CN108253231B - A kind of shooting, collecting intelligence equipment - Google Patents
A kind of shooting, collecting intelligence equipment Download PDFInfo
- Publication number
- CN108253231B CN108253231B CN201810028014.2A CN201810028014A CN108253231B CN 108253231 B CN108253231 B CN 108253231B CN 201810028014 A CN201810028014 A CN 201810028014A CN 108253231 B CN108253231 B CN 108253231B
- Authority
- CN
- China
- Prior art keywords
- walking
- fixed
- lateral
- lifting
- shooting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 65
- 239000007787 solid Substances 0.000 claims description 37
- 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 22
- 239000000463 material Substances 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 229920005439 Perspex® Polymers 0.000 claims description 3
- 239000004926 polymethyl methacrylate Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 239000003643 water by type Substances 0.000 description 8
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 239000007921 spray Substances 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003673 groundwater Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 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
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M3/00—Portable or wheeled frames or beds, e.g. for emergency power-supply aggregates, compressor sets
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Accessories Of Cameras (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of shooting, collectings intelligently to equip, including land walking device, water surface running gear, lifting device, 3-freedom parallel mechanism and filming apparatus, water surface running gear is located at the left and right sides of land walking device, water surface running gear is connected with land walking device, lifting device is located at right above land walking device, and lifting device lower end is connected with land walking device upper end, 3-freedom parallel mechanism is between lifting device and filming apparatus, and 3-freedom parallel mechanism lower end is connected with lifting device, 3-freedom parallel mechanism upper end is connected with filming apparatus.The present invention has the function of that land walking, water surface walking, orientation angles are adjusted, camera is fixed and shooting operation, and intelligence degree is high, orientation angles are easy to adjust flexibly, camera is fixed conveniently, and stable and shooting fast mass is high, solves existing artificial the problems such as shooting and monitoring difficulty is big, risk is big and shooting quality is poor by ship.
Description
The application is application No. is 2016104640082, and the applying date is on 06 23rd, 2016, and invention and created name is
A kind of divisional application of the patent of " water quality table environment shooting, collecting intelligence equipment ".
Technical field
The present invention relates to waters field of work machines, specifically a kind of water quality table environment shooting, collecting is intelligently equipped.
Background technique
Water environment refers to the formation, distribution of water in nature and converts the environment in locating space, 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 society because
The totality of element；Also some refer to it is metastable, using land as the environment in space locating 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 locating space is sufficiently complex.Water environment is mainly by ground
Table water environment and groundwater environment two parts composition, surface water environment includes river, lake, reservoir, ocean, pond, marsh, ice
River etc., groundwater environment include spring, phreatic water, deep phreatic water etc., water environment be composing environment fundamental it
One, it is the important place that human society is depended on for existence and development, and by the field of Human impact and destruction most serious.
Water is the affluent resources that people depend on for existence, and people can carry out a variety of affairs, such as fishery water using water environment
Produce cultivation, 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 mostly uses tripod, 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, influences the quality of shooting.In view of the above circumstances, the present invention provides
A kind of water quality table environment shooting, collecting intelligence equipment.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of water quality table environment shooting, collectings intelligently to equip.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of water quality table environment shooting, collecting intelligently equipment, including land walking device, water surface running gear, lifting dress
It sets, 3-freedom parallel mechanism and filming apparatus；The water surface running gear quantity is two, and water surface running gear distinguishes position
In the left and right sides of land walking device, water surface running gear is connected with land walking device, and lifting device is located at land row
Right above walking apparatus, and lifting device lower end is connected with land walking device upper end, and 3-freedom parallel mechanism is located at lifting
Between device and filming apparatus, and 3-freedom parallel mechanism lower end is connected with lifting device, on 3-freedom parallel mechanism
End is connected with filming apparatus.
As a further improvement of the present invention, the land walking device includes chassis, driving motor, drive shaft, row
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking
Belt wheel quantity is four；The chassis is in rectangular configuration, offers U-type groove, chassis rear and front end point at left and right sides of chassis respectively
Mounting groove is not offered, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and driving motor is same using twin shaft
Output motor is walked, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives
It is fixed between moving axis and walking belt wheel by tight locking button, traveling crawler both ends are walked rotating around covering on treads wheel
Semicircle tread plate is evenly arranged on the outside of crawler belt；The rotation that walking belt wheel is driven by the rotation of driving motor, to drive
The movement of traveling crawler, land walking device is mainly used for walking of the invention, movement and steering, and land walking device passes through
Using the walking of track structure with easily facilitating hollow topography condition, so that applicability of the invention is stronger.
As a further improvement of the present invention, the water surface running gear includes walking plate, walking hinge, angular adjustment
Mechanism, walking turntable, walking telescopic rod, fixed bracket, jet cylinder, appendix and pulsometer；The walking plate is in stripe board
Shape structure, walking plate inner end are connected by walking hinge with the U-type groove inner sidewall on chassis, and angle adjusting mechanism quantity is
Two, and angle adjusting mechanism is symmetrically arranged along the central transverse axis of walking plate, angle adjusting mechanism lower end and walking plate
Mutually fixed, walking turntable is located at walking plate lateral wall center position, and walking telescopic rod one end is connected with walking turntable, walks
The telescopic rod other end is connected with fixed bracket, and telescopic rod of walking is hollow cylinder shell structure, fixed back-end support setting
There is fixed link, fixed bracket front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixed link, the installation of jet cylinder
In support bracket fastened Ω type frame, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, appendix one end
It is connected across walking telescopic rod with jet cylinder, the appendix other end is connected with pulsometer, and pulsometer is fixed on chassis upper end
The center position in face；The angle adjusting mechanism includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis
And adjusting bracket；The U-shaped structure of adjusting ear mount adjusts ear mount and is fixed on walking plate, and adjusting yoke lower end passes through the
One adjustment axis is connected with ear mount is adjusted, and is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusts
Pull rod is electric telescopic formula structure, and in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis adjusting bracket.Pass through
Walking turntable can drive rotary motion of the jet cylinder on XZ vertical plane, to adjust the water surface walking inclination angle of jet cylinder, be convenient for
Walking of the present invention on the water surface different in flow rate is mobile；By walking, telescopic rod can drive jet cylinder on XY horizontal plane
Side-to-side movement, to control extension elongation of the jet cylinder when walking mobile on the water surface；It can control by angle adjusting mechanism
Walking plate is rotated using walking hinge as rotary shaft, to drive rotation of the jet cylinder on YZ vertical plane, and then adjusts spray
The inclination angle of inflator drinking water, i.e., draft amount of the invention, movement of walking in the waters of different depth convenient for the present invention；Pass through air pressure
Pump can control the flow velocity that jet cylinder sprays gas, to adjust travel speed of the invention；Water surface running gear can carry out one
Translation two rotates the spatial movement of Three Degree Of Freedom altogether, and can walk movement in waters different in flow rate and different depth, and row
It walks speed and draft amount is adjustable, it is easy to adjust quick.
As a further improvement of the present invention, the lifting device includes lifting push rod, lifting rotary table and electric turntable；
The lifting push rod quantity is four, and lifting push rod is located at below lifting rotary table, and goes up and down push rod upper end and lifting rotary table lower end
Face is connected, and electric turntable is fixed on lifting upper end face of truncated cone center position.
As a further improvement of the present invention, the 3-freedom parallel mechanism include fixed platform, moving platform, ear mount,
Shaft, electric pushrod, spherical hinge, attachment base and limit spring, and ear mount, shaft, electric pushrod, spherical hinge, attachment base and limit
The quantity of position spring is three；The fixed platform and moving platform structure in rounded shape, and moving platform be located at fixed platform just on
Side, ear mount are located on the upper surface of fixed platform, and the installation center angle between ear mount is 60 degree, and attachment base is located under moving platform
On end face, and ear mount corresponds respectively with attachment base；The electric pushrod bottom end is mounted in ear mount by shaft, electronic
It is attached between push rod top and attachment base by spherical hinge, limit spring is around covering in electric pushrod upper end；When specific works,
The movement of moving platform can be driven by pumping for electric pushrod, and freedom degree parallel connection is reduced by limit spring
Jitter when mechanism kinematic increases the stationarity of 3-freedom parallel mechanism movement, 3-freedom parallel mechanism and cascade machine
Structure is big compared to rigidity, and flexibly, stable structure, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism uses 3- for movement
The form of the parallel institution of RPS, 3-freedom parallel mechanism is applied in the present invention, is on the one hand played whole to filming apparatus
The adjusting of body orientation angles, so that the present invention can carry out the comprehensive no dead angle of full angle under various postures carries out shooting operation；
On the other hand damping performance of the invention is improved by 3-freedom parallel mechanism, the present invention walks in land or water
When, even at jolt or nonequilibrium condition under when, filming apparatus is in horizontal steady state always, prevents filming apparatus from existing
Because of jitter or the excessive problem for leading to shooting picture difference of obliquity when shooting operation, further improves present invention shooting and make
Stability and safety when industry.
As a further improvement of the present invention, the filming apparatus includes pedestal, rotating disk, ball, fixed device, point
By device and containment envelope；The pedestal lower end is provided with base station, and pedestal upper end is provided with ring, the outer lateral edge 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 rotating electric machine, and rotating electric 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, the ball other side is stuck in the semi-circular recesses on rotate the outside of the disc wall；The fixation device quantity is two,
Fixed device is symmetrically arranged at left and right sides of rotating disk, is pressed device and is located at fixed device rear side end, containment envelope is in half
Spherical shell structure, containment envelope lower end inside are provided with the interior spiral shell that external screw thread matches 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 removal of containment envelope, containment envelope plays the role of waterproof and anti-fall junk to filming apparatus, while by
In containment envelope material be it is transparent, do not influence the progress of shooting operation.
As a further improvement of the present invention, the fixation 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 is mounted on shifting
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, and longitudinal solid lock mechanism is located at limit
Right above 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, longitudinal to lock bullet
Spring both ends are connected with longitudinal supporting plate and longitudinal locking head respectively by longitudinally connected column, 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 arranged on locking jaw lower end surface flexible
Sponge block.When specific operation, first according to the size model number size of installation camera, through 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 limit of left-right position；Then camera is placed between two lateral solid lock mechanisms, lateral solid lock mechanism plays pair
The limit fixed function of camera front-rear position, longitudinal solid lock mechanism play the limit fixed function to camera top position, and
Lateral solid lock mechanism is easy to adjust quick with longitudinal direction solid lock mechanism, and solid lock dynamics is suitble to, by fixed device to camera front and back, a left side
Right and upper and lower position is locked, it is therefore prevented that the phenomenon that camera slips during shooting operation improves this
The safety and stability of invention shooting operation.
As a further improvement of the present invention, the device of pressing includes pressing guide rail, sealing block, directive wheel, pressing
Motor presses shaft, presses support, be oriented to slide bar, press lifting column, the first shrinking connecting-rod, first motor, the second motor, mistake
Cross shaft, the second shrinking connecting-rod and point head；The described guide rail quantity of pressing is two, presses and offers concave on the inside of guide rail and lead
Slot, presses guide rail left and right ends and passes through sealing block respectively and limited, and directive wheel, which is located at, to be pressed in concave guide groove on guide rail, point
By motor between directive wheel, motor is pressed using Biaxial synchronous output motor, shaft one end is pressed and is connected with directive wheel,
It presses the shaft other end to be connected with motor output shaft is pressed, presses support lower end and be provided with motor connecting base, press in support
Portion is provided with mobile bar, and mobile bar rear and front end is respectively arranged with Mobile base, and Mobile base lower end is provided with sliding bearing, presses branch
Seat upper end, which is provided with, presses platform, and presses to be provided on platform and press turntable, and guiding slide bar, which is located at, to be pressed right above guide rail, and
Guiding slide bar both ends are respectively arranged with and press ear mount, press ear mount and are fixed on and press on guide rail, sliding bearing is mounted on guiding and slides
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, 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 put head structure in a circular table shape below the second shrinking connecting-rod other end.By the rotation for pressing motor
The rotation for pressing shaft is driven to pass through simultaneously to realize the function that directive wheel moves in the concave guide groove for pressing sliding rail
It presses support and is oriented to being used cooperatively for slide bar, on the one hand play the supporting role to device is pressed, on the other hand also function to
Effect to the guiding movement for pressing device, can be adjusted the height for pressing device by pressing lifting column, pass through
The rotation of one motor can drive the rotation of the first shrinking connecting-rod, can drive turning for the second shrinking connecting-rod 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 of totally five freedom degree directions, and move flexibly, easy to adjust, can be to camera shooting button by pressing device
Be adjusted contraposition and touching by, and align precisely, press quickly.
Compared with prior art, the invention has the following advantages that
(1) present invention has the function of that land walking, water surface walking, orientation angles are adjusted, camera is fixed and shooting operation,
The function to aquatic environment monitoring results can be realized by way of unmanned automation shooting, and intelligence degree is high, azimuth
It spends flexible, camera easy to adjust and is fixed conveniently and stablize and shoot fast mass height, solve existing shooting and monitoring of manually going by ship
The problems such as difficulty is big, risk is big and shooting quality is poor.
(2) land walking device of the invention and the cooperation conversion of water surface running gear use, and conversion is convenient and efficient, can fit
It should walk in land walking and the water surface, achieve the effect that amphibious walking, and water surface running gear can carry out a translation two rotation
The spatial movement of Three Degree Of Freedom altogether, can walk movement in the waters of different in flow rate and different depth, and the speed of travel and eat
Water is adjustable, easy to adjust quick.
(3) 3-freedom parallel mechanism of the invention uses the form of the parallel institution of 3-RPS, by three-freedom parallel
Structure is applied in the present invention, on the one hand plays the adjusting to filming apparatus entirety orientation angles, so that the present invention can be various
The comprehensive no dead angle of full angle is carried out under posture carries out shooting operation；On the other hand this is improved by 3-freedom parallel mechanism
The damping performance of invention, when the present invention walks in land perhaps water even at jolt or nonequilibrium condition under when, clap
It takes the photograph device and is in horizontal steady state always, prevent filming apparatus in shooting operation because of jitter or obliquity is excessive causes
The problem of shooting picture difference further improves stability and safety when shooting operation of the present invention.
(4) filming apparatus of the invention has the function of that the anti-fall junk of waterproof, camera are fixed, shooting button controls, and passes through
Fixed device is locked to around camera and 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 of totally five freedom degree directions, and moves flexibly, easy to adjust, can be shot to camera by pressing device
Contraposition is adjusted in button and touching is pressed, and aligns precisely, presses quickly.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is schematic perspective view when land walking device, water surface running gear and lifting device of the present invention cooperate；
Schematic perspective view when Fig. 3 is land walking device and water surface running gear of the present invention cooperation；
Fig. 4 is schematic perspective view when lifting device, 3-freedom parallel mechanism and charging device of the present invention cooperate；
Fig. 5 is the structural schematic diagram of 3-freedom parallel mechanism of the present invention；
Fig. 6 is the schematic perspective view of filming apparatus of the present invention；
Fig. 7 is the schematic perspective view of the fixed device of the present invention；
Fig. 8 is the schematic perspective view that the present invention presses device；
Fig. 9 is the schematic perspective view 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 9, a kind of water quality table environment shooting, collecting is intelligently equipped, including land walking device 1, the water surface
Running gear 2, lifting device 3,3-freedom parallel mechanism 4 and filming apparatus 5；2 quantity of water surface running gear is two,
And water surface running gear 2 is located at the left and right sides of land walking device 1, water surface running gear 2 and 1 phase of land walking device
Connection, lifting device 3 is located at right above land walking device 1, and 3 lower end of lifting device is connected with 1 upper end of land walking device
It connects, 3-freedom parallel mechanism 4 is between lifting device 3 and filming apparatus 5, and 4 lower end of 3-freedom parallel mechanism and liter
Falling unit 3 is connected, and 4 upper end of 3-freedom parallel mechanism is connected with filming apparatus 5.
As shown in Figures 2 and 3, the land walking device 1 includes chassis 11, driving motor 12, drive shaft 13, walking
Belt wheel 14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, is driven
Moving axis 13 and walking 14 quantity of belt wheel are four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers peace respectively
Tankage, driving motor 12 are separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is defeated using Biaxial synchronous
Motor out, 13 one end of drive shaft are connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14,
And be fixed between drive shaft 13 and walking belt wheel 14 by tight locking button 15,16 both ends of traveling crawler are rotating around covering in treads
On wheel 14, and semicircle tread plate is evenly arranged on the outside of traveling crawler 16；Treads are driven by the rotation of driving motor 12
The rotation of wheel 14, to drive the movement of traveling crawler 16, land walking device 1 be mainly used for walking of the invention, movement and
It turns to, and land walking device 1 is by using the walking of track structure with easily facilitating hollow topography condition, so that of the invention
Applicability is stronger.
As shown in Figures 2 and 3, the water surface running gear 2 includes walking plate 21, walking hinge 22, angular adjustment machine
Structure 23, walking turntable 24, walking telescopic rod 25, fixed bracket 26, jet cylinder 27, appendix 28 and pulsometer 29；The row
Limp 21 is in bar shaped plate structure, and walking 21 inner end of plate is connected by walking hinge 22 with the U-type groove inner sidewall on chassis 11,
23 quantity of angle adjusting mechanism is two, and angle adjusting mechanism 23 is symmetrically arranged along the central transverse axis of walking plate 21,
23 lower end of angle adjusting mechanism is fixed with walking 21 phase of plate, and walking turntable 24 is located at walking 21 lateral wall center position of plate, row
It walks 25 one end of telescopic rod to be connected with walking turntable 24, walking 25 other end of telescopic rod is connected with fixed bracket 26, and walks
Telescopic rod 25 is hollow cylinder shell structure, and fixed 26 rear end of bracket is provided with fixed link, and fixed 26 front end of bracket is provided with Ω
Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder 27 is mounted in the Ω type frame of fixed bracket 26, jet
27 front ends of cylinder are cone-shaped structure, and 27 rear end of jet cylinder offers puff prot, 28 one end of appendix pass through walking telescopic rod 25 with
Jet cylinder 27 is connected, and 28 other end of appendix is connected with pulsometer 29, and pulsometer 29 is fixed in 11 upper surface of chassis
At heart position；The angle adjusting mechanism 23 includes adjusting ear mount 231, the first adjustment axis 232, adjusting yoke 233, second to adjust
Nodal axisn 234 and adjusting bracket 235；The U-shaped structure of adjusting ear mount 231 adjusts ear mount 231 and is fixed on walking plate 21,
233 lower end of adjusting yoke is connected by the first adjustment axis 232 with ear mount 231 is adjusted, 233 upper end of adjusting yoke and adjusting bracket
It is connected between 235 by the second adjustment axis 234, adjusting yoke 233 is electric telescopic formula structure, and adjusting bracket 235 is in
Vertical y-type structure, 235 lower end of adjusting bracket are fixed on chassis 11.By walking, turntable 24 can drive jet cylinder 27 to hang down in XZ
The rotary motion faced directly, so that the water surface walking inclination angle of jet cylinder 27 is adjusted, convenient for the present invention on the water surface different in flow rate
Walking it is mobile；By walking, telescopic rod 25 can drive side-to-side movement of the jet cylinder 27 on XY horizontal plane, to control spray
Extension elongation of the inflator 27 when walking mobile on the water surface；It can control walking plate 21 by angle adjusting mechanism 23 with hinge of walking
Chain 22 is that rotary shaft is rotated, to drive rotation of the jet cylinder 27 on YZ vertical plane, and then adjusts jet cylinder 27 and absorbs water
Inclination angle, i.e., draft amount of the invention, movement of walking in the waters of different depth convenient for the present invention；It can be with by pulsometer 29
The flow velocity that jet cylinder 27 sprays gas is controlled, to adjust travel speed of the invention；Water surface running gear 2 can carry out a translation
Two rotate the spatial movement of Three Degree Of Freedom altogether, and can walk movement in waters different in flow rate and different depth, and speed of walking
Degree and draft amount are adjustable, easy to adjust quick.
As shown in Fig. 2, the lifting device 3 includes lifting push rod 31, lifting rotary table 32 and electric turntable 33；Described
Going up and down 31 quantity of push rod is four, and lifting push rod 31 is located at 32 lower section of lifting rotary table, and goes up and down 31 upper end of push rod and lifting rotary table 32
Lower end surface is connected, and electric turntable 33 is fixed on lifting 32 upper surface center position of rotary table.
As shown in Figure 4 and Figure 5, the 3-freedom parallel mechanism 4 includes fixed platform 41, moving platform 42, ear mount 43, turns
Axis 44, electric pushrod 45, spherical hinge 46, attachment base 47 and limit spring 48, and ear mount 43, shaft 44, electric pushrod 45, flexural pivot
The quantity of chain 46, attachment base 47 and limit spring 48 is three；Fixed platform 41 and moving platform 42 structure in rounded shape,
And moving platform 42 is located at right above fixed platform 41, ear mount 43 is located on the upper surface of fixed platform 41, and the installation between ear mount 43
Centric angle is 60 degree, and attachment base 47 is located on 42 lower end surface of moving platform, and ear mount 43 corresponds respectively with attachment base 47；Institute
45 bottom end of electric pushrod stated is mounted in ear mount 43 by shaft 44, passes through ball between 45 top of electric pushrod and attachment base 47
Hinge 46 is attached, and limit spring 48 is around covering in 45 upper end of electric pushrod；When specific works, above and below electric pushrod 45
The movement that can drive moving platform 42 is moved back and forth, and is reduced when 3-freedom parallel mechanism 4 moves and is trembled by limit spring 48
Dynamic property, increases the stationarity of the movement of 3-freedom parallel mechanism 4, the rigidity compared with serial mechanism of 3-freedom parallel mechanism 4
Greatly, flexibly, stable structure, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 uses the parallel connection of 3-RPS for movement
The form of mechanism, 3-freedom parallel mechanism 4 is applied in the present invention, is on the one hand played to the whole orientation of filming apparatus 5
The adjusting of angle, so that the present invention can carry out the comprehensive no dead angle of full angle under various postures carries out shooting operation；Another party
Face improves damping performance of the invention by 3-freedom parallel mechanism 4, when the present invention walks in land or water, i.e.,
Make in jolt or nonequilibrium condition under when, filming apparatus 5 always be in horizontal steady state, prevent filming apparatus 5 from clapping
Because of jitter or the excessive problem for leading to shooting picture difference of obliquity when taking the photograph operation, shooting operation of the present invention is further improved
When stability and safety.
As shown in Figures 6 to 9, the filming apparatus 5 include pedestal 51, rotating disk 52, ball 53, fixed 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 outer lateral edge its circumferencial direction is evenly arranged with scale mark, and scale mark revolves in the horizontal plane whole of filming apparatus 5
The adjusting of gyration plays reference role, and external screw thread is provided on the outside of ring upper semisection, is provided with annular cavity on the inside of ring,
Rotating disk 52 is located inside pedestal upper end, and 52 lower end of rotating disk is provided with rotating electric machine, and the base of rotating electric machine and 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 other side of ball is stuck in the semicircle on 52 lateral wall of rotating disk
Groove；54 quantity of fixation device is two, and fixed device 54 is symmetrically arranged at 52 left and right sides of rotating disk, presses dress
It sets 55 and is located at fixed 54 rear side end of device, the hemispherical shell structure of containment envelope 56,56 lower end inside of containment envelope is provided with
With the internal screw thread that external screw thread matches 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 removal 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 be it is transparent, no
Influence the progress of shooting operation.
As shown in Figure 6 and Figure 7, the fixation device 54 includes shifting sledge 541, position limiting slide block 542, clamping screw
543, lateral solid lock mechanism 544 and longitudinal solid lock mechanism 545；It is uniformly provided with limit hole 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, the T-shaped structure of position limiting slide block 542, lateral 544 quantity of solid lock mechanism is two, and lateral solid lock mechanism 544 is located at
542 front and rear sides of position limiting slide block, longitudinal solid lock mechanism 545 are located at right above 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 lateral lock
Tight head 5445；The cross-brace plate 5441 is L-type structure, and 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 connection floor is provided on the outside of longitudinal supporting plate 5451, 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 direction 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
Flexible sponge block is arranged on locking jaw lower end surface in tight pawl wedge shaped structure.When specific operation, 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 the fixed limit to camera left-right position；Then will
Camera is placed between two lateral solid lock mechanisms 544, and it is solid that lateral solid lock mechanism 544 plays the limit to camera front-rear position
It is set for using, longitudinal solid lock mechanism 545 plays the limit fixed function to camera top position, and 544 He of lateral solid lock mechanism
Longitudinal solid lock mechanism 545 is easy to adjust quick, and solid lock dynamics is suitble to, by fixed device 54 to around camera and up and down
Position be locked, it is therefore prevented that the phenomenon that camera slips during shooting operation improves shooting of the present invention
The safety and stability of operation.
As shown in Figure 6 and Figure 8, the device 55 of pressing includes pressing guide rail 551, sealing block 552, directive wheel 553, point
By motor 554, press shaft 555, press support 556, guiding 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 and offer concave guide groove on the inside of guide rail 551, 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, is pressed motor 554 and is located at directive wheel
Between 553, presses 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 554 output shaft of motor is pressed, and presses 556 lower end of support 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 support and be provided with and press platform, and press to be provided on platform and press turntable, guiding slide bar 557 is located at point
It by right above 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 is mounted on guiding slide bar 551, 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 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 is another across the first shrinking connecting-rod 559
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 below 5513 other end of shrinking connecting-rod, and puts the structure in a circular table shape of head 5514.By pressing motor
554 rotation drives the rotation for pressing shaft 555, transports in the concave guide groove for pressing sliding rail 551 to realize directive wheel 553
On the one hand dynamic function, while being used cooperatively by pressing support 556 and being oriented to slide bar 557 is played to pressing device 55
Supporting role, on the other hand also play the effect to the guiding movement for 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 first motor 5510, leads to
The rotation for crossing the second motor 5511 can drive the rotation of the second shrinking connecting-rod 5513, and the first shrinking connecting-rod 559 and second is flexible
Connecting rod 5513 can carry out telescopic, and three translations two rotation totally five freedom degree directions can be carried out in space by pressing device 55
Movement, and move flexibly, it is easy to adjust, camera shooting button can be adjusted contraposition and touching by pressing device 55
It presses, and aligns precisely, press quickly.
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 only illustrating for the description in above embodiments and description is of the 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 (7)
1. a kind of shooting, collecting is intelligently equipped, it is characterised in that: including land walking device, water surface running gear, lifting device,
3-freedom parallel mechanism and filming apparatus；The water surface running gear quantity is two, and water surface running gear is located at
The left and right sides of land walking device, water surface running gear are connected with land walking device, and lifting device is located at land walking
Right above device, and lifting device lower end is connected with land walking device upper end；3-freedom parallel mechanism is located at lifting dress
It sets between filming apparatus, and 3-freedom parallel mechanism lower end is connected with lifting device, 3-freedom parallel mechanism upper end
It is connected with filming apparatus；
The land walking device includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and is driven
The quantity of dynamic motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The chassis is in rectangle
Structure, the chassis left and right sides offer U-type groove respectively, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively
It is scheduled in the mounting groove of chassis front and rear sides, and driving motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding rotating around covering on treads wheel, and on the outside of traveling crawler
Item；
The water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking turntable, walking telescopic rod, solid
Fixed rack, jet cylinder, appendix and pulsometer；The walking plate is in bar shaped plate structure, and walking plate inner end passes through walking
Hinge is connected with the U-type groove inner sidewall on chassis, and angle adjusting mechanism quantity is two, and angle adjusting mechanism is along the cross of walking plate
It is symmetrically arranged to central axis, angle adjusting mechanism lower end is mutually fixed with walking plate, and walking turntable is located on the outside of walking plate
Wall center position, walking telescopic rod one end are connected with walking turntable, and the walking telescopic rod other end is connected with fixed bracket,
And walking telescopic rod is hollow cylinder shell structure, fixed back-end support is provided with fixed link, and fixed bracket front end is provided with Ω
Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder is mounted in support bracket fastened Ω type frame, before jet cylinder
End is cone-shaped structure, and jet tube rear end offers puff prot, and appendix one end passes through walking telescopic rod and is connected with jet cylinder,
The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of chassis upper surface；The angular adjustment
Mechanism includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis and adjusting bracket；The adjusting ear mount is U-shaped
Structure adjusts ear mount and is fixed on walking plate, and adjusting yoke lower end is connected by the first adjustment axis with ear mount is adjusted, and is adjusted and is drawn
It is connected between bar upper end and adjusting bracket by the second adjustment axis, adjusting yoke is electric telescopic formula structure, adjusting bracket
In the y-type structure of handstand, adjusting bracket lower end is fixed on chassis.
2. a kind of shooting, collecting according to claim 1 is intelligently equipped, it is characterised in that: the three-freedom parallel
Structure includes fixed platform, moving platform, ear mount, shaft, electric pushrod, spherical hinge, attachment base and limit spring, and ear mount, shaft, electricity
The quantity for moving push rod, spherical hinge, attachment base and limit spring is three；The fixed platform and moving platform knot in rounded shape
Structure, and moving platform is located at right above fixed platform, ear mount is located on the upper surface of fixed platform, and the installation center angle between ear mount
It is 60 degree, attachment base is located on moving platform lower end surface, and ear mount corresponds respectively with attachment base；The electric pushrod bottom end
It is mounted in ear mount, is attached between electric pushrod top and attachment base by spherical hinge, limit spring is around set by shaft
In electric pushrod upper end.
3. a kind of shooting, collecting according to claim 1 is intelligently equipped, it is characterised in that: the filming apparatus includes base
Seat, ball, fixed device, presses device and containment envelope at rotating disk；The pedestal lower end is provided with base station, pedestal upper end
It is provided with ring, its circumferencial direction of the outer lateral edge of ring lower semisection is evenly arranged with scale mark, is provided on the outside of ring upper semisection
External screw thread, ring inside are 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 rotating electric machine and the base station of pedestal lower end are connected to a fixed, and semi-circular recesses, ball peace are provided on rotate the outside of the disc wall
Between pedestal and rotating disk, and ball side is stuck in the annular cavity on the inside of ring, and the ball other side is stuck in rotating disk
Semi-circular recesses on lateral wall；The fixation device quantity is two, and fixed device is symmetrically arranged at rotating disk or so
Two sides press device and are located at fixed device rear side end, the hemispherical shell structure of containment envelope, the setting of containment envelope lower end inside
There is the internal screw thread that external screw thread matches on the outside of the ring upper semisection with pedestal, containment envelope is located above pedestal, containment envelope material
Matter is clear perspex material.
4. a kind of shooting, collecting according to claim 3 is intelligently equipped, it is characterised in that: the fixation device includes moving
Dynamic sliding rail, position limiting slide block, clamping screw, lateral solid lock mechanism and longitudinal solid lock mechanism；It is uniformly opened up on the shifting sledge
There is limit hole, position limiting slide block is mounted on shifting sledge, and is locked between position limiting slide block and shifting sledge by clamping screw
It fastens, the T-shaped structure of position limiting slide block, lateral solid lock mechanism quantity is two, before lateral solid lock mechanism is located at position limiting slide block
Two sides afterwards, longitudinal solid lock mechanism are located at right above position limiting slide block.
5. a kind of shooting, collecting according to claim 4 is intelligently equipped, it is characterised in that: the lateral solid lock mechanism packet
Include cross-brace plate, laterally steering bar, lateral locking spring, lateral connection column and lateral locking head；The cross-brace plate
It for L-type structure, and is connected between cross-brace plate and position limiting slide block, laterally steering bar is located at cross-brace plate and transverse direction locking head
Between, lateral locking spring is located on the outside of laterally steering bar, and lateral locking spring one end is propped up by lateral connection column and laterally
Fagging is connected, and the lateral locking spring other end is connected by lateral connection column with lateral locking head, and lateral locking head is in waist
Type plate-like structure；Longitudinal solid lock mechanism includes longitudinal supporting plate, longitudinally guiding bar, longitudinal locking spring, Zong Xianglian
Connect column and longitudinal locking head；The longitudinal supporting plate is provided with connection rib in the L-type structure stood upside down, and on the outside of longitudinal supporting plate
Plate, longitudinally guiding bar are located on the inside of longitudinal locking spring, longitudinal locking spring both ends by longitudinally connected column respectively with longitudinal branch
Fagging is connected with longitudinal locking head, and longitudinal locking head is in rake shape structure, and longitudinal locking head front end is evenly arranged with locking jaw,
And the wedge shaped structure of locking jaw, flexible sponge block is set on locking jaw lower end surface.
6. a kind of shooting, collecting according to claim 3 is intelligently equipped, it is characterised in that: the device of pressing includes a little
By guide rail, sealing block, directive wheel, motor is pressed, shaft is pressed, support is pressed, slide bar is oriented to, presses lifting column, first flexible
Connecting rod, first motor, the second motor, transition rotating shaft, the second shrinking connecting-rod and point head；The guide rail quantity of pressing is two,
It presses and offers concave guide groove on the inside of guide rail, press guide rail left and right ends and pass through sealing block respectively and limited, directive wheel is located at
It presses in the concave guide groove on guide rail, presses motor between directive wheel, press motor using Biaxial synchronous output motor, point
It is connected by shaft one end with directive wheel, presses the shaft other end and be connected with motor output shaft is pressed, presses support lower end and set
It is equipped with motor connecting base, presses and is provided with mobile bar in the middle part of support, mobile bar rear and front end is respectively arranged with Mobile base, Mobile base
Lower end is provided with sliding bearing, presses support upper end and is provided with and press platform, and presses to be provided on platform and press turntable, is oriented to
Slide bar, which is located at, to be pressed right above guide rail, and is oriented to slide bar both ends and is respectively arranged with and press ear mount, is pressed ear mount and is fixed on to press and leads
On rail, sliding bearing is mounted on guiding slide bar, is pressed lifting column bottom end and is fixed on and presses on turntable, is pressed lifting top end and is connected
It is connected to the first shrinking connecting-rod, first motor main shaft is connected with first shrinking connecting-rod one end, and the second motor is located at the first flexible company
Above the bar other end, and the second electric machine main shaft passes through the first shrinking connecting-rod other end and is connected with transition rotating shaft upper end, and transition turns
Axis lower end is mutually fixed with second shrinking connecting-rod one end, and a head is equipped with below the second shrinking connecting-rod other end, and is put head and be in
Round-like structure.
7. a kind of shooting, collecting according to claim 1 is intelligently equipped, it is characterised in that: the lifting device includes rising
Push rod, lifting rotary table and electric turntable drop；The lifting push rod quantity is four, and lifting push rod is located at below lifting rotary table, and
Lifting push rod upper end is connected with lifting rotary table lower end surface, and electric turntable is fixed on lifting upper end face of truncated cone center position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810028014.2A CN108253231B (en) | 2016-06-23 | 2016-06-23 | A kind of shooting, collecting intelligence equipment |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464008.2A CN106090536B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting is intelligently equipped |
| CN201810028014.2A CN108253231B (en) | 2016-06-23 | 2016-06-23 | A kind of shooting, collecting intelligence equipment |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464008.2A Division CN106090536B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting is intelligently equipped |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108253231A CN108253231A (en) | 2018-07-06 |
| CN108253231B true CN108253231B (en) | 2019-12-03 |
Family
ID=57252632
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464008.2A Active CN106090536B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting is intelligently equipped |
| CN201810028014.2A Active CN108253231B (en) | 2016-06-23 | 2016-06-23 | A kind of shooting, collecting intelligence equipment |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464008.2A Active CN106090536B (en) | 2016-06-23 | 2016-06-23 | A kind of water quality table environment shooting, collecting is intelligently equipped |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN106090536B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641634B (en) * | 2016-11-29 | 2019-05-03 | 哈尔滨工业大学深圳研究生院 | Compact cradle head mechanism |
| CN106838568B (en) * | 2016-11-29 | 2019-02-05 | 哈尔滨工业大学深圳研究生院 | Mixed connection Three Degree Of Freedom cradle head mechanism |
| CN107120507B (en) * | 2017-07-15 | 2019-07-26 | 南通冠优达磁业有限公司 | A kind of support device waterborne with electronic product |
| CN108033397A (en) * | 2017-12-15 | 2018-05-15 | 上海木爷机器人技术有限公司 | Intelligent transport equipment and its self-balancing lifting structure and control method |
| CN110271015A (en) * | 2019-06-25 | 2019-09-24 | 浙江大学 | A kind of adjustable active vision SLAM mobile platform of video camera posture |
| CN110606138B (en) * | 2019-09-11 | 2022-05-31 | 国营芜湖机械厂 | Airplane air inlet excess article checking image recognition robot and recognition method thereof |
| CN110816179B (en) * | 2019-11-20 | 2023-11-03 | 哈尔滨工程大学 | Amphibious vehicle and vessel with telescopic wheel and paddle mechanism |
| CN112128518B (en) * | 2020-09-23 | 2022-04-19 | 国网山东省电力公司临沂供电公司 | Low-voltage non-continuous branch fault detector |
| CN112503313A (en) * | 2020-11-05 | 2021-03-16 | 江苏金成源实业投资有限公司 | Camera lifting and falling control method for monitoring robot |
| CN112498508A (en) * | 2020-11-05 | 2021-03-16 | 江苏金成源实业投资有限公司 | Monitoring robot with stable rotating device |
| CN112923199A (en) * | 2021-01-22 | 2021-06-08 | 淄博职业学院 | Sensor device for electrical control |
| CN113739026B (en) * | 2021-07-27 | 2023-02-28 | 国网江苏省电力有限公司电力科学研究院 | Quick shooting and collecting device for lightning generation scene of power transmission channel |
| CN114227762B (en) * | 2021-12-29 | 2023-09-22 | 上海创志实业有限公司 | Anti-offset device for welding robot operation and anti-offset method thereof |
| TWI801245B (en) * | 2022-05-19 | 2023-05-01 | 源廣光電股份有限公司 | monitor device |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88203092U (en) * | 1988-02-01 | 1988-12-07 | 水电部郑州机械设计研究所 | Shallows amphibiotic carrier vehicle |
| JP2766960B2 (en) * | 1992-02-20 | 1998-06-18 | 株式会社クボタ | Drainage pump truck |
| CN201406286Y (en) * | 2009-01-20 | 2010-02-17 | 三一电气有限责任公司 | Amphibious crane and track structure thereof |
| CN201394351Y (en) * | 2009-03-10 | 2010-02-03 | 周立刚 | Three degree-of-freedom motor servo platform |
| KR101005481B1 (en) * | 2009-07-06 | 2011-01-05 | 김영근 | Assistant buoyancy device and amphibious vehicle having the same |
| CN102145642A (en) * | 2010-02-08 | 2011-08-10 | 周星果 | Motorcycle boat with land and water buoyancy apparatus |
| CN201867571U (en) * | 2010-10-12 | 2011-06-15 | 中国海洋大学 | Automatic rotating type underwater image pickup device with chromaticity-adjustable light emitting diode (LED) light source |
| CN202071910U (en) * | 2011-04-08 | 2011-12-14 | 山西亚佳机电集团有限公司 | Work station of crawler-type walking robot |
| US8808042B1 (en) * | 2013-07-01 | 2014-08-19 | Stanley C. Hewitt | Amphibious vehicle drive system |
| CN103552676B (en) * | 2013-11-15 | 2015-10-07 | 河南师范大学 | A kind of buoy type submarine periscope and communicator |
| CN103895461B (en) * | 2014-01-09 | 2015-12-09 | 吉林大学 | A kind of amphibious bicycle |
| KR101667755B1 (en) * | 2014-09-04 | 2016-10-20 | 한국해양과학기술원 | Fixed frame type recording device of images and videos |
| CN104290550B (en) * | 2014-10-16 | 2016-01-13 | 张立明 | A kind of lake, river running gear |
| CN204305153U (en) * | 2014-11-20 | 2015-04-29 | 深圳一电科技有限公司 | Capture apparatus fixing device |
| CN204567179U (en) * | 2015-05-08 | 2015-08-19 | 孙亚非 | Amphibious full landform operation Shock vehicle |
| CN105137702B (en) * | 2015-09-09 | 2017-09-26 | 深圳市泰迅数码有限公司 | A kind of water surface lens case |
-
2016
- 2016-06-23 CN CN201610464008.2A patent/CN106090536B/en active Active
- 2016-06-23 CN CN201810028014.2A patent/CN108253231B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106090536A (en) | 2016-11-09 |
| CN108253231A (en) | 2018-07-06 |
| CN106090536B (en) | 2017-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108253231B (en) | A kind of shooting, collecting intelligence equipment | |
| CN105947125B (en) | A kind of aquatic environment monitors cruise robot | |
| CN106143026B (en) | Full-automatic ocean water environment inspection observation equipment | |
| CN106041888B (en) | A kind of water quality table environment shooting, collecting intelligence equipment parallel manipulator | |
| CN106122704B (en) | A kind of automation integrated machine performs device of amphibious environment-friendly type water quality monitoring | |
| CN105936048B (en) | A kind of aquatic environment monitors cruise robot manipulator | |
| CN106049240B (en) | A kind of afforestation floor tile builds smart machine | |
| CN106087672B (en) | A kind of road surface ground brick masonry Work robot | |
| CN106004282B (en) | A kind of multiple degrees of freedom shooting operation intelligent robot waterborne | |
| CN105926912B (en) | A kind of full-automatic architecture indoor ground tile paving machine | |
| CN106080068B (en) | A kind of amphibious automation integrated machine of environment-friendly type water quality monitoring | |
| CN106963118A (en) | With the display auxiliary body swung with elevating function | |
| CN106087673B (en) | A kind of Municipal sidewalk ground tile paving robot | |
| CN106114094B (en) | A kind of four-degree-of-freedom reservoir fishes and shrimps feeding operation intelligent robot pedestal | |
| CN106090546B (en) | A kind of full-automatic sea water environment inspection scope harvester | |
| CN207399336U (en) | A kind of unmanned ground live streaming camera system | |
| CN106002944B (en) | A kind of shooting operation intelligent robot Multi-freedom-degreemanipulator manipulator waterborne | |
| CN105936051B (en) | A kind of aquatic environment monitoring cruise robot is with pressing device | |
| CN106003155B (en) | A kind of aquatic environment monitors cruise robot filming apparatus | |
| CN105936050B (en) | A kind of aquatic environment monitors cruise robot fixing device | |
| CN106012776B (en) | A kind of afforestation floor tile builds the special patch block machine of smart machine | |
| CN106114093B (en) | A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal | |
| CN218687920U (en) | Portable pull rod type oxygen generator box and oxygen generator | |
| CN106087675B (en) | A kind of high ferro station square floor tile builds automation integrated machine | |
| CN105941244A (en) | Six-degree-of-freedom fishery breeding automatic feeding robot base |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191106 Address after: 325200 floor 6, building C, Jingrui building, Zhaozhai village, Tangxia Town, Ruian City, Wenzhou City, Zhejiang Province Applicant after: Ruian City stime Education Technology Co.,Ltd. Address before: 414021 No. 58 Xiaohuwan First Village, Yueyang Building District, Yueyang City, Hunan Province Applicant before: Wen Xiu |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220802 Address after: 325200 Room 501, urban and rural distribution center, Yunzhou street, Rui'an City, Wenzhou City, Zhejiang Province (Qiaomao town) Patentee after: Zhejiang gaochuangmeng Intellectual Property Consulting Co.,Ltd. Address before: 325200 6 / F, building C, Jingrui building, Zhaozhai village, Tangxia Town, Rui'an City, Wenzhou City, Zhejiang Province Patentee before: Ruian City stime Education Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180706 Assignee: Ruian baileya Crafts Co.,Ltd. Assignor: Zhejiang gaochuangmeng Intellectual Property Consulting Co.,Ltd. Contract record no.: X2022330000813 Denomination of invention: An intelligent equipment for shooting and collecting Granted publication date: 20191203 License type: Common License Record date: 20221221 |
|
| EE01 | Entry into force of recordation of patent licensing contract |