CN108145723A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN108145723A CN108145723A CN201810014899.0A CN201810014899A CN108145723A CN 108145723 A CN108145723 A CN 108145723A CN 201810014899 A CN201810014899 A CN 201810014899A CN 108145723 A CN108145723 A CN 108145723A
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- Prior art keywords
- press
- lateral
- platform
- longitudinal
- lifting
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims description 34
- 239000007787 solid Substances 0.000 claims description 34
- 238000003825 pressing Methods 0.000 claims description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 238000009434 installation Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims 2
- 238000005096 rolling process Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 21
- 238000010586 diagram Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 230000036544 posture Effects 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 229920005439 Perspex® Polymers 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003673 groundwater Substances 0.000 description 2
- 239000004926 polymethyl methacrylate Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of manipulator, including lifting gear, Stewart parallel institutions and filming apparatus；The Stewart parallel institutions are between lifting gear and filming apparatus, and Stewart parallel institutions lower end is connected with lifting gear, and Stewart parallel institutions upper end is connected with filming apparatus.The present invention has the function of that orientation angles are adjusted, camera is fixed and shooting operation, the function to aquatic environment monitoring results can be realized by way of nobody automation shooting, and intelligence degree is high, orientation angles are easy to adjust flexibly, camera is fixed conveniently, and stable and shooting fast mass is high.
Description
The application be application No. is：201610470863.4 the applying date：It is on 06 23rd, 2016, entitled " a kind of
The divisional application of the patent of invention of aquatic environment monitoring cruise robot manipulator ".
Technical field
The present invention relates to waters field of work machines, specifically a kind of aquatic environment monitoring cruise robot working rig
Tool hand.
Background technology
Water environment refers to the environment in space residing for the formation, distribution and conversion of water in nature, refers to around crowd space
And can directly or indirectly influence the water body of human lives and development, the various natural causes of normal function and it is related it is social because
The totality of element；Also some refer to it is metastable, using land as the environment in space residing for the natural water area on boundary, at the earth's surface,
Coverage of water account for about earth surface product 71%, water is made of ocean water and two part of terrestrial water, respectively with total Water
97.28% and 2.72%.Sum-rate very little shared by the latter, and the environment in residing space is sufficiently complex.Water environment is mainly by ground
Table water environment and groundwater environment two parts composition, surface water environment include river, lake, reservoir, ocean, pond, marsh, ice
River etc., groundwater environment include spring, phreatic water, deep phreatic water etc., water environment be composing environment fundamental it
One, it is important place that human society is depended on for existence and development and by Human impact and destroys the field of most serious.
Water is the affluent resources that people depend on for existence, and people can carry out a variety of affairs, such as fishery water using water environment
Produce cultivation, water transportation waterborne, water resource generate electricity etc., with the gradually increasing that people utilize water resource, therewith waterborne
Operation is also more and more, for example aquatic environment monitoring observation, water surface traffic cruise, waters shooting passback, water-quality observation, waterborne searches
It helps and helps etc., be exactly at present shooting operation for all too busy to get away one side that carries out to work above, first to water environment table body
Data and picture analysis are being carried out after carrying out photo acquisition, useful information is being found out, is mostly at present people for shooting operation waterborne
Work is gone by ship handheld camera shooting, but manually there is personal risk in waters operation, also have it is a small amount of carry out unmanned plane, still
Unmanned plane is limited accordingly since continuation of the journey problem is unable to large area long working；In addition to this, present shooting
Operation uses tripod more, but it is limited to adjust orientation angles, and flexibility is poor when adjusting, and stabilization is poor, when causing to shoot by
Cause shooting picture jitter big in the fluctuation of motion carrier, influence the quality of shooting.In view of the above circumstances, the present invention provides
A kind of aquatic environment monitors cruise robot manipulator.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of aquatic environments to monitor cruise robot Work machine
Hand.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of aquatic environment monitors cruise robot manipulator, including lifting gear, Stewart parallel institutions and bat
Take the photograph device；The Stewart parallel institutions are between lifting gear and filming apparatus, and Stewart parallel institutions lower end
It is connected with lifting gear, Stewart parallel institutions upper end is connected with filming apparatus.
As a further improvement on the present invention, the lifting gear includes lifting push rod, lifting round platform and electric turntable；
The lifting push rod quantity is four, and lifting push rod is located 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, the Stewart parallel institutions include fixed platform, moving platform, connecting seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；The connecting seat and Triangulum quantity be
Three, upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge quantity be six, the fixed platform and moving platform are in circle
Shape and structure, moving platform are located at right over fixed platform, and connecting seat is mounted on the upper surface of fixed platform, and connecting seat is in fixed platform
Upper is in equilateral triangle location arrangements, and Triangulum is mounted on moving platform lower face, and the installation position between connecting seat and Triangulum
It puts and interlocks two-by-two, and Triangulum, in equilateral triangle column structure, Triangulum has been symmetrically arranged inclination along its vertical center line
Face, offer on inclined surface with the matched installation threaded hole of lower spherical hinge upper external screw thread, electric pushrod bottom end passes through upper ball
Hinge is connected with connecting seat, and electric pushrod top is connected with block plate seat lower end, block plate seat upper end and lower spherical hinge one end phase
Connection, the lower spherical hinge other end are mounted on Triangulum, and limit spring is around being sleeved on electric pushrod, and limit spring one end and electricity
Dynamic push rod is connected, and the limit spring other end is connected with block plate seat.By the stretching motion up and down of electric pushrod, so as to drive
Moving platform pumps, and the stationarity of moving platform is increased by limit spring, and the present invention is using 6-SPS's
Stewart parallel institutions, rigidity is big compared with serial mechanism, stable structure, and bearing capacity is strong and fine motion precision is high, Stewart
Parallel institution can carry out the movement in the common six-freedom degree direction of three translations three rotation in space, and motion flexibility is good, movement is empty
Between it is small, movement velocity is fast, kinematic dexterity is good, and Stewart parallel institutions are applied in the present invention, on the one hand play to clap
Take the photograph the adjusting of device entirety orientation angles so that the present invention can carry out the comprehensive no dead angle of full angle under various postures and be clapped
Take the photograph operation；On the other hand the damping performance of the present invention is improved by Stewart parallel institutions, even at jolting or non-flat
When under weighing apparatus state, filming apparatus always in horizontal plateau, prevent filming apparatus in shooting operation because of jitter or
Obliquity excessive the problem of causing shooting picture poor, stability and safety when further improving shooting operation of the present invention.
As a further improvement on the present invention, the filming apparatus includes pedestal, rotating disk, ball, fixing device, point
By device and containment envelope；The pedestal lower end is provided with base station, and pedestal upper end is provided with ring, edge on the outside of ring lower semisection
Its circumferencial direction is evenly arranged with scale mark, the adjusting of integral-rotation angle of the scale mark to filming apparatus in the horizontal plane
Reference role is played, external screw thread is provided on the outside of ring upper semisection, is provided with annular cavity on the inside of ring, rotating disk is located at base
Inside seat upper end, rotating disk lower end is provided with electric rotating machine, and electric rotating machine and the base station of pedestal lower end are connected to a fixed, rotation
Semi-circular recesses are provided on disk lateral wall, ball is mounted between pedestal and rotating disk, and ball side is stuck on the inside of ring
Annular cavity in, ball opposite side is stuck in the semi-circular recesses on rotate the outside of the disc wall；The fixing device quantity is two,
Fixing device is symmetrically arranged at left and right sides of rotating disk, is pressed device and is located at fixing device rear side end, containment envelope is in half
Spherical shell structure, containment envelope lower end inside are provided with the matched interior spiral shell of external screw thread on the outside of the ring upper semisection with pedestal
Line, containment envelope are located above pedestal, and containment envelope material is clear perspex material, by the way of screw thread installation connection
Convenient for the installation and dismounting of containment envelope, containment envelope plays the role of filming apparatus waterproof and anti-fall junk, while by
It is transparent in the material of containment envelope, does not influence the progress of shooting operation.
As a further improvement on the present invention, the fixing device include shifting sledge, position limiting slide block, clamping screw,
Lateral solid lock mechanism and longitudinal solid lock mechanism；Limit hole is uniformly provided on the shifting sledge, position limiting slide block, which is mounted on, to be moved
On dynamic sliding rail, and it is locked between position limiting slide block and shifting sledge by clamping screw, the T-shaped structure of position limiting slide block,
Lateral solid lock mechanism quantity is two, and lateral solid lock mechanism is located at position limiting slide block front and rear sides respectively, and longitudinal solid lock mechanism is located at limit
Right over the sliding block of position；The lateral solid lock mechanism includes cross-brace plate, laterally steering bar, lateral locking spring, laterally connects
Connect column and lateral locking head；The cross-brace plate is L-type structure, and is connected between cross-brace plate and position limiting slide block, horizontal
It is located between cross-brace plate and lateral locking head to guide rod, lateral locking spring is located on the outside of laterally steering bar, and laterally
Locking spring one end is connected by lateral connection column with cross-brace plate, and the lateral locking spring other end passes through lateral connection column
It is connected with lateral locking head, lateral locking head is in waist type plate-like structure；Longitudinal solid lock mechanism includes longitudinal bracing
Plate, longitudinally guiding bar, longitudinal locking spring, longitudinally connected column and longitudinal locking head；The longitudinal supporting plate is in the L-type stood upside down
Structure, and connection floor is provided on the outside of longitudinal supporting plate, longitudinally guiding bar is located on the inside of longitudinal locking spring, and bullet is locked in longitudinal direction
Spring both ends are connected by longitudinally connected column with longitudinal supporting plate and longitudinal locking head respectively, and longitudinal locking head is in rake shape knot
Structure, longitudinal locking head front end are evenly arranged with locking jaw, and the wedge shaped structure of locking jaw, are set on locking jaw lower face flexible
Sponge block.During concrete operations, first according to the size model number size of installation camera, by mobile position limiting slide block on shifting sledge
Movement to adjust corresponding matching size, and be locked with clamping screw, while position limiting slide block is played to camera
The fixed limiting of right position；Then between camera being placed into two lateral solid lock mechanisms, lateral solid lock mechanism plays pair
The limiting fixed function of camera front and back position, longitudinal solid lock mechanism play the limiting fixed function to camera top position, and
Lateral solid lock mechanism and longitudinal solid lock mechanism are easy to adjust quick, and solid lock dynamics is suitble to, by fixing device to before and after camera, it is left
Right and upper and lower position is locked, it is therefore prevented that camera improves this slipped during shooting operation the phenomenon that
The safety and stability of invention shooting operation.
As a further improvement on the present invention, the device of pressing includes pressing guide rail, sealing block, directive wheel, press
Motor presses shaft, presses bearing, be oriented to slide bar, press lifting column, the first shrinking connecting-rod, the first motor, the second motor, mistake
Cross shaft, the second shrinking connecting-rod and point head；Described guide rail quantity of pressing is two, presses and offers concave on the inside of guide rail and lead
Slot is pressed guide rail left and right ends and is limited respectively by sealing block, and directive wheel is located in the concave guide groove pressed on guide rail, point
By motor between directive wheel, press motor and use Biaxial synchronous output motor, press shaft one end and be connected with directive wheel,
It presses the shaft other end with pressing motor output shaft to be connected, presses bearing lower end and be provided with motor connecting base, press in bearing
Portion is provided with mobile bar, and mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding bearing, presses branch
Seat upper end, which is provided with, presses platform, and press to be provided on platform and press turntable, and guiding slide bar, which is located at, to be pressed right over guide rail, and
It is oriented to slide bar both ends and is respectively arranged with and presses ear mount, press ear mount and be fixed on and press on guide rail, sliding bearing is mounted on to be oriented to and slide
It on bar, presses lifting column bottom end and is fixed on and press on turntable, press lifting top end and be connected with the first shrinking connecting-rod, the first motor
Main shaft is connected with first telescopic rod one end, and the second motor is located above the first shrinking connecting-rod other end, and the second electric machine main shaft
It is connected across the first shrinking connecting-rod other end with transition rotating shaft upper end, transition rotating shaft lower end is mutually solid with second shrinking connecting-rod one end
It is fixed, a head is installed, and it is in round-like structure to put head below the second shrinking connecting-rod other end.By the rotation for pressing motor
The rotation for pressing shaft is driven, it is achieved thereby that the function that directive wheel moves in the concave guide groove for pressing sliding rail, passes through simultaneously
It presses bearing and is oriented to being used cooperatively for slide bar, on the one hand play the supporting role to pressing device, on the other hand also function to
The effect of guiding movement to pressing device, can be adjusted the height for pressing device by pressing lifting column, passes through
The rotation of one motor can drive the rotation of the first shrinking connecting-rod, and turning for the second shrinking connecting-rod can be driven by the rotation of the second motor
It is dynamic, and the first shrinking connecting-rod and the second shrinking connecting-rod can carry out telescopic, three translations can be carried out in space by pressing device
Two rotate the movement in totally five degree of freedom directions, and move flexibly, easy to adjust, can be to camera shooting push button by pressing device
Contraposition is adjusted and touches by and aligning accurate, press quick.
Compared with prior art, the present invention has the following advantages：
(1) present invention has the function of that orientation angles are adjusted, camera is fixed and shooting operation, is shot by unmanned automation
Mode can realize function to aquatic environment monitoring results, and intelligence degree is high, orientation angles are easy to adjust flexibly, camera
It is fixed conveniently and stablizes and shoot fast mass height.
(2) present invention uses the Stewart parallel institutions of 6-SPS, and rigidity is big compared with serial mechanism, and stable structure is held
Loading capability is strong and fine motion precision is high, and Stewart parallel institutions can carry out three translations three rotation six-freedom degree side altogether in space
To movement, on the one hand play the adjusting to filming apparatus entirety orientation angles so that the present invention can under various postures into
The comprehensive no dead angle of row full angle carries out shooting operation；On the other hand subtracting for the present invention is improved by Stewart parallel institutions
Shock stability, even at jolt or nonequilibrium condition under when, filming apparatus prevents shooting from filling always in horizontal plateau
It puts in shooting operation because of jitter or obliquity excessive the problem of causing shooting picture poor, further improves bat of the present invention
Stability and safety when taking the photograph operation.
(3) filming apparatus of the invention has the function of that the anti-fall junk of waterproof, camera are fixed, shooting push button controls, and passes through
Fixing device is locked around to camera with upper and lower position, it is therefore prevented that camera is in shooting operation process
The phenomenon that middle slippage, improves the safety and stability of shooting operation of the present invention；It presses device can carry out three in space
Translation two rotates the movement in totally five degree of freedom directions, and moves flexibly, easy to adjust, and camera can be shot by pressing device
Button is adjusted contraposition and touches and presses, and aligns precisely, presses quick.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of Stewart parallel institutions of the present invention；
Fig. 3 is the dimensional structure diagram of filming apparatus of the present invention；
Fig. 4 is the dimensional structure diagram of fixing device of the present invention；
Fig. 5 is the dimensional structure diagram that the present invention presses device；
Fig. 6 is the dimensional structure diagram of containment envelope of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 6, a kind of aquatic environment monitoring cruise robot manipulator, including lifting gear 3,
Stewart parallel institutions 4 and filming apparatus 5；The Stewart parallel institutions 4 be located at lifting gear 3 and filming apparatus 5 it
Between, and 4 lower end of Stewart parallel institutions is connected with lifting gear 3,4 upper end of Stewart parallel institutions and 5 phase of filming apparatus
Connection.
As shown in Figure 1, the lifting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
It is four to lift 31 quantity of push rod, and lifting push rod 31 is located at 32 lower section of lifting round platform, and lifts 31 upper end of push rod and lifting round platform 32
Lower face is connected, and electric turntable 33 is fixed on lifting 32 upper surface center position of round platform.
As depicted in figs. 1 and 2, the Stewart parallel institutions 4 include fixed platform 41, moving platform 42, connecting seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；The connecting seat 43
Be three with 48 quantity of Triangulum, upper spherical hinge 44, electric pushrod 45, block plate seat 46 and lower spherical hinge 47 quantity be six, institute
Fixed platform 41 and moving platform 42 structure in rounded shape stated, moving platform 42 are located at right over fixed platform 41, and connecting seat 43 is installed
On the upper surface of fixed platform 41, and connecting seat 43 is mounted on fixed platform 41 in equilateral triangle location arrangements, Triangulum 48
On 42 lower face of moving platform, and the installation site between connecting seat 43 and Triangulum 48 is interlocked two-by-two, and Triangulum 48 is in positive three
Angular column structure, Triangulum 48 have been symmetrically arranged inclined surface along its vertical center line, are offered on inclined surface and lower ball
The matched installation threaded hole of 47 upper external screw thread of hinge, 45 bottom end of electric pushrod are connected by upper spherical hinge 44 with connecting seat 43
It connects, 45 top of electric pushrod is connected with 46 lower end of block plate seat, and 46 upper end of block plate seat is connected with lower 47 one end of spherical hinge, lower ball
47 other end of hinge is mounted on Triangulum 48, limit spring 49 around being sleeved on electric pushrod 45, and 49 one end of limit spring with
Electric pushrod 45 is connected, and 49 other end of limit spring is connected with block plate seat 46；Pass through the upper and lower flexible fortune of electric pushrod 45
It is dynamic, so as to drive pumping for moving platform 42, and increase by limit spring 49 stationarity of moving platform 42, this hair
The bright Stewart parallel institutions 4 using 6-SPS, rigidity is big compared with serial mechanism, stable structure, and bearing capacity is strong and fine motion
Precision is high, and Stewart parallel institutions 4 can carry out the movement in the common six-freedom degree direction of three translations three rotation in space, and transport
It is dynamic it is flexible, space is small, movement velocity is fast, kinematic dexterity is good, Stewart parallel institutions 4 are applied in the present invention,
On the one hand the adjusting of the whole orientation angles to filming apparatus 5 is played so that the present invention can carry out full angle under various postures
Comprehensive no dead angle carries out shooting operation；On the other hand the damping performance of the present invention is improved by Stewart parallel institutions 4,
Even at jolt or nonequilibrium condition under when, filming apparatus 5 prevents filming apparatus 5 from existing always in horizontal plateau
Because of jitter or obliquity excessive the problem of causing shooting picture poor during shooting operation, further improve present invention shooting and make
Stability and safety during industry.
As shown in Figures 3 to 6, the filming apparatus 5 include pedestal 51, rotating disk 52, ball 53, fixing device 54,
Press device 55 and containment envelope 56；51 lower end of pedestal is provided with base station, and 51 upper end of pedestal is provided with ring, under ring
Half section of outside is evenly arranged with scale mark, whole rotation of the scale mark to filming apparatus 5 in the horizontal plane along its circumferencial direction
The adjusting of gyration plays reference role, and external screw thread is provided on the outside of ring upper semisection, annular cavity is provided on the inside of ring,
Rotating disk 52 is located inside pedestal upper end, and 52 lower end of rotating disk is provided with electric rotating machine, and electric rotating machine and the base of pedestal lower end
Platform is connected to a fixed, and semi-circular recesses are provided on 52 lateral wall of rotating disk, and ball 53 is mounted between pedestal and rotating disk 52,
And 53 side of ball is stuck in the annular cavity on the inside of ring, 53 opposite side of ball is stuck in the semicircle on 52 lateral wall of rotating disk
Groove；54 quantity of fixing device is two, and fixing device 54 is symmetrically arranged at 52 left and right sides of rotating disk, presses dress
It puts 55 and is located at 54 rear side end of fixing device, 56 hemispherical shell structure of containment envelope, 56 lower end inside of containment envelope is provided with
With the matched internal thread of external screw thread on the outside of the ring upper semisection of pedestal, containment envelope 56 is located above pedestal, containment envelope 56
Material is clear perspex material, is convenient for the installation and dismounting of containment envelope 56, protection by the way of screw thread installation connection
Outer cover 56 plays the role of waterproof and anti-fall junk to filming apparatus 5, simultaneously because the material of containment envelope 56 is transparent, no
Influence the progress of shooting operation.
As shown in Figure 3 and Figure 4, the fixing device 54 includes shifting sledge 541, position limiting slide block 542, clamping screw
543rd, lateral solid lock mechanism 544 and longitudinal solid lock mechanism 545；Limit hole is uniformly provided on the shifting sledge 541, is limited
Sliding block 542 is mounted on shifting sledge 541, and is carried out between position limiting slide block 542 and shifting sledge 541 by clamping screw 543
It is locked, 542 T-shaped structure of position limiting slide block, lateral 544 quantity of solid lock mechanism is two, and lateral solid lock mechanism 544 is located at respectively
542 front and rear sides of position limiting slide block, longitudinal solid lock mechanism 545 are located at right over position limiting slide block 542；The lateral solid lock mechanism
544 include cross-brace plate 5441, laterally steering bar 5442, lateral locking spring 5443, lateral connection column 5444 and laterally lock
Tight head 5445；The cross-brace plate 5441 is L-type structure, and is connected between cross-brace plate 5441 and position limiting slide block 542,
Laterally steering bar 5442 is located between cross-brace plate 5441 and lateral locking head 5445, and lateral locking spring 5443 is located at laterally
5442 outside of guide rod, and lateral 5443 one end of locking spring is connected by lateral connection column 5444 with cross-brace plate 5441
It connects, lateral 5443 other end of locking spring is connected by lateral connection column 5444 with lateral locking head 5445, lateral locking head
5445 be in waist type plate-like structure；Longitudinal solid lock mechanism 545 include longitudinal supporting plate 5451, longitudinally guiding bar 5452,
Longitudinal locking spring 5453, longitudinally connected column 5454 and longitudinal locking head 5455；The longitudinal supporting plate 5451 is in the L to stand upside down
Type structure, and 5451 outside of longitudinal supporting plate is provided with connection floor, longitudinally guiding bar 5452 is located at longitudinal locking spring 5453
Inside, longitudinal 5453 both ends of locking spring by longitudinally connected column 5454 respectively with longitudinal supporting plate 5451 and longitudinal locking head
5455 are connected, and longitudinal locking head 5455 is in rake shape structure, and longitudinal 5455 front end of locking head is evenly arranged with locking jaw, and locks
Tight pawl wedge shaped structure sets flexible sponge block on locking jaw lower face.During concrete operations, first according to the ruler of installation camera
Very little model size adjusts corresponding matching size by movement of the mobile position limiting slide block 542 on shifting sledge 541, is used in combination
Clamping screw 543 is locked, while position limiting slide block 542 plays and the fixed of camera right position is limited；Then will
Camera is placed between two lateral solid lock mechanisms 544, and lateral solid lock mechanism 544, which plays, consolidates the limiting of camera front and back position
It is set for using, longitudinal solid lock mechanism 545 plays the limiting fixed function to camera top position, and lateral 544 He of solid lock mechanism
Longitudinal solid lock mechanism 545 is easy to adjust quick, and solid lock dynamics is suitble to, by fixing device 54 to around camera and up and down
Position be locked, it is therefore prevented that camera improves shooting of the present invention slipped during shooting operation the phenomenon that
The safety and stability of operation.
As shown in Figure 3 and Figure 5, the device 55 of pressing includes pressing guide rail 551, sealing block 552, directive wheel 553, point
By motor 554, press shaft 555, press bearing 556, be oriented to slide bar 557, press lifting column 558, the first shrinking connecting-rod 559,
First motor 5510, the second motor 5511, transition rotating shaft 5512, the second shrinking connecting-rod 5513 and point head 5514；The point
It is two by 551 quantity of guide rail, presses 551 inside of guide rail and offer concave guide groove, press 551 left and right ends of guide rail and pass through envelope respectively
Buccal mass 552 is limited, and directive wheel 553 is located in the concave guide groove pressed on guide rail 551, presses motor 554 and is located at directive wheel
Between 553, press motor 554 and use Biaxial synchronous output motor, press 555 one end of shaft and be connected with directive wheel 553, press
555 other end of shaft is connected with pressing 554 output shaft of motor, presses 556 lower end of bearing and is provided with motor connecting base, presses branch
556 middle part of seat is provided with mobile bar, and mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding axle
It holds, presses 556 upper end of bearing and be provided with and press platform, and press to be provided on platform and press turntable, be oriented to slide bar 557 and be located at point
It by right over guide rail 551, and is oriented to 557 both ends of slide bar and is respectively arranged with and press ear mount, press ear mount and be fixed on and press guide rail 551
On, sliding bearing, which is mounted on, to be oriented on slide bar 557, is pressed 558 bottom end of lifting column and is fixed on and press on turntable, presses lifting column
558 tops are connected with the first shrinking connecting-rod 559, and 5510 main shaft of the first motor is connected with 559 one end of the first telescopic rod, the second electricity
Machine 5511 is located above 559 other end of the first shrinking connecting-rod, and 5511 main shaft of the second motor passes through the first shrinking connecting-rod 559 another
End is connected with 5512 upper end of transition rotating shaft, and 5512 lower end of transition rotating shaft is mutually fixed with 5513 one end of the second shrinking connecting-rod, and second
Head 5514 is installed, and it is in round-like structure to put head 5514 below 5513 other end of shrinking connecting-rod.By pressing motor
554 rotation drives the rotation for pressing shaft 555, it is achieved thereby that directive wheel 553 is transported in the concave guide groove for pressing sliding rail 551
Dynamic function, while by pressing bearing 556 and being oriented to being used cooperatively for slide bar 557, on the one hand play to pressing device 55
Supporting role, on the other hand also play the effect of the guiding movement to pressing device 55, can be right by pressing lifting column 558
The height for pressing device 55 is adjusted, and the rotation of the first shrinking connecting-rod 559 can be driven by the rotation of the first motor 5510, leads to
The rotation of the second shrinking connecting-rod 5513 can be driven, and the first shrinking connecting-rod 559 and second is flexible by crossing the rotation of the second motor 5511
Connecting rod 5513 can carry out telescopic, press device 55 three translations two can be carried out in space and rotate totally five degree of freedom directions
Movement, and move it is flexible, it is easy to adjust, contraposition can be adjusted to camera shooting push button by pressing device 55 and touch
It presses, and aligns precisely, press quick.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (10)
1. a kind of manipulator, it is characterised in that：Including lifting gear, Stewart parallel institutions and filming apparatus；Described
Stewart parallel institutions are between lifting gear and filming apparatus, and Stewart parallel institutions lower end is connected with lifting gear
It connects, Stewart parallel institutions upper end is connected with filming apparatus；The Stewart parallel institutions fill for adjusting the shooting
The whole orientation angles put.
2. manipulator according to claim 1, it is characterised in that：The Stewart parallel institutions include fixed platform, move
Platform, connecting seat, upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；The fixed platform and
Moving platform structure in rounded shape, moving platform are located at right over fixed platform, and connecting seat is mounted on the upper surface of fixed platform, and even
Joint chair is in equilateral triangle location arrangements on fixed platform, and Triangulum is mounted on moving platform lower face, and connecting seat and Triangulum
Between installation site interlock two-by-two, and Triangulum, in equilateral triangle column structure, Triangulum is right respectively along its vertical center line
Title is provided with inclined surface, is offered on inclined surface and the matched installation threaded hole of lower spherical hinge upper external screw thread, electric pushrod
Bottom end is connected by upper spherical hinge with connecting seat, and electric pushrod top is connected with block plate seat lower end, and block plate seat upper end is under
Spherical hinge one end is connected, and the lower spherical hinge other end is mounted on Triangulum, and limit spring is limited around being sleeved on electric pushrod
Spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat.
3. manipulator according to claim 2, it is characterised in that：The connecting seat and Triangulum quantity are three, upper ball
Hinge, electric pushrod, block plate seat and lower spherical hinge quantity be six.
4. manipulator according to claim 1, it is characterised in that：The lifting gear includes lifting push rod, lifting circle
Platform and electric turntable；It lifts push rod to be located at below lifting round platform, and lifts push rod upper end and be connected with lifting round platform lower face, electricity
Turn disk is fixed on lifting round platform upper surface center position.
5. manipulator according to claim 4, it is characterised in that：The lifting push rod quantity is four.
6. manipulator according to claim 1, it is characterised in that：The filming apparatus includes pedestal, rotating disk, rolling
Pearl, presses device and containment envelope at fixing device；The pedestal lower end is provided with base station, and pedestal upper end is provided with ring, ring
Scale mark is evenly arranged with along its circumferencial direction on the outside of circle lower semisection, is provided with external screw thread on the outside of ring upper semisection, in ring
Side is provided with annular cavity, and rotating disk is located inside pedestal upper end, and rotating disk lower end is provided with electric rotating machine, and electric rotating machine with
The base station of pedestal lower end is connected to a fixed, and semi-circular recesses are provided on rotate the outside of the disc wall, and ball is mounted on pedestal and rotation
Between disk, and ball side is stuck in the annular cavity on the inside of ring, and ball opposite side is stuck in the semicircle on rotate the outside of the disc wall
Connected in star；The fixing device quantity is two, and fixing device is symmetrically arranged at left and right sides of rotating disk, presses device position
In fixing device rear side end, the hemispherical shell structure of containment envelope, containment envelope lower end inside is provided with the ring with pedestal
The matched internal thread of external screw thread on the outside of upper semisection, containment envelope are located above pedestal, and containment envelope material is transparent organic glass
Glass material.
7. manipulator according to claim 6, it is characterised in that：The fixing device includes shifting sledge, limiting is slided
Block, clamping screw, lateral solid lock mechanism and longitudinal solid lock mechanism；Limit hole is uniformly provided on the shifting sledge, is limited
Sliding block is mounted on shifting sledge, and is locked between position limiting slide block and shifting sledge by clamping screw, and limiting is slided
The T-shaped structure of block, lateral solid lock mechanism quantity are two, and lateral solid lock mechanism is located at position limiting slide block front and rear sides respectively, and longitudinal direction is solid
Latch mechanism is located at right over position limiting slide block.
8. manipulator according to claim 6, it is characterised in that：It is described press device include pressing guide rail, sealing block,
Directive wheel, press motor, press shaft, press bearing, be oriented to slide bar, press lifting column, the first shrinking connecting-rod, the first motor,
Second motor, transition rotating shaft, the second shrinking connecting-rod and point head；The guide rail quantity of pressing is two, presses and is opened on the inside of guide rail
It equipped with concave guide groove, presses guide rail left and right ends and is limited respectively by sealing block, directive wheel is recessed on guide rail positioned at pressing
In type guide groove, motor is pressed between directive wheel, is pressed motor using Biaxial synchronous output motor, is pressed shaft one end with leading
It is connected to wheel, presses the shaft other end and be connected with pressing motor output shaft, presses bearing lower end and be provided with motor connecting base,
It presses and is provided with mobile bar in the middle part of bearing, mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with slip
Bearing is pressed bearing upper end and is provided with and presses platform, and press to be provided on platform and press turntable, is oriented to slide bar and is located to press and leads
It right over rail, and is oriented to slide bar both ends and is respectively arranged with and press ear mount, press ear mount and be fixed on and press on guide rail, sliding bearing peace
It mounted in being oriented on slide bar, presses lifting column bottom end and is fixed on and press on turntable, press lifting top end and be connected with first and flexible connect
Bar, the first electric machine main shaft are connected with first telescopic rod one end, and the second motor is located above the first shrinking connecting-rod other end, and the
Two electric machine main shafts are connected across the first shrinking connecting-rod other end with transition rotating shaft upper end, transition rotating shaft lower end and the second flexible company
Bar one end is mutually fixed, and a head is equipped with below the second shrinking connecting-rod other end, and it is in round-like structure to put head.
9. a kind of manipulator according to claim 7, it is characterised in that：The lateral solid lock mechanism includes cross-brace
Plate, laterally steering bar, lateral locking spring, lateral connection column and lateral locking head；The cross-brace plate is L-type structure,
And be connected between cross-brace plate and position limiting slide block, laterally steering bar is located between cross-brace plate and lateral locking head, laterally
Locking spring is located on the outside of laterally steering bar, and lateral locking spring one end is connected by lateral connection column with cross-brace plate
It connects, the lateral locking spring other end is connected by lateral connection column with lateral locking head, and lateral locking head is in waist type tabular
Structure.
10. a kind of manipulator according to claim 7, it is characterised in that：Longitudinal solid lock mechanism includes longitudinal direction and props up
Fagging, longitudinally guiding bar, longitudinal locking spring, longitudinally connected column and longitudinal locking head；The longitudinal supporting plate is in the L to stand upside down
Type structure, and connection floor is provided on the outside of longitudinal supporting plate, longitudinally guiding bar is located on the inside of longitudinal locking spring, and longitudinal direction is locked
Both ends of the spring is connected by longitudinally connected column with longitudinal supporting plate and longitudinal locking head respectively, and longitudinal locking head is in rake shape knot
Structure, longitudinal locking head front end are evenly arranged with locking jaw, and the wedge shaped structure of locking jaw, are set on locking jaw lower face flexible
Sponge block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014899.0A CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470863.4A CN105936048B (en) | 2016-06-23 | 2016-06-23 | A kind of aquatic environment monitors cruise robot manipulator |
| CN201810014899.0A CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610470863.4A Division CN105936048B (en) | 2016-06-23 | 2016-06-23 | A kind of aquatic environment monitors cruise robot manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN108145723A true CN108145723A (en) | 2018-06-12 |
| CN108145723B CN108145723B (en) | 2021-05-07 |
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| CN201810014899.0A Active CN108145723B (en) | 2016-06-23 | 2016-06-23 | Mechanical arm |
| CN201610470863.4A Active CN105936048B (en) | 2016-06-23 | 2016-06-23 | A kind of aquatic environment monitors cruise robot manipulator |
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| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
| CN109442171A (en) * | 2018-11-30 | 2019-03-08 | 西安交通大学 | A kind of single eye stereo vision system and its application method |
| CN109895394A (en) * | 2019-04-02 | 2019-06-18 | 苏州慧通汇创科技有限公司 | A kind of DLP laser fast shaping 3D printer bracket that stability is high |
| CN110815245A (en) * | 2019-11-19 | 2020-02-21 | 清华大学 | Service robot for welcoming |
| CN113291483A (en) * | 2021-05-28 | 2021-08-24 | 河北华领地理信息工程有限公司 | Road surface mapping device based on unmanned aerial vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105936048A (en) | 2016-09-14 |
| CN108145723B (en) | 2021-05-07 |
| CN105936048B (en) | 2017-12-22 |
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