；Delta parallel institution 4 is applied in the present invention, on the one hand serves orientation angles overall to filming apparatus 5
Regulation 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 pass through
Delta parallel institution 4 improves the damping performance of the present invention, even at jolting or time under nonequilibrium condition, and filming apparatus 5
All the time it is in horizontal plateau, prevents filming apparatus 5 when shooting operation because jitter or obliquity excessive causing shoot picture
The problem of face difference, further increases 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 551 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. a shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne, it is characterised in that: include lowering or hoisting gear, delta
Parallel institution and filming apparatus；Described delta parallel institution is between lowering or hoisting gear and filming apparatus, and delta is in parallel
Mechanism lower end is connected with lowering or hoisting gear, and delta parallel institution upper end is connected with filming apparatus；Wherein:
Described delta parallel institution include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, the first rotating shaft, first connecting rod,
Rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform the most rounded shape knot
Structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet with the center of circle of fixed platform is
Center is that equilateral triangle shape is fixed on fixed platform upper surface, rotating basis centered by the center of circle of moving platform in equilateral triangle shape cloth
Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site one_to_one corresponding respectively, parallel-connected induction motors passes through
Motor cabinet is fixed installation, and parallel-connected induction motors uses adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors main shaft
Being connected, the first rotating shaft other end is connected with first connecting rod upper end, uses and turn between first connecting rod lower end and second connecting rod upper end
Untie-sell is attached, and second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotating basis,
Rotating basis lower end is provided with swivel bearing, and swivel bearing fixes with moving platform upper surface, rotating basis upper end be provided with
The double end sleeve that second rotating shaft matches, first connecting rod middle inside and second connecting rod middle inside are provided with the first installation respectively
Seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and limit spring upper end is installed with first
Seat is connected, and limit spring lower end is connected with the second mounting seat；
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 latch mechanism the most admittedly includes cross-brace plate, laterally steering bar, horizontal locking spring, lateral connection post and laterally
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 position
Between cross-brace plate and horizontal locking head, horizontal locking spring is positioned at outside laterally steering bar, and laterally locking spring one end
Being connected with cross-brace plate by lateral connection post, the horizontal locking spring other end passes through lateral connection post and horizontal locking head phase
Connecting, horizontal locking head is waist type plate-like structure；
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.
One the most according to claim 1 shooting waterborne operation intelligent robot Multi-freedom-degreemanipulator manipulator, it is characterised in that:
Described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；Described lifting push rod quantity is four, lifts push rod
Being positioned at below lifting round platform, and lifting push rod upper end is connected with lifting round platform lower surface, electric turntable is fixed on lifting round platform
End face center position.
One the most according to claim 1 shooting waterborne operation intelligent robot Multi-freedom-degreemanipulator manipulator, it is characterised in that:
The solid latch mechanism of described longitudinal direction includes longitudinal supporting plate, longitudinally guiding bar, longitudinal locking spring, longitudinally connected post and longitudinally 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, longitudinally guiding bar
Be positioned at inside longitudinal locking spring, longitudinal locking spring two ends by longitudinally connected post respectively with longitudinal supporting plate and longitudinal direction locking head
Being connected, longitudinal locking head is rake shape structure, and longitudinal locking head front end is evenly arranged with locking jaw, and the wedge shaped knot of locking jaw
Structure, locking jaw lower surface is provided with flexible sponge block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464035.XA CN106002944B (en) | 2016-06-23 | 2016-06-23 | A kind of shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464035.XA CN106002944B (en) | 2016-06-23 | 2016-06-23 | A kind of shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002944A true CN106002944A (en) | 2016-10-12 |
| CN106002944B CN106002944B (en) | 2017-12-05 |
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| CN201610464035.XA Expired - Fee Related CN106002944B (en) | 2016-06-23 | 2016-06-23 | A kind of shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110803264A (en) * | 2019-11-06 | 2020-02-18 | 广东精铟海洋工程股份有限公司 | Attitude compensation device and overwater operation platform |
| CN114683250A (en) * | 2022-03-25 | 2022-07-01 | 中铁科工集团有限公司 | Lifting anti-falling assembly and welding robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106002944B (en) | 2017-12-05 |
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