CN106041888A - Parallel-connection manipulator for water quality surface environment shooting and acquiring intelligent equipment - Google Patents
Parallel-connection manipulator for water quality surface environment shooting and acquiring intelligent equipment Download PDFInfo
- Publication number
- CN106041888A CN106041888A CN201610463990.1A CN201610463990A CN106041888A CN 106041888 A CN106041888 A CN 106041888A CN 201610463990 A CN201610463990 A CN 201610463990A CN 106041888 A CN106041888 A CN 106041888A
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- Prior art keywords
- presses
- platform
- press
- rod
- shooting
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Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention relates to a parallel-connection manipulator for water quality surface environment shooting and acquiring intelligent equipment. The parallel-connection manipulator comprises a lifting device, a three-degree-of-freedom parallel-connection mechanism and a shooting device, wherein the three-degree-of-freedom parallel-connection mechanism is located between the lifting device and the shooting device, the lower end of the three-degree-of-freedom parallel-connection mechanism is connected with the lifting device; and the upper end of the three-degree-of-freedom parallel-connection mechanism is connected with the shooting device. The parallel-connection manipulator has the functions of orientation angle adjustment, camera fixing and shooting operation; the function of monitoring on a water surface environment can be realized through an unmanned automatic shooting mode; the intelligent degree is high; orientation angle adjustment is convenient and flexible; a camera can be fixed conveniently and stably; and shooting is rapid and high-quality.
Description
Technical field
The present invention relates to waters field of work machines, a kind of water quality table environment shooting, collecting intelligence equipment is used
Parallel manipulator.
Background technology
Water environment refers to the formation of water in nature, is distributed and converts the environment in residing space, refers to around people's group space
And can directly or indirectly affect the water body of human lives and development, the various natural causes of its normal function and relevant society because of
Plain is overall；Also referring to of having is metastable, the environment in space residing for natural water area with land as border, at the earth's surface,
Coverage of water accounts for 71% that earth surface is long-pending, and water is made up of, respectively with total Water ocean water and terrestrial water two part
97.28% and 2.72%.Shared by the latter, sum-rate is the least, 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 includes river, lake, reservoir, ocean, pond, marsh, ice
River etc., groundwater environment includes spring water, phreatic water, deep phreatic water etc., water environment be composing environment fundamental it
One, it is the important place depended on for existence and development of human society, 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 water
Produce cultivation, water transportation waterborne, water resource generating etc., progressively increasing water resource utilized along with people, therewith waterborne
Operation also gets more and more, and such as aquatic environment monitoring observation, water surface traffic cruise, waters shooting passback, water-quality observation, waterborne searches
Helping and help etc., the one side all be unableing to do without for above work at present shoots operation exactly, first to water environment table body
Carrying out data and picture analysis after carrying out photo acquisition, finding out useful information, at present mostly people is for shooting operation waterborne
Work is gone by ship handheld camera shooting, 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, present shooting
Operation many employings spider, but regulation orientation angles is limited, and very flexible when regulating, it is poor to stablize, when causing shooting by
Fluctuation in motion carrier causes shooting picture jitter big, the quality of impact shooting.In view of the above circumstances, the invention provides
A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of water quality table environment shooting, collecting intelligence equipment with also
Connection mechanical hand.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator, including lowering or hoisting gear, freedom degree parallel connection
Mechanism and filming apparatus；Described 3-freedom parallel mechanism is between lowering or hoisting gear and filming apparatus, and Three Degree Of Freedom is also
Online structure lower end is connected with lowering or hoisting gear, and 3-freedom parallel mechanism 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 is positioned at below lifting round platform, and lifts push rod upper end and lifting round platform lower end
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 3-freedom parallel mechanism include fixed platform, moving platform, ear mount,
Rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring, and ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit
The quantity of position spring is three；Described fixed platform and moving platform the most rounded shape structure, and moving platform is positioned at fixed platform and just goes up
Side, ear mount is positioned on the upper surface of fixed platform, and the installation angle between ear mount is 60 degree, connects seat and is positioned under moving platform
On end face, and ear mount distinguishes one_to_one corresponding with being connected seat；Described electric pushrod bottom is arranged in ear mount by rotating shaft, electronic
Push rod top is attached by spherical hinge with being connected between seat, and limit spring is around being enclosed within electric pushrod upper end；During specific works,
The motion of moving platform can be driven by pumping of electric pushrod, and reduce freedom degree parallel connection by limit spring
Jitter during mechanism kinematic, adds the stationarity of 3-freedom parallel mechanism motion, 3-freedom parallel mechanism and cascade machine
Structure phase specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism uses 3-in motion
The form of the parallel institution of RPS, is applied to 3-freedom parallel mechanism in the present invention, on the one hand serves filming apparatus whole
The regulation of body orientation angles 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 improve the damping performance of the present invention by 3-freedom parallel mechanism, even at jolting or nonequilibrium condition
Time lower, filming apparatus is in horizontal plateau all the time, prevents filming apparatus when shooting operation because of jitter or obliquity
The excessive problem causing shooting picture difference, further increases the stability when present invention shoots operation and safety.
As a further improvement on the present invention, described filming apparatus includes pedestal, rotating disk, ball, fixing device, point
By device and containment envelope；Described pedestal lower end is provided with base station, and pedestal upper end is provided with ring, edge outside ring lower semisection
Its circumferencial direction is evenly arranged with scale mark, the scale mark regulation to filming apparatus integral-rotation angle in the horizontal plane
Serving reference role, be provided with external screw thread outside ring upper semisection, be provided with annular cavity inside ring, rotating disk is positioned at base
Inside seat 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, rotation
Being provided with semi-circular recesses on dish lateral wall, ball is arranged between pedestal and rotating disk, and ball side is stuck in inside ring
Annular cavity in, ball opposite side is stuck in the semi-circular recesses on rotating disk lateral wall；Described fixing device quantity is two,
Fixing device is respectively symmetrically and is arranged in the rotating disk left and right sides, presses device and is positioned at fixing device rear side end, and containment envelope is in half
Spherical shell structure, containment envelope lower end inside is provided with the interior spiral shell matched with external screw thread outside the ring upper semisection of pedestal
Stricture of vagina, containment envelope is positioned at above pedestal, and containment envelope material is clear perspex material, uses screw thread to install the mode connected
Being easy to installation and the dismounting of containment envelope, containment envelope serves the effect of waterproof and anti-fall junk to filming apparatus, simultaneously by
Material in containment envelope is transparent, does not affect the carrying out of shooting operation.
As a further improvement on the present invention, described fixing device include shifting sledge, position limiting slide block, clamping screw,
The most admittedly latch mechanism and the most admittedly latch mechanism；Uniformly offering spacing hole on described shifting sledge, position limiting slide block is arranged on shifting
On dynamic slide rail, and it is locked by clamping screw between position limiting slide block and shifting sledge, the T-shaped structure of position limiting slide block,
The most admittedly 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 positioned at limit the most admittedly
Directly over the slide block of position；Described latch mechanism the most admittedly includes cross-brace plate, laterally steering bar, horizontal locking spring, laterally connects
Connect post and horizontal locking head；Described cross-brace plate is to be connected between L-type structure, and cross-brace plate and position limiting slide block, horizontal
To guide post 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 passes through lateral connection post
Being connected with horizontal locking head, horizontal locking head is waist type plate-like structure；The solid latch mechanism of described longitudinal direction 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
Being provided with connection floor outside structure, and longitudinal supporting plate, longitudinally guiding bar is positioned at inside longitudinal locking spring, longitudinally locking bullet
Spring two ends are connected with longitudinal supporting plate and longitudinal locking head respectively by longitudinally connected post, and longitudinal locking head is rake shape knot
Structure, longitudinal locking head front end is evenly arranged with locking jaw, and the wedge shaped structure of locking jaw, and locking jaw is provided with flexibility on lower surface
Sponge block.During concrete operations, first according to the size model size of installation camera, by mobile position limiting slide block on shifting sledge
Motion regulate corresponding matching size, and be locked with clamping screw, position limiting slide block serves camera simultaneously
Right position fixing spacing；Then camera being placed into two laterally consolidate between latch mechanism, it is right that horizontal latch mechanism admittedly serves
The spacing fixation of camera front and back position, latch mechanism serves the spacing fixation to camera top position the most admittedly, and
Laterally admittedly latch mechanism and the most admittedly latch mechanism easy to adjust fast, admittedly lock dynamics is suitable for, by fixing device to before and after camera, left
Right and upper and lower position is all locked, it is therefore prevented that the phenomenon that camera slips in shooting operation process, 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, pressing
Motor, press rotating shaft, press bearing, guide slide bar, press lifting column, the first shrinking connecting-rod, the first motor, the second motor, mistake
Cross rotating shaft, the second shrinking connecting-rod and some head；Described guide rail quantity of pressing is two, presses and offers matrix inside guide rail and lead
Groove, presses two ends, guide rail left and right and carries out spacing by sealing block respectively, and directive wheel is positioned at the matrix guide groove pressed 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 to be connected with pressing motor output shaft, 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 and props up
Seat upper end is provided with and presses platform, and presses to be provided with on platform and press turntable, guides slide bar and is positioned at and presses directly over guide rail, and
Guiding slide bar two ends to be respectively arranged with and presses ear mount, press ear mount and be fixed on and press on guide rail, it is sliding that sliding bearing is arranged on guiding
On bar, press lifting column bottom and be fixed on and press on turntable, press lifting column top and connect and have the first shrinking connecting-rod, the first motor
Main shaft and first expansion link one end are connected, and the second motor is positioned at above the first shrinking connecting-rod other end, and the second electric machine main shaft
Being connected through the first shrinking connecting-rod other end with transition rotating shaft upper end, transition rotating shaft lower end and second shrinking connecting-rod one end are solid mutually
Fixed, a head is installed below the second shrinking connecting-rod other end, and some head is round table-like structure.By pressing the rotation of motor
Drive the rotation pressing rotating shaft, it is achieved thereby that the function that directive wheel moves in the matrix guide groove pressing slide rail, pass through simultaneously
Press bearing and guide slide bar with the use of, on the one hand serve the supporting role pressing device, on the other hand also function to
Effect to the guiding movement pressing device, can be adjusted the height pressing device by pressing lifting column, by
The rotation of one motor can drive the rotation of the first shrinking connecting-rod, can drive turning of the second shrinking connecting-rod by the rotation of the second motor
Move, and the first shrinking connecting-rod and the second shrinking connecting-rod all can carry out telescopic, press device and can carry out three translations in space
Two motions rotating totally five degree of freedom directions, and motion is flexibly, easy to adjust, can be to camera shooting push button by pressing device
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, is shot by unmanned automatization
Mode can realize the function to aquatic environment monitoring results, and intelligence degree is high, orientation angles is easy to adjust flexibly, camera
Convenient fixing is stable and shooting fast mass is high.
(2) form of the parallel institution of the 3-freedom parallel mechanism employing 3-RPS of the present invention, by three-freedom parallel
Structure is applied in the present invention, on the one hand serves the regulation to filming apparatus entirety orientation angles so that the present invention can be various
Carry out under attitude full angle comprehensive without dead angle carry out shoot operation；On the other hand improve this by 3-freedom parallel mechanism
The damping performance of invention, even at jolting or time under nonequilibrium condition, filming apparatus is in horizontal plateau all the time, anti-
Only filming apparatus is when shooting operation because of jitter or the excessive problem causing shooting picture difference of obliquity, 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, pass through
Around camera and upper and lower position is all locked by fixing device, it is therefore prevented that camera is at shooting operation process
The phenomenon of middle slippage, improves the present invention and shoots the safety and stability of operation；It presses device can carry out three in space
The motion in translation two rotation totally five degree of freedom directions, and motion is flexibly, easy to adjust, camera can be shot by pressing device
Button is adjusted para-position and touching and presses, 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 structural representation of 3-freedom parallel mechanism 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 knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator, including lifting dress
Put 3,3-freedom parallel mechanism 4 and filming apparatus 5；Described 3-freedom parallel mechanism 4 is positioned at lowering or hoisting gear 3 and shooting dress
Put between 5, and 3-freedom parallel mechanism 4 lower end is connected with lowering or hoisting gear 3,3-freedom parallel mechanism 4 upper end and shooting
Device 5 is connected.
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 surface is connected, and electric turntable 33 is fixed on lifting round platform 32 upper surface center position.
As depicted in figs. 1 and 2, described 3-freedom parallel mechanism 4 includes fixed platform 41, moving platform 42, ear mount 43, turns
Axle 44, electric pushrod 45, spherical hinge 46, connection seat 47 and limit spring 48, and ear mount 43, rotating shaft 44, electric pushrod 45, ball pivot
The quantity of chain 46, connection seat 47 and limit spring 48 is three；Described fixed platform 41 and moving platform 42 the most rounded shape structure,
And moving platform 42 is positioned at directly over fixed platform 41, ear mount 43 is positioned on the upper surface of fixed platform 41, and the installation between ear mount 43
Angle is 60 degree, connects seat 47 and is positioned on moving platform 42 lower surface, and ear mount 43 distinguishes one_to_one corresponding with being connected seat 47；Institute
Electric pushrod 45 bottom stated is arranged in ear mount 43 by rotating shaft 44, and ball is passed through with being connected between seat 47 in electric pushrod 45 top
Hinge 46 is attached, and limit spring 48 is around being enclosed within electric pushrod 45 upper end；During specific works, upper and lower by electric pushrod 45
Reciprocating motion can drive the motion of moving platform 42, and reduced when 3-freedom parallel mechanism 4 moves by limit spring 48 and tremble
Dynamic property, adds the stationarity of 3-freedom parallel mechanism 4 motion, 3-freedom parallel mechanism 4 and serial mechanism phase specific stiffness
Greatly, flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 uses the parallel connection of 3-RPS in motion
The form of mechanism, is applied to 3-freedom parallel mechanism 4 in the present invention, on the one hand serves orientation overall to filming apparatus 5
The regulation of angle so that the present invention can carry out under various attitudes full angle comprehensive without dead angle carry out shoot operation；The opposing party
Face improves the damping performance of the present invention by 3-freedom parallel mechanism 4, even at jolting or time under nonequilibrium condition,
Filming apparatus 5 is in horizontal plateau all the time, prevents filming apparatus 5 when shooting operation because jitter or obliquity are excessive
The problem causing shooting picture 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, under ring
Half section of outside is evenly arranged with scale mark along its circumferencial direction, and scale mark is to filming apparatus 5 overall rotation in the horizontal plane
The regulation of gyration 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 dress
Putting 55 and be positioned at fixing device 54 rear side end, the hemispherical shell structure of containment envelope 56, containment envelope 56 lower end inside is provided 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
Material is clear perspex material, uses screw thread to install the mode connected and is easy to installation and the dismounting of containment envelope 56, protection
Outer housing 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
The carrying out of impact 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
543, latch mechanism 544 and the most admittedly latch mechanism 545 the most admittedly；Spacing hole is uniformly offered on described shifting sledge 541, spacing
Slide 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 lays respectively at the most admittedly
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；Described latch mechanism the most admittedly
544 include cross-brace plate 5441, laterally steering bar 5442, horizontal locking spring 5443, lateral connection post 5444 and laterally lock
Tight 5445；Described cross-brace plate 5441 is to be connected between L-type structure, and 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
Outside guide post 5442, and laterally locking spring 5443 one end is connected with cross-brace plate 5441 by lateral connection post 5444
Connecing, horizontal locking spring 5443 other end is connected with horizontal locking head 5445 by lateral connection post 5444, horizontal locking head
5445 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 supporting plate 5451 is in the L stood upside down
Being provided with connection floor outside type structure, and longitudinal supporting plate 5451, longitudinally guiding bar 5452 is positioned at longitudinal locking spring 5453
Inner side, longitudinal locking spring 5453 two ends by longitudinally connected post 5454 respectively with longitudinal supporting plate 5451 and longitudinal direction locking head
5455 are connected, and longitudinal locking head 5455 is in rake shape structure, and longitudinal locking head 5455 front end is evenly arranged with locking jaw, and lock
The tight wedge shaped structure of pawl, locking jaw lower surface is provided with flexible sponge block.During concrete operations, first according to the chi installing camera
Very little model size, regulates corresponding matching size by the mobile position limiting slide block 542 motion on shifting sledge 541, and uses
Clamping screw 543 is locked, and position limiting slide block 542 serves and fixes spacing to camera right position simultaneously；Then will
Camera is placed into two laterally admittedly between latch mechanisms 544, the most admittedly latch mechanism 544 serve camera front and back position spacing solid
Being set for use, latch mechanism 545 serves the spacing fixation to camera top position, and latch mechanism 544 He the most admittedly the most admittedly
Longitudinally admittedly latch mechanism 545 is easy to adjust fast, admittedly lock dynamics is suitable for, by fixing device 54 to around camera and up and down
Position be all locked, it is therefore prevented that camera shooting operation process in slip phenomenon, improve the present invention shooting
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, guide slide bar 557, press lifting column the 558, first shrinking connecting-rod 559,
First motor the 5510, second motor 5511, transition rotating shaft the 5512, second shrinking connecting-rod 5513 and some head 5514；Described point
It is two by guide rail 551 quantity, presses and inside guide rail 551, offer matrix guide groove, press guide rail about 551 two ends respectively by envelope
Buccal mass 552 carries out spacing, and directive wheel 553 is positioned at the matrix guide groove pressed on guide rail 551, presses motor 554 and is positioned at directive wheel
Between 553, press motor 554 and use Biaxial synchronous output motor, press rotating shaft 555 one end and be connected with directive wheel 553, press
Rotating shaft 555 other end is connected with pressing motor 554 output shaft, presses bearing 556 lower end and is provided with motor connecting base, presses and props up
Being provided with mobile bar in the middle part of seat 556, mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding axle
Hold, press 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 and be positioned at a little
Directly over guide rail 551, and guide slide bar 557 two ends and be respectively arranged with and press ear mount, press ear mount and be fixed on and press guide rail 551
On, sliding bearing is arranged on guiding slide bar 551, presses lifting column 558 bottom and is fixed on and presses on turntable, presses lifting column
558 tops connect has the first shrinking connecting-rod 559, the first motor 5510 main shaft and first expansion link 559 one end to be connected, the second electricity
Machine 5511 is positioned at above first shrinking connecting-rod 559 other end, and the second motor 5511 main shaft through the first shrinking connecting-rod 559 another
End is connected with transition rotating shaft 5512 upper end, and transition rotating shaft 5512 lower end fixes with second shrinking connecting-rod 5513 one end, and second
A head 5514 is installed below shrinking connecting-rod 5513 other end, and some head 5514 is in round table-like structure.By pressing motor
554 rotate drives the rotation pressing rotating shaft 555, it is achieved thereby that directive wheel 553 is transported in the matrix guide groove pressing slide rail 551
Dynamic function, simultaneously by press bearing 556 and guide slide bar 557 with the use of, on the one hand serve pressing device 55
Supporting role, on the other hand also play the effect to the guiding movement pressing device 55, can be right by pressing lifting column 558
The height pressing device 55 is adjusted, and can be driven the rotation of the first shrinking connecting-rod 559 by the rotation of the first motor 5510, logical
The rotation crossing the second motor 5511 can drive the rotation of the second shrinking connecting-rod 5513, and the first shrinking connecting-rod 559 and second stretches
Connecting rod 5513 all can carry out telescopic, presses device 55 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, camera shooting push button can be adjusted para-position by pressing device 55 and touch
Press, 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.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a water quality table environment shooting, collecting intelligence equipment parallel manipulator, it is characterised in that: include lowering or hoisting gear, three from
By degree parallel institution and filming apparatus；Described 3-freedom parallel mechanism between lowering or hoisting gear and filming apparatus, and three
Freedom degree parallel connection mechanism lower end is connected with lowering or hoisting gear, and 3-freedom parallel mechanism upper end is connected with filming apparatus；Wherein:
Described 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat
And limit spring, and the quantity of ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring is three；Described determines
Platform and moving platform the most rounded shape structure, and moving platform is positioned at directly over fixed platform, ear mount is positioned on the upper surface of fixed platform,
And the installation angle between ear mount is 60 degree, connects seat and be positioned on moving platform lower surface, and ear mount distinguishes one with being connected seat
One is corresponding；Described electric pushrod bottom is arranged in ear mount by rotating shaft, and ball is passed through with being connected between seat in electric pushrod top
Hinge is attached, and limit spring is around being enclosed within electric pushrod upper end；
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, 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, on rotating disk lateral wall
Being provided with semi-circular recesses, ball is arranged between pedestal and rotating disk, and ball side is stuck in the annular cavity inside ring
In, 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 divided
Not being arranged symmetrically 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 is tied
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；
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 is sliding with mobile
Being locked by clamping screw between rail, the T-shaped structure of position limiting slide block, latch mechanism quantity is two the most admittedly, laterally solid
Latch 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 is connected with cross-brace plate by lateral connection post, and the horizontal locking spring other end is by lateral connection post and laterally locking
Head is connected, and 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, guiding
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, presses two ends, guide rail left and right respectively by envelope
Buccal mass carries out spacing, and directive wheel is positioned at the matrix guide groove pressed on guide rail, presses motor between directive wheel, presses motor
Use Biaxial synchronous output motor, press rotating shaft one end and be connected with directive wheel, press the rotating shaft other end with press motor export
Axle 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, mobile bar rear and front end
Being respectively arranged with Mobile base, Mobile base lower end is provided with sliding bearing, presses bearing upper end and is provided with and presses platform, and presses flat
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 turns through the first shrinking connecting-rod other end with transition
Axle upper end is connected, and transition rotating shaft lower end fixes with second shrinking connecting-rod one end, installs below the second shrinking connecting-rod other end
There is a head, and some head is round table-like structure.
A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator the most according to claim 1, its feature exists
In: described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；Described lifting push rod quantity is four, lifting
Push rod is positioned at below lifting round platform, and lifting push rod upper end is connected with lifting round platform lower surface, and electric turntable is fixed on lifting
Round platform upper surface center position.
A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator the most according to claim 1, its feature exists
In: the solid latch mechanism of described longitudinal direction includes longitudinal supporting plate, longitudinally guiding bar, longitudinal locking spring, longitudinally connected post and longitudinal direction
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 leads
Be positioned at inside longitudinal locking spring to bar, longitudinal locking spring two ends by longitudinally connected post respectively with longitudinal supporting plate and longitudinal direction
Locking head is connected, and longitudinal locking head is rake shape structure, and longitudinal locking head front end is evenly arranged with locking jaw, and locking jaw in
Wedge structure, locking jaw lower surface is provided with flexible sponge block.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711322918.8A CN107813301A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped and its method of work |
| CN201711320325.8A CN107856024A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped |
| CN201610463990.1A CN106041888B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463990.1A CN106041888B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711322918.8A Division CN107813301A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped and its method of work |
| CN201711320325.8A Division CN107856024A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041888A true CN106041888A (en) | 2016-10-26 |
| CN106041888B CN106041888B (en) | 2017-12-22 |
Family
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Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610463990.1A Active CN106041888B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator |
| CN201711320325.8A Withdrawn CN107856024A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped |
| CN201711322918.8A Withdrawn CN107813301A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped and its method of work |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711320325.8A Withdrawn CN107856024A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped |
| CN201711322918.8A Withdrawn CN107813301A (en) | 2016-06-23 | 2016-06-23 | Water quality table environment shooting, collecting is intelligently equipped and its method of work |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106041888B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106691775A (en) * | 2016-12-12 | 2017-05-24 | 无锡智航控制技术有限公司 | Novel rehabilitation training seat |
| CN109648327A (en) * | 2019-01-17 | 2019-04-19 | 深圳市硬核智娱科技有限公司 | A kind of multi-robot arm team control assembling device |
| CN112874703A (en) * | 2021-01-18 | 2021-06-01 | 严洁 | Water quality surface environment shooting and collecting intelligent equipment |
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| CN110420579A (en) * | 2019-08-26 | 2019-11-08 | 大同新成新材料股份有限公司 | The stirring integrated machine of adjustable type and its implementation for lithium battery raw material |
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| CN113681529A (en) * | 2021-08-13 | 2021-11-23 | 彩虹（合肥）液晶玻璃有限公司 | Leveling type mounting seat of glass substrate vacuum closed type unit |
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- 2016-06-23 CN CN201711320325.8A patent/CN107856024A/en not_active Withdrawn
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| CN112874703A (en) * | 2021-01-18 | 2021-06-01 | 严洁 | Water quality surface environment shooting and collecting intelligent equipment |
| CN112874703B (en) * | 2021-01-18 | 2022-08-12 | 安徽圣恩智能科技有限公司 | Water quality surface environment shooting and collecting intelligent equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041888B (en) | 2017-12-22 |
| CN107856024A (en) | 2018-03-30 |
| CN107813301A (en) | 2018-03-20 |
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| CB03 | Change of inventor or designer information | ||
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Inventor after: Xiao Liangrong Inventor before: He Cheng |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20171130 Address after: 362400 Fujian County of Anxi Province Zhou Tao Xiang Da Xin Cun Da Xin Nan No. 70 Applicant after: Xiao Liangrong 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: 20191011 Address after: 362000 room 703, ladder 1, building 26, Zhongxin garden, No. 250, Zhongxin Third Ring Road, Luocheng Town, Hui'an County, Fujian Province Patentee after: Zheng Zhi Bin Address before: 362400 Fujian County of Anxi Province Zhou Tao Xiang Da Xin Cun Da Xin Nan No. 70 Patentee before: Xiao Liang Rong |