CN108194790B

CN108194790B - Water area operation machine

Info

Publication number: CN108194790B
Application number: CN201810036066.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Changle Zhiyuan Technology Development Co ltd
Current assignee: Jining Weibao Network Technology Co ltd
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2020-04-17
Anticipated expiration: 2036-06-23
Also published as: CN106090546B; CN106090546A; CN108194790A

Abstract

The invention relates to a water area operation machine, which comprises a lifting device, a redundant parallel mechanism and a shooting device, wherein the redundant parallel mechanism is arranged on the lifting device; the redundant parallel mechanism is positioned between the lifting device and the shooting device, the lower end of the redundant parallel mechanism is connected with the lifting device, and the upper end of the redundant parallel mechanism is connected with the shooting device. The invention has the functions of azimuth angle adjustment, camera fixation and shooting operation, can realize the function of water surface environment monitoring operation in an unmanned automatic shooting mode, and has the advantages of high intelligent degree, convenient and flexible azimuth angle adjustment, convenient and stable camera fixation and high shooting speed and quality.

Description

Water area operation machine

The application is a divisional application of a patent with the application number of 2016104709251 and the application date of 2016, 06 and 23, and the invention creates a collection device for a full-automatic marine water environment inspection observation device.

Technical Field

The invention relates to the field of water area operation machinery, in particular to a full-automatic acquisition device for ocean water environment inspection observation equipment.

Background

The water environment refers to the environment of the space where water is formed, distributed and transformed in nature, and refers to the water body surrounding the crowd space and capable of directly or indirectly influencing the life and development of human beings, and the totality of various natural factors of the normal functions and related social factors of the water body; there are also relatively stable environments in which natural waters bounded by land occupy approximately 71% of the surface area of the earth, where water consists of two parts, namely ocean water and land water, which are 97.28% and 2.72% of the total water volume, respectively. The latter accounts for a small proportion of the total amount and the environment of the space is very complex. The water environment mainly comprises a surface water environment and a groundwater environment, wherein the surface water environment comprises rivers, lakes, reservoirs, oceans, ponds, marshes, glaciers and the like, the groundwater environment comprises spring water, shallow groundwater, deep groundwater and the like, the water environment is one of basic elements forming the environment, is an important place for survival and development of the human society, and is also the field which is most seriously interfered and damaged by human beings.

Water is a rich resource on which people live, people can perform various matters by utilizing water environment, such as fishery aquaculture, water waterway traffic, water resource power generation and the like, along with the gradual increase of water resource utilization by people, the water operation is more and more, such as water surface environment monitoring and observation, water surface traffic cruise, water area shooting and returning, water quality observation, water search and rescue and the like, the shooting operation is performed on the one hand that the work cannot be performed at present, and after photo collection is performed on a water environment surface body, data and picture drawing are performed

The method comprises the following steps of performing surface analysis to find out useful information, wherein currently, shooting operation on water is mostly performed by manually taking a boat and holding a camera for shooting, but personal risks exist in manual operation in a water area, and a small amount of unmanned aerial vehicle aerial shooting is performed, but the unmanned aerial vehicle cannot operate in a large area for a long time due to the problem of endurance, so that the unmanned aerial vehicle is correspondingly limited; in addition, the tripod is mostly adopted in the current shooting operation, but the adjustment azimuth angle is limited, the flexibility and the stability during adjustment are poor, the jitter of a shot picture is large due to the fluctuation of a moving carrier during shooting, and the shooting quality is influenced. In view of the above circumstances, the present invention provides an acquisition apparatus for a full-automatic marine water environment inspection observation device.

Disclosure of Invention

In order to make up the defects of the prior art, the invention provides an acquisition device for full-automatic marine water environment inspection observation equipment.

The technical problem to be solved by the invention is realized by adopting the following technical scheme.

A full-automatic collection system for ocean water environment inspection observation equipment comprises a lifting device, a redundant parallel mechanism and a shooting device; the redundant parallel mechanism is positioned between the lifting device and the shooting device, the lower end of the redundant parallel mechanism is connected with the lifting device, and the upper end of the redundant parallel mechanism is connected with the shooting device.

As a further improvement of the invention, the lifting device comprises a lifting push rod, a lifting circular table and an electric turntable; the lifting rotary table is characterized in that the number of the lifting push rods is four, the lifting push rods are located below the lifting circular table, the upper end of each lifting push rod is connected with the lower end face of the lifting circular table, and the electric rotary table is fixed at the center of the upper end face of the lifting circular table.

As a further improvement of the invention, the redundant parallel mechanism comprises a fixed platform, a movable platform, a first branched chain and a second branched chain; the fixed platform and the movable platform are both disc-shaped structures, and the movable platform is positioned right above the fixed platform; the number of the first branched chain and the second branched chain is two, the first branched chain and the second branched chain are both positioned between the fixed platform and the movable platform, two ends of the first branched chain and two ends of the second branched chain are both connected with the fixed platform and the movable platform respectively, and the horizontal installation angle of the first branched chain and the second branched chain is 90 degrees; the first support chain comprises a first ear seat, a hook hinge, a first electric push rod, a first ball hinge, a first connecting column and a first damping spring; the first lug seat is fixed on the upper end face of the fixed platform, the first lug seat is connected with the lower end of the first electric push rod through a Hooke hinge, the upper end of the first electric push rod is connected with a first ball hinge, the first ball hinge is fixed on the lower end face of the movable platform through a first connecting column, and a first damping spring is wound on the first electric push rod; the first support chain adopts a 2-UPS parallel mechanism, and the first damping spring increases the stability of the first support chain during movement, thereby improving the movement performance of the invention; the second branched chain comprises a second lug seat, a rotating pin, a second electric push rod, a second ball hinge, a second connecting column and a second damping spring; the second lug seat is fixed on the upper end face of the fixed platform, the second lug seat is connected with the lower end of the second electric push rod through a rotating pin, the upper end of the second electric push rod is connected with a second ball hinge, the second ball hinge is fixed on the lower end face of the movable platform through a second connecting column, and a second damping spring is wound on the second electric push rod; the rotation pin can rotate in one direction, the second ball hinge can rotate in three directions, the second electric push rod can move up and down, the second branched chain adopts a 2-RPS parallel mechanism mode, and the second damping spring increases the stability of the second branched chain during movement and improves the movement performance of the invention; the redundant parallel mechanism forms a four-freedom-degree symmetrical parallel mechanism through the fixed platform, the movable platform, the first branched chain and the second branched chain, adopts a parallel mechanism form of 2-UPS-2-RPS, can realize the movement along the X axis and the Z axis and the movement in four freedom directions around the X axis and the Y axis, has independent four degrees of freedom, and can also coordinate to work through the four degrees of freedom, so that the track of the movable platform moves along a curve in a preset space, the movement is stable, the movement is flexible, and the redundant parallel mechanism is applied to the invention, so that on one hand, the adjustment of the integral azimuth angle of the shooting device is realized, and the shooting operation can be carried out under various postures in all-angle and all-direction without dead angles; on the other hand, the damping performance of the invention is improved through the redundant parallel mechanism, and even if the shooting device is in a bumpy or unbalanced state, the shooting device is always in a horizontal and stable state, so that the problem that the shooting picture of the shooting device is poor due to overlarge jitter or obliquity during shooting operation is prevented, and the stability and the safety of the invention during shooting operation are further improved.

As a further improvement of the invention, the shooting device comprises a base, a rotating disk, a rolling ball, a fixing device, a clicking device and a protective outer cover; the lower end of the base is provided with a base table, the upper end of the base is provided with a ring, the outer side of the lower half section of the ring is uniformly provided with scale marks along the circumferential direction, the scale marks have a reference function on the adjustment of the integral rotation angle of the shooting device on the horizontal plane, the outer side of the upper half section of the ring is provided with external threads, the inner side of the ring is provided with an annular cavity, the rotating disc is positioned inside the upper end of the base, the lower end of the rotating disc is provided with a rotating motor, the rotating motor is connected and fixed with the base table at the lower end of the base, the outer side wall of the rotating disc is provided with a semicircular groove, the ball; fixing device quantity be two, fixing device symmetrical arrangement is in the rotary disk left and right sides respectively, the point is located fixing device rear end according to the device, the protection dustcoat is hemisphere shell structure, protection dustcoat lower extreme inboard is provided with the internal thread with the first section outside external screw thread matched with of ring of base, the protection dustcoat is located the base top, the protection dustcoat material is transparent organic glass material, the mode that adopts screw thread erection joint is convenient for the installation and the dismantlement of protection dustcoat, the protection dustcoat has played waterproof and the effect of preventing the thing that falls to the shooting device, simultaneously because the material of protection dustcoat is transparent, do not influence going on of shooting operation.

As a further improvement of the invention, the fixing device comprises a movable slide rail, a limiting slide block, a locking bolt, a transverse fixing and locking mechanism and a longitudinal fixing and locking mechanism; the movable sliding rail is uniformly provided with limiting holes, the limiting sliding block is arranged on the movable sliding rail, the limiting sliding block and the movable sliding rail are locked and fixed through a locking bolt, the limiting sliding block is of a T-shaped structure, the number of the transverse fixing and locking mechanisms is two, the transverse fixing and locking mechanisms are respectively positioned on the front side and the rear side of the limiting sliding block, and the longitudinal fixing and locking mechanisms are positioned right above the limiting sliding block; the transverse fixing and locking mechanism comprises a transverse supporting plate, a transverse guide rod, a transverse locking spring, a transverse connecting column and a transverse locking head; the transverse supporting plate is of an L-shaped structure, the transverse supporting plate is fixedly connected with the limiting slide block, the transverse guide rod is positioned between the transverse supporting plate and the transverse locking head, the transverse locking spring is positioned on the outer side of the transverse guide rod, one end of the transverse locking spring is connected with the transverse supporting plate through a transverse connecting column, the other end of the transverse locking spring is connected with the transverse locking head through a transverse connecting column, and the transverse locking head is of a waist-shaped flat plate-shaped structure; the longitudinal fixing and locking mechanism comprises a longitudinal supporting plate, a longitudinal guide rod, a longitudinal locking spring, a longitudinal connecting column and a longitudinal locking head; the longitudinal support plate is of an inverted L-shaped structure, a connecting rib plate is arranged on the outer side of the longitudinal support plate, the longitudinal guide rod is located on the inner side of the longitudinal locking spring, two ends of the longitudinal locking spring are respectively connected with the longitudinal support plate and the longitudinal locking head through longitudinal connecting columns, the longitudinal locking head is of a rake-shaped structure, the front end of the longitudinal locking head is evenly provided with locking claws, the locking claws are of wedge-shaped structures, and flexible sponge blocks are arranged on the lower end faces of the locking claws. During specific operation, firstly, according to the size of the camera, the corresponding matching size is adjusted through the movement of the movable limiting slide block on the movable slide rail, the locking bolt is used for locking and fixing, and meanwhile, the limiting slide block plays a role in fixing and limiting the left position and the right position of the camera; the camera is placed between the two transverse locking mechanisms, the transverse locking mechanisms play a role in limiting and fixing the front position and the rear position of the camera, the longitudinal locking mechanisms play a role in limiting and fixing the positions above the camera, the transverse locking mechanisms and the longitudinal locking mechanisms are convenient and quick to adjust, the locking force is appropriate, the front position, the rear position, the left position, the right position and the up-down position of the camera are locked and fixed through the fixing devices, the camera is prevented from slipping in the shooting operation process, and the safety and the stability of the shooting operation are improved.

As a further improvement of the invention, the clicking device comprises a clicking guide rail, a sealing block, a guide wheel, a clicking motor, a clicking rotating shaft, a clicking support, a guide sliding rod, a clicking lifting column, a first telescopic connecting rod, a first motor, a second motor, a transition rotating shaft, a second telescopic connecting rod and a clicking head; the number of the clicking guide rails is two, concave guide grooves are formed in the inner sides of the clicking guide rails, the left ends and the right ends of the clicking guide rails are respectively limited through sealing blocks, guide wheels are positioned in the concave guide grooves on the clicking guide rails, a clicking motor is positioned between the guide wheels, the clicking motor adopts a double-shaft synchronous output motor, one end of a clicking rotating shaft is connected with the guide wheels, the other end of the clicking rotating shaft is connected with an output shaft of the clicking motor, a motor connecting seat is arranged at the lower end of a clicking support, a moving rod is arranged in the middle of the clicking support, moving seats are respectively arranged at the front end and the rear end of the moving rod, sliding bearings are arranged at the lower end of the moving seat, a clicking platform is arranged at the upper end of the clicking support, a clicking rotary table is arranged on the clicking platform, a guiding sliding rod is positioned right above the clicking guide rails, clicking lug seats are, the point is according to lift post bottom mounting on the point and is according to the revolving stage, and the point is according to lift post top and is connected with first telescopic link, and first motor main shaft is connected with first telescopic link one end, and the second motor is located first telescopic link other end top, and the second motor main shaft passes the first telescopic link other end and is connected with transition pivot upper end, and transition pivot lower extreme is fixed with second telescopic link one end, and the installation of second telescopic link other end below is according to the head, and the point is according to the head and is round platform column structure. The rotation of the click rotating shaft is driven by the rotation of the click motor, so that the function of the guide wheel moving in the concave guide groove of the click sliding rail is realized, meanwhile, the support function of the click device is realized by the matching use of the click support and the guide sliding rod, the function of guiding and moving the click device is also realized, the height of the click device can be adjusted by the click lifting column, the rotation of the first motor can drive the rotation of the first telescopic connecting rod, the rotation of the second motor can drive the rotation of the second telescopic connecting rod, the first telescopic connecting rod and the second telescopic connecting rod can both perform length expansion and contraction, the click device can perform three-translation and two-rotation movements in five freedom directions in space, the movement is flexible, the adjustment is convenient, the alignment and the touch of the camera shooting button can be adjusted by the click device, and the alignment is accurate, the click is quick.

Compared with the prior art, the invention has the following advantages:

(1) the invention has the functions of azimuth angle adjustment, camera fixation and shooting operation, can realize the function of water surface environment monitoring operation in an unmanned automatic shooting mode, and has the advantages of high intelligent degree, convenient and flexible azimuth angle adjustment, convenient and stable camera fixation and high shooting speed and quality.

(2) The redundant parallel mechanism of the invention forms a four-freedom symmetrical parallel mechanism by the fixed platform, the movable platform, the first branched chain and the second branched chain, adopts the parallel mechanism form of 2-UPS-2-RPS, can realize the movement along the X axis and the Z axis and the movement in the directions of four freedom degrees of rotation around the X axis and the Y axis, has independent four freedom degrees, can coordinate to work through the four freedom degrees, ensures that the track of the movable platform moves along the curve of a preset space, has stable movement and flexible movement, and is applied to the invention, thereby playing the role of adjusting the integral azimuth angle of the shooting device on one hand, and ensuring that the invention can carry out all-angle omnibearing dead-angle-free shooting operation in various postures; on the other hand, the damping performance of the invention is improved through the redundant parallel mechanism, and even if the shooting device is in a bumpy or unbalanced state, the shooting device is always in a horizontal and stable state, so that the problem that the shooting picture of the shooting device is poor due to overlarge jitter or obliquity during shooting operation is prevented, and the stability and the safety of the invention during shooting operation are further improved.

(3) The camera shooting device has the functions of preventing water and falling objects, fixing the camera, controlling the shooting button and the like, and the front and back, left and right and up and down positions of the camera are locked and fixed through the fixing device, so that the phenomenon that the camera slips in the shooting process is prevented, and the safety and stability of the shooting operation are improved; its point presses the device and can carry out the motion of three translations two rotations totally five degree of freedom directions in the space, and the motion is nimble, and it is convenient to adjust, can shoot the button through the point and adjust counterpoint and touch and press the camera, and counterpoint accurate, and the point is pressed fast.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of a redundant parallel mechanism of the present invention;

FIG. 3 is a schematic perspective view of a camera according to the present invention;

FIG. 4 is a schematic perspective view of the fastening device of the present invention;

FIG. 5 is a schematic perspective view of the clicking device of the present invention;

fig. 6 is a perspective view of the protective enclosure of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

As shown in fig. 1 to 6, an acquisition device for a full-automatic marine water environment inspection observation device comprises a lifting device 3, a redundant parallel mechanism 4 and a shooting device 5; the redundant parallel mechanism 4 is positioned between the lifting device 3 and the shooting device 5, the lower end of the redundant parallel mechanism 4 is connected with the lifting device 3, and the upper end of the redundant parallel mechanism 4 is connected with the shooting device 5.

As shown in fig. 1, the lifting device 3 includes a lifting push rod 31, a lifting circular table 32 and an electric turntable 33; the number of the lifting push rods 31 is four, the lifting push rods 31 are located below the lifting circular truncated cone 32, the upper end of each lifting push rod 31 is connected with the lower end face of the lifting circular truncated cone 32, and the electric rotary table 33 is fixed at the center of the upper end face of the lifting circular truncated cone 32.

As shown in fig. 1 and fig. 2, the redundant parallel mechanism 4 includes a fixed platform 41, a movable platform 42, a first branch chain 43 and a second branch chain 44; the fixed platform 41 and the movable platform 42 are both disc-shaped structures, and the movable platform 42 is positioned under the fixed platform 41; the number of the first branched chain 43 and the second branched chain 44 is two, the first branched chain 43 and the second branched chain 44 are both positioned between the fixed platform 41 and the movable platform 42, two ends of the first branched chain 43 and the second branched chain 44 are both connected with the fixed platform 41 and the movable platform 42 respectively, and the horizontal installation angle of the first branched chain 43 and the second branched chain 44 is 90 degrees; the first supporting chain 43 comprises a first ear seat 431, a hook hinge 432, a first electric push rod 433, a first ball hinge 434, a first connecting column 435 and a first damping spring 436; the first ear seat 431 is fixed on the upper end face of the fixed platform 41, the first ear seat 431 is connected with the lower end of a first electric push rod 433 by a hook hinge 432, the upper end of the first electric push rod 433 is connected with a first ball hinge 434, the first ball hinge 434 is fixed on the lower end face of the movable platform 42 through a first connecting column 435, and a first damping spring 436 is wound on the first electric push rod 433; the hooke hinge 432 can rotate in two directions, the first spherical hinge 434 can rotate in three directions, the first electric push rod 433 can move up and down, the first supporting chain 43 adopts a 2-UPS parallel mechanism mode, and the first damping spring 436 increases the stability of the first supporting chain 43 during movement, so that the movement performance of the invention is improved; the second branch chain 44 comprises a second ear seat 441, a rotating pin 442, a second electric push rod 443, a second ball hinge 444, a second connecting column 445 and a second shock absorbing spring 446; the second ear seat 441 is fixed on the upper end surface of the fixed platform 41, the second ear seat 441 is connected with the lower end of the second electric push rod 443 by a rotating pin 442, the upper end of the second electric push rod 443 is connected with a second ball hinge 444, the second ball hinge 444 is fixed on the lower end surface of the movable platform 42 by a second connecting column 445, and a second damping spring 446 is wound on the second electric push rod 443; the rotation pin 442 can rotate in one direction, the second ball hinge 444 can rotate in three directions, the second electric push rod 443 can move up and down, the second branched chain 44 is in a 2-RPS parallel mechanism mode, the second damping spring 446 is used for increasing the stability of the second branched chain 44 during movement, and the movement performance of the invention is improved; the redundant parallel mechanism 4 forms a four-freedom-degree symmetrical parallel mechanism through the fixed platform 41, the movable platform 42, the first branched chain 43 and the second branched chain 44, adopts a parallel mechanism form of 2-UPS-2-RPS, can realize the movement along the X axis and the Z axis and the movement around the X axis and the rotation around the Y axis in four freedom directions, has independent four freedom degrees, can coordinate to work through the four freedom degrees, ensures that the track of the movable platform moves along the curve of a preset space, has stable movement and flexible movement, and applies the redundant parallel mechanism 4 to the invention, thereby playing the role of adjusting the overall azimuth angle of the shooting device 5 on one hand, and ensuring that the invention can carry out all-angle omnibearing dead-angle-free shooting operation under various postures; on the other hand, the damping performance of the invention is improved through the redundant parallel mechanism 4, even if the shooting device 5 is in a bumpy or unbalanced state, the shooting device 5 is always in a horizontal and stable state, the problem that the shooting picture of the shooting device 5 is poor due to overlarge jitter or inclination during shooting operation is solved, and the stability and the safety of the invention during shooting operation are further improved.

As shown in fig. 3 to 6, the camera 5 includes a base 51, a rotating disc 52, a ball 53, a fixing device 54, a clicking device 55 and a protective housing 56; the lower end of the base 51 is provided with a base table, the upper end of the base 51 is provided with a ring, the outer side of the lower half section of the ring is uniformly provided with scale marks along the circumferential direction, the scale marks play a reference role in adjusting the integral rotation angle of the shooting device 5 on the horizontal plane, the outer side of the upper half section of the ring is provided with external threads, the inner side of the ring is provided with an annular concave cavity, the rotating disc 52 is positioned in the upper end of the base, the lower end of the rotating disc 52 is provided with a rotating motor, the rotating motor is connected and fixed with the base table at the lower end of the base, the outer side wall of the rotating disc 52 is provided with a semicircular groove, the ball 53 is arranged between the base and the; fixing device 54 quantity be two, fixing device 54 symmetrical arrangement is in the rotary disk 52 left and right sides respectively, point is located fixing device 54 rear end according to device 55, protection dustcoat 56 is hemisphere shell structure, protection dustcoat 56 lower extreme inboard is provided with the internal thread with the first section outside external screw thread matched with of ring of base, protection dustcoat 56 is located the base top, protection dustcoat 56 material is transparent organic glass material, the mode of adopting threaded mounting to connect is convenient for the installation and the dismantlement of protection dustcoat 56, protection dustcoat 56 has played the effect of waterproof and anti-falling object to shooting device 5, simultaneously because the material of protection dustcoat 56 is transparent, do not influence the going on of shooting operation.

As shown in fig. 3 and 4, the fixing device 54 includes a movable slide 541, a limit slider 542, a locking bolt 543, a transverse locking mechanism 544, and a longitudinal locking mechanism 545; the movable sliding rail 541 is uniformly provided with limiting holes, the limiting sliding blocks 542 are installed on the movable sliding rail 541, the limiting sliding blocks 542 and the movable sliding rail 541 are locked and fixed through locking bolts 543, the limiting sliding blocks 542 are in a T-shaped structure, the number of the transverse locking mechanisms 544 is two, the transverse locking mechanisms 544 are respectively positioned on the front side and the rear side of the limiting sliding blocks 542, and the longitudinal locking mechanisms 545 are positioned right above the limiting sliding blocks 542; the transverse locking mechanism 544 comprises a transverse support plate 5441, a transverse guide rod 5442, a transverse locking spring 5443, a transverse connecting column 5444 and a transverse locking head 5445; the transverse support plate 5441 is of an L-shaped structure, the transverse support plate 5441 is fixedly connected with the limiting slider 542, the transverse guide rod 5442 is positioned between the transverse support plate 5441 and the transverse locking head 5445, the transverse locking spring 5443 is positioned on the outer side of the transverse guide rod 5442, one end of the transverse locking spring 5443 is connected with the transverse support plate 5441 through a transverse connecting column 5444, the other end of the transverse locking spring 5443 is connected with the transverse locking head 5445 through the transverse connecting column 5444, and the transverse locking head 5445 is of a waist-shaped flat plate-shaped structure; the longitudinal locking mechanism 545 comprises a longitudinal support plate 5451, a longitudinal guide rod 5452, a longitudinal locking spring 5453, a longitudinal connecting column 5454 and a longitudinal locking head 5455; the longitudinal support plate 5451 is of an inverted L-shaped structure, a connecting rib plate is arranged on the outer side of the longitudinal support plate 5451, the longitudinal guide rod 5452 is located on the inner side of the longitudinal locking spring 5453, two ends of the longitudinal locking spring 5453 are respectively connected with the longitudinal support plate 5451 and the longitudinal locking head 5455 through longitudinal connecting columns 5454, the longitudinal locking head 5455 is of a rake-shaped structure, locking claws are evenly arranged at the front ends of the longitudinal locking heads 5455 and are of a wedge-shaped structure, and a flexible sponge block is arranged on the lower end face of each locking claw. During specific operation, firstly, according to the size of the camera, the corresponding matching size is adjusted through the movement of the movable limiting slide block 542 on the movable slide rail 541, the locking and fixing are carried out through the locking bolt 543, and meanwhile, the limiting slide block 542 plays a role in fixing and limiting the left position and the right position of the camera; then, the camera is placed between the two transverse locking mechanisms 544, the transverse locking mechanisms 544 play a role in limiting and fixing the front and rear positions of the camera, the longitudinal locking mechanism 545 plays a role in limiting and fixing the upper position of the camera, the transverse locking mechanisms 544 and the longitudinal locking mechanism 545 can be adjusted conveniently and quickly, the locking force is suitable, the front and rear positions, the left and right positions and the up and down positions of the camera are locked and fixed through the fixing device 54, the camera is prevented from slipping in the shooting operation process, and the safety and the stability of the shooting operation are improved.

As shown in fig. 3 and 5, the pointing device 55 includes a pointing guide 551, a closing block 552, a guide wheel 553, a pointing motor 554, a pointing rotation shaft 555, a pointing support 556, a guide slide rod 557, a pointing lifting column 558, a first telescopic link 559, a first motor 5510, a second motor 5511, a transition rotation shaft 5512, a second telescopic link 5513, and a pointing head 5514; the number of the clicking guide rails 551 is two, concave guide grooves are formed in the inner sides of the clicking guide rails 551, the left end and the right end of the clicking guide rails 551 are respectively limited by sealing blocks 552, guide wheels 553 are positioned in the concave guide grooves on the clicking guide rails 551, a clicking motor 554 is positioned between the guide wheels 553, the clicking motor 554 adopts a double-shaft synchronous output motor, one end of a clicking rotating shaft 555 is connected with the guide wheels 553, the other end of the clicking rotating shaft 555 is connected with an output shaft of the clicking motor 554, a motor connecting seat is arranged at the lower end of a clicking support 556, a moving rod is arranged in the middle of the clicking support 556, moving seats are respectively arranged at the front end and the rear end of the moving rod, sliding bearings are arranged at the lower end of the moving seat, a clicking platform is arranged at the upper end of the clicking support 556, a clicking rotary table is arranged on the clicking platform, a guiding sliding rod 557, the clicking lug seat is fixed on the clicking guide rail 551, the sliding bearing is installed on the guide slide bar 551, the bottom end of the clicking lifting column 558 is fixed on the clicking rotary table, the top end of the clicking lifting column 558 is connected with a first telescopic connecting rod 559, a main shaft of a first motor 5510 is connected with one end of the first telescopic connecting rod 559, a second motor 5511 is positioned above the other end of the first telescopic connecting rod 559, the main shaft of the second motor 5511 penetrates through the other end of the first telescopic connecting rod 559 to be connected with the upper end of a transition rotating shaft 5512, the lower end of the transition rotating shaft 5512 is fixed with one end of a second telescopic connecting rod 5513, a clicking head 5514 is installed below the other end of the second telescopic connecting rod 5513, and the clicking head 5514 is. The rotation of the clicking motor 554 drives the rotation of the clicking rotating shaft 555, thereby realizing the function of the guide wheel 553 moving in the concave guide groove of the clicking slide rail 551, meanwhile, the cooperation of the clicking support 556 and the guide slide bar 557 is used, on one hand, the supporting function of the clicking device 55 is achieved, on the other hand, the guiding movement function of the clicking device 55 is also achieved, the height of the clicking device 55 can be adjusted through the clicking lifting column 558, the rotation of the first motor 5510 can drive the rotation of the first telescopic connecting rod 559, the rotation of the second motor 5511 can drive the rotation of the second telescopic connecting rod 5513, the first telescopic connecting rod 559 and the second telescopic connecting rod 5513 can both perform length extension and contraction, the clicking device 55 can perform the movement in five freedom directions of three translation and two rotation in space, the movement is flexible and convenient to adjust the alignment and the touching of the camera shooting button through the clicking device 55, and the alignment is accurate, and the point pressing is rapid.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A water area working machine characterized in that: the device comprises a lifting device, a redundant parallel mechanism and a shooting device; the redundancy parallel mechanism is positioned between the lifting device and the shooting device, the lower end of the redundancy parallel mechanism is connected with the lifting device, and the upper end of the redundancy parallel mechanism is connected with the shooting device; the redundant parallel mechanism comprises a fixed platform, a movable platform, a first branched chain and a second branched chain; the movable platform is positioned right above the fixed platform; the number of the first branched chain and the second branched chain is two, the first branched chain and the second branched chain are both positioned between the fixed platform and the movable platform, two ends of the first branched chain and two ends of the second branched chain are both connected with the fixed platform and the movable platform respectively, and the horizontal installation angle of the first branched chain and the second branched chain is 90 degrees; the first support chain comprises a first ear seat, a hook hinge, a first electric push rod, a first ball hinge, a first connecting column and a first damping spring; the first lug seat is fixed on the upper end face of the fixed platform, the first lug seat is connected with the lower end of the first electric push rod through a Hooke hinge, the upper end of the first electric push rod is connected with a first ball hinge, the first ball hinge is fixed on the lower end face of the movable platform through a first connecting column, and a first damping spring is wound on the first electric push rod; the second branched chain comprises a second lug seat, a rotating pin, a second electric push rod, a second ball hinge, a second connecting column and a second damping spring; the second ear seat is fixed on the upper end face of the fixed platform, the second ear seat is connected with the lower end of the second electric push rod through a rotating pin, the upper end of the second electric push rod is connected with a second ball hinge, the second ball hinge is fixed on the lower end face of the movable platform through a second connecting column, and the second damping spring is wound on the second electric push rod.

2. The water area working machine of claim 1, wherein: the shooting device include base, rotary disk, ball, fixing device, point press device and protection dustcoat, the rotary disk is located inside the base upper end, the ball is installed between base and rotary disk, fixing device quantity be two, fixing device symmetrical arrangement respectively is in the rotary disk left and right sides, the point is located fixing device rear end according to the device, the protection dustcoat is located the base top.

3. The water area working machine of claim 1, wherein: the lifting device comprises a lifting push rod, a lifting round table and an electric turntable; the lifting push rod is located below the lifting round platform, the upper end of the lifting push rod is connected with the lower end face of the lifting round platform, and the electric rotary table is fixed at the center of the upper end face of the lifting round platform.

4. The water area working machine of claim 2, wherein: the fixing device comprises a movable sliding rail, a limiting sliding block, a locking bolt, a transverse fixing and locking mechanism and a longitudinal fixing and locking mechanism; the movable slide rail on evenly seted up spacing hole, spacing slider installs on the movable slide rail, and locks fixedly through the locking bolt between spacing slider and the movable slide rail, spacing slider is T type structure, horizontal solid locking mechanism quantity is two, horizontal solid locking mechanism is located both sides around the spacing slider respectively, vertical solid locking mechanism is located directly over the spacing slider.

5. The water area working machine of claim 2, wherein: the point pressing device comprises a point pressing guide rail, a sealing block, a guide wheel, a point pressing motor, a point pressing rotating shaft, a point pressing support, a guide sliding rod, a point pressing lifting column, a first telescopic connecting rod, a first motor, a second motor, a transition rotating shaft, a second telescopic connecting rod and a point pressing head; the number of the clicking guide rails is two, concave guide grooves are formed in the inner sides of the clicking guide rails, the left ends and the right ends of the clicking guide rails are respectively limited through sealing blocks, guide wheels are positioned in the concave guide grooves on the clicking guide rails, a clicking motor is positioned between the guide wheels, the clicking motor adopts a double-shaft synchronous output motor, one end of a clicking rotating shaft is connected with the guide wheels, the other end of the clicking rotating shaft is connected with an output shaft of the clicking motor, a motor connecting seat is arranged at the lower end of a clicking support, a moving rod is arranged in the middle of the clicking support, moving seats are respectively arranged at the front end and the rear end of the moving rod, sliding bearings are arranged at the lower end of the moving seat, a clicking platform is arranged at the upper end of the clicking support, a clicking rotary table is arranged on the clicking platform, a guiding sliding rod is positioned right above the clicking guide rails, clicking lug seats are, the point is according to lift post bottom mounting on the point and is according to the revolving stage, and the point is according to lift post top and is connected with first telescopic link, and first motor main shaft is connected with first telescopic link one end, and the second motor is located first telescopic link other end top, and the second motor main shaft passes the first telescopic link other end and is connected with transition pivot upper end, and transition pivot lower extreme is fixed with second telescopic link one end, and the installation of second telescopic link other end below is according to the head, and the point is according to the head and is round platform column structure.

6. The water area working machine of claim 4, wherein: the transverse fixing and locking mechanism comprises a transverse supporting plate, a transverse guide rod, a transverse locking spring, a transverse connecting column and a transverse locking head; the transverse supporting plate is of an L-shaped structure, the transverse supporting plate is fixedly connected with the limiting slide block, the transverse guide rod is located between the transverse supporting plate and the transverse locking head, the transverse locking spring is located on the outer side of the transverse guide rod, one end of the transverse locking spring is connected with the transverse supporting plate through the transverse connecting column, the other end of the transverse locking spring is connected with the transverse locking head through the transverse connecting column, and the transverse locking head is of a waist-shaped flat-plate-shaped structure.

7. The water area working machine of claim 4, wherein: the longitudinal fixing and locking mechanism comprises a longitudinal supporting plate, a longitudinal guide rod, a longitudinal locking spring, a longitudinal connecting column and a longitudinal locking head; the longitudinal support plate is of an inverted L-shaped structure, a connecting rib plate is arranged on the outer side of the longitudinal support plate, the longitudinal guide rod is located on the inner side of the longitudinal locking spring, two ends of the longitudinal locking spring are respectively connected with the longitudinal support plate and the longitudinal locking head through longitudinal connecting columns, the longitudinal locking head is of a rake-shaped structure, the front end of the longitudinal locking head is evenly provided with locking claws, the locking claws are of wedge-shaped structures, and flexible sponge blocks are arranged on the lower end faces of the locking claws.