CN114396542A - Multidirectional four-foot photographing platform - Google Patents
Multidirectional four-foot photographing platform Download PDFInfo
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- CN114396542A CN114396542A CN202111675714.9A CN202111675714A CN114396542A CN 114396542 A CN114396542 A CN 114396542A CN 202111675714 A CN202111675714 A CN 202111675714A CN 114396542 A CN114396542 A CN 114396542A
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- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 21
- 210000002414 leg Anatomy 0.000 claims description 31
- 210000001699 lower leg Anatomy 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 17
- 210000000689 upper leg Anatomy 0.000 claims description 9
- 244000309466 calf Species 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 241000270322 Lepidosauria Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- 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
- F16M11/043—Allowing translations
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- 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
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- 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
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- 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
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/242—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by spreading of the legs
- F16M11/245—Members limiting spreading of legs, e.g. "umbrella legs"
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a novel multi-azimuth quadruped photographing platform which comprises a four-degree-of-freedom parallel mechanism, a carrying platform, a parallel mechanical leg group, a lifting device and a stabilizing device. The four-degree-of-freedom parallel mechanism is fixedly arranged on the carrying platform, the parallel mechanical leg group is fixedly arranged under the carrying platform, the lifting device is positioned below the carrying platform and forms non-fixed connection with the carrying platform, the lifting device is non-fixedly connected with the parallel mechanical leg group, the stabilizing device is fixedly arranged on the lifting device, and the stabilizing device and the parallel mechanical leg group form non-fixed connection. The novel multi-azimuth four-footed photography platform has the advantages of high precision, large load, high stability and the like, and can meet the requirement of high-precision operation.
Description
Technical Field
The invention relates to the field of mobile operation platforms, in particular to the field of parallel four-footed mobile operation platforms.
Background
In recent years, mobile work platforms have been developed, various types of mobile work platforms have been developed, and a mobile device used in a current mobile work platform is roughly classified into a wheel type, a crawler type, a crawl type, and a walk type, and many actuators are mounted in a series mechanism. The crawler-type moving device can move at a high speed and has small movement resistance, but has high requirement on the ground flatness, and compared with the crawler-type moving device, the crawler-type moving device has stronger capability of moving across obstacles and higher transmission efficiency. And crawling mobile device and walking mobile device are based on mechanical bionics, make the device imitate the action of reptile to further promoted the ability of surmounting the obstacle. The present invention thus employs a four-footed locomotion device. Although the serial execution mechanism is simple in structure and easy to maintain, the defects that the motion is not stable, the parallel execution mechanism can only bear light motion load and the like exist, the problems can be well solved by the parallel execution mechanism, and compared with the serial execution mechanism, the parallel execution mechanism is higher in precision and can meet the requirement of high-precision operation. Thus the present invention employs a parallel execution architecture. The invention combines the four-foot operation platform and the four-freedom-degree operation device together, can adjust the pose when the platform moves, and can fix the platform when needed, thereby enhancing the stability and improving the load bearing capacity.
Disclosure of Invention
The invention aims to solve the problems of unstable motion, low load capacity, low operation precision and the like of the existing mobile operation platform, and provides a multi-directional four-foot photographing platform which is provided with a stabilizing device and carries a four-degree-of-freedom parallel mechanism, so that the operation precision is further improved, and the operation stability is enhanced. The device has the advantages of high precision, large load, high stability and the like.
The invention realizes the purpose through the following technical scheme: the utility model provides a diversified four-footed photography platform which characterized in that: the device comprises a four-degree-of-freedom parallel mechanism, a carrying platform, a parallel mechanical leg group, a lifting device and a stabilizing device;
the four-degree-of-freedom parallel mechanism comprises a movable platform, four completely identical RPU mechanisms and a fixed platform, wherein the movable platform is a cuboid, two ends of the movable platform are connected with the RPU mechanisms, one end of each RPU mechanism is connected with the movable platform, the other end of each RPU mechanism is connected with the fixed platform, each RPU mechanism comprises a T-shaped cylinder, an upper hinged support, an upper push rod, a lower push rod, a small cylinder and a lower hinged support, a bearing embedded in one end of the T-shaped cylinder is connected with the movable platform through a revolute pair, the other end of each T-shaped cylinder is connected with the upper hinged support through a revolute pair, the two revolute pairs with mutually perpendicular rotational axes form a Hooke hinge, the lower end of the upper hinged support is fixedly connected with the upper push rod, the upper push rod is in a rectangular strip shape and is connected with the lower push rod in a moving pair form, the lower push rod is hollow in the middle of the rectangular strip, the lower end of the lower push rod is fixedly connected with the small cylinder, the small cylinder is connected with the lower hinged support through a revolute pair, and the lower hinged support is fixedly connected with the fixed platform, the fixed platform is a cuboid, eight through holes are symmetrically formed in the fixed platform, and the fixed platform is fixedly connected with the lower hinged support and the fixed platform through the through holes.
The carrying platform comprises a bearing plate, an SPS mechanism and a guide plate, the SPS mechanism comprises an upper connecting rod and a lower connecting rod, the upper connecting rod is connected with the lower connecting rod in a sliding pair mode, the upper connecting rod is connected with the bearing plate in a ball pair mode, and the lower connecting rod is connected with the lifting device in the ball pair mode. The guide plate structure is in a step shape, and the two identical guide plates are symmetrically arranged below the bearing plate.
The parallel mechanical leg group comprises four identical parallel mechanical legs which are symmetrically arranged below the bearing plate, each parallel mechanical leg comprises a driving motor, a Hooke hinge, a thigh and a shank, and the driving motor is fixedly connected below the bearing plate and connected with the Hooke hinge to drive the Hooke hinge; the Hooke joint comprises a cross, an upper U-shaped frame and a lower U-shaped frame, wherein the cross consists of a cube and 4 identical cylinders, the 4 identical cylinders are symmetrically arranged on four surfaces of the cube, and one of the cylinders is connected with a driving motor; the upper U-shaped frame and the lower U-shaped frame are provided with through holes at two ends, the four cylinders penetrate through the through holes to form revolute pairs, the bottom of the upper U-shaped frame is fixedly connected with the bearing plate, the bottom of the lower U-shaped frame is fixedly connected with the thigh, the thigh is composed of a small trapezoid block and a cylinder, the small trapezoid block is fixedly connected with the cylinder and the lower U-shaped frame, and the cylinder is non-fixedly connected with the shank. The shank consists of a hollow cylinder, a large trapezoid block and a rectangular block, the hollow cylinder is connected with the cylinder of the shank through a moving pair, the large trapezoid block is fixedly connected with the tail end of the lower part of the hollow cylinder, the rectangular block is arranged on the outer edge of the hollow cylinder and positioned on one side of the driving motor, a circular through hole and a rectangular through hole are formed in the rectangular block, the circular through hole is connected with the lifting device, and the rectangular through hole is connected with the stabilizing device;
the lifting device comprises a rectangular box, an RPS mechanism, wing plates and a deep groove ball bearing, wherein the rectangular box is a cuboid, a rectangular through hole is formed in the middle of the rectangular box, a circular through hole is formed in the top of the rectangular box, an SPS mechanism in a carrying platform penetrates through the circular through hole to be fixedly connected with the inner bottom surface of the rectangular box, the upper portion of the rectangular box is fixedly connected with a stepped structure on a guide plate, four small rectangular blocks are symmetrically arranged on the bottom surface of the rectangular box, one side of each small rectangular block is connected with a connecting rod, the RPS mechanism comprises an inner rod and an outer rod, the inner rod is connected with the rectangular box in a ball pair mode and is connected with the outer rod in a moving pair mode, the outer rod is connected with the rectangular blocks on crus in a rotating pair mode, the wing plates are two in number and are arranged in a rectangular shape and are symmetrically arranged on two sides of the rectangular box and are provided with two circular through holes, and the deep groove ball bearing is arranged in the circular through hole of the wing plates, the bearing outer ring is fixedly connected with the through hole, and the stabilizing device is connected with the wing plate through the deep groove ball bearing.
The stabilizing device consists of four completely identical belt pulley devices which are symmetrically arranged on a wing plate of the lifting device, each belt pulley device consists of a motor, a belt, a lock catch and a transmission rod, one end of the motor is fixedly connected with a rectangular box of the lifting device, the other end of the motor is non-fixedly connected with the belt to provide power for the belt pulley devices, one end of the belt is connected with the motor, the other end of the belt is connected with the transmission rod to drive the transmission rod, the lock catch is J-shaped, one end of the belt is fixedly connected with a rectangular strip, the other end of the belt is provided with a circular through hole and is fixedly connected with the transmission rod, the rectangular strip is non-fixedly connected with a shank through the rectangular through hole of a rectangular block on the shank, the transmission rod consists of an upper cylinder and a lower cylinder, the upper cylinder is provided with a groove and is connected with the belt, and the lower cylinder is fixedly connected with the upper cylinder, the lower cylinder is fixedly connected with the inner ring of the deep groove ball bearing of the lifting device.
Furthermore, the fixed platform of the four-degree-of-freedom parallel mechanism is fixedly connected with the bearing plate on the carrying platform through bolts.
Furthermore, the bearing plate on the carrying platform is fixedly connected with the bottom of the U-shaped frame on the hook hinge of the parallel mechanical leg through a bolt.
Furthermore, the Hooke's hinge upper U-shaped frame and the lower U-shaped frame of the parallel mechanical leg rotate around the central line of the central frame when rotating, and the central lines are perpendicular to each other.
Furthermore, the top of the rectangular box and the stepped structure at the lower end of the guide plate in the carrying platform form non-fixed connection, and the contact of the top of the rectangular box and the stepped structure is non-friction contact.
Furthermore, the contact surface of the lock catch and the wing plate is in non-friction contact.
Furthermore, the inner ring of the deep groove ball bearing is connected with the lower cylinder, the outer ring of the deep groove ball bearing is connected with the circular through hole of the wing plate, and the connection mode is interference connection.
The advantages of the invention are collectively shown in: the four-freedom-degree parallel mechanism can bear large load, the four-freedom-degree parallel mechanism can complete high-load and high-precision operation, the four parallel mechanical legs and the stabilizing device can form a stable triangular structure and locking capacity, and the lifting device is connected with the four parallel mechanical legs, so that the space occupied by the four-freedom-degree parallel mechanism is reduced.
Therefore, the invention has reasonable structural design, can meet the operation requirement of high strength and high precision and effectively improves the operation efficiency.
Drawings
FIG. 1 is a schematic view of a multi-orientation quadruped photography platform according to the present invention.
Fig. 2 is a front view of the four degree-of-freedom parallel mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the mounting platform of the present invention.
Fig. 4 is a schematic structural diagram of the parallel mechanical leg of the present invention.
Fig. 5 is a schematic structural diagram of the lifting device of the present invention.
FIG. 6 is a schematic view of the structure of the stabilizing device of the present invention.
Fig. 7 is a schematic structural diagram of the RPU mechanism of the present invention.
Fig. 8 is a schematic view of the construction of the transmission rod of the present invention.
In the figure, the position of the upper end of the main shaft,
1-four-degree-of-freedom parallel mechanism; 11-moving platform, 12-RPU mechanism, 121-T-shaped cylinder, 122-upper hinged support, 123-upper push rod, 124-lower push rod, 125-small cylinder, 126-lower hinged support and 13-fixed platform;
2-carrying a platform; 21-bearing plate, 22-SPS mechanism, 221-upper connecting rod, 222-lower connecting rod and 23-guide plate;
3-parallel mechanical leg group; 31-parallel mechanical legs, 311-driving motors, 312-hooke joints, 3121-center frame, 3122-upper U-shaped frame, 3123-lower U-shaped frame, 313-thighs, 3131-small trapezoidal block, 3132-cylinder, 314-shanks, 3141-hollow cylinder, 3142-large trapezoidal block, 3143-rectangular block;
4-a lifting device; 41-rectangular box, 411-small rectangular block, 42-connecting rod, 421-inner rod, 422-outer rod and 43-wing plate;
5-a stabilizing device; 51-belt pulley device, 511-motor, 512-belt, 513-lock catch, 5131-rectangular bar, 514-transmission rod, 5141-upper cylinder, 5142-lower cylinder;
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in FIGS. 1-7, a multi-directional quadruped photography platform is characterized in that: the device comprises a four-degree-of-freedom parallel mechanism 1, a carrying platform 2, a parallel mechanical leg group 3, a lifting device 4 and a stabilizing device 5;
the four-degree-of-freedom parallel mechanism 1 comprises a movable platform 11, four completely identical RPU mechanisms 12 and a fixed platform 13, wherein the movable platform 11 is a cuboid, two ends of the movable platform 11 are connected with the RPU mechanisms 12, one end of each RPU mechanism 12 is connected with the movable platform 11, the other end of each RPU mechanism 12 is connected with the fixed platform 13, each RPU mechanism comprises a T-shaped cylinder 121, an upper hinged support 122, an upper push rod 123, a lower push rod 124, a small cylinder 125 and a lower hinged support 126, one end of each T-shaped cylinder 121 is embedded with a bearing and connected with the movable platform 11 in a revolute pair mode, the other end of each T-shaped cylinder is connected with the upper hinged support 122 in a revolute pair mode, the two revolute pairs with mutually perpendicular rotational axes form a Hooke hinge, the lower end of each upper hinged support 122 is fixedly connected with the upper push rod 123, each upper push rod 123 is in a rectangular strip shape and connected with the lower push rod 124 in a revolute pair mode, each lower push rod 124 is a rectangular strip middle and hollow 125, and the lower end of each lower rod is fixedly connected with the small cylinder, the small cylinder 125 is connected with the lower hinged support 126 through a revolute pair, the lower hinged support 126 is fixedly connected with the fixed platform 13, the fixed platform 13 is a cuboid, eight through holes are symmetrically formed in the fixed platform 13, and the fixed platform is fixedly connected with the lower hinged support 126 and the fixed platform 13 through the through holes.
The carrying platform 2 comprises a bearing plate 21, an SPS mechanism 22 and a guide plate 23, the SPS mechanism 22 comprises an upper link 221 and a lower link 222, wherein the upper link 221 and the lower link 222 are connected in a moving pair mode, the upper link 221 is connected with the bearing plate 21 in a ball pair mode, and the lower link 222 is connected with the lifting device 4 in the ball pair mode. The guide plate 23 is in a step shape, and two identical guide plates 23 are symmetrically arranged below the bearing plate 21.
The parallel mechanical leg group 3 comprises four identical parallel mechanical legs 31, the four identical parallel mechanical legs 31 are symmetrically arranged below the bearing plate 21, each parallel mechanical leg 31 comprises a driving motor 311, a Hooke hinge 312, a thigh 313 and a shank 314, and the driving motor 311 is fixedly connected below the bearing plate 21 and connected with the Hooke hinge 312 to drive the Hooke hinge 312; the hooke's hinge 312 includes a cross, an upper U-shaped frame 3122, and a lower U-shaped frame 3123, the cross is composed of a cube and 4 identical cylinders 3132, the 4 identical cylinders 3132 are symmetrically disposed on four sides of the cube, one of the cylinders 3132 is connected to the driving motor 311; through holes are formed in two ends of the upper U-shaped frame 3122 and the lower U-shaped frame 3123, four cylinders 3132 penetrate through the through holes to form a revolute pair, the bottom of the upper U-shaped frame 3122 is fixedly connected with the bearing plate 21, the bottom of the lower U-shaped frame 3123 is fixedly connected with the thighs 313, the thighs 313 comprise small trapezoidal blocks 3131 and cylinders 3132, the small trapezoidal blocks 3131 are fixedly connected with the cylinders 3132 and the lower U-shaped frame 3123, and the cylinders 3132 are non-fixedly connected with the calves 314. The shank 314 consists of a hollow cylinder 3141, a hollow cylinder 3142 and a rectangular block 3143, the hollow cylinder 3141 is connected with a cylinder 3132 of the shank 314 by a moving pair, the hollow cylinder 3142 is fixedly connected with the lower end of the hollow cylinder 3141, the rectangular block 3143 is arranged on the outer edge of the hollow cylinder 3141 and is positioned at one side of the driving motor 311, a circular through hole and a rectangular through hole are arranged on the rectangular block 3143, the circular through hole is connected with the lifting device 4, and the rectangular through hole is connected with the stabilizing device 5;
the lifting device 4 comprises a rectangular box 41, an RPS mechanism, wing plates 43 and deep groove ball bearings, wherein the rectangular box 41 is a cuboid, the middle of the rectangular box 41 is provided with a rectangular through hole, the top of the rectangular box 41 is provided with a circular through hole, the SPS mechanism 22 in the carrying platform 2 penetrates through the circular through hole to be fixedly connected with the inner bottom surface of the rectangular box 41, the upper part of the rectangular box 41 is non-fixedly connected with a stepped structure on the guide plate 23, four small rectangular blocks 411 are symmetrically arranged on the bottom surface of the rectangular box 41, one side of each small rectangular block 411 is connected with a connecting rod 42, the RPS mechanism comprises an inner rod 421 and an outer rod 422, the inner rod 421 is connected with the rectangular box 41 in a ball pair mode and is connected with the outer rod 422 in a moving pair mode, the outer rod 422 is connected with the rectangular blocks 3143 on the lower legs 314 in a rotating pair, the wing plates 43 are two in total and are arranged in a rectangular shape and are symmetrically arranged on two sides of the rectangular box 41, and two circular through holes are arranged, the deep groove ball bearing is arranged in the circular through hole of the wing plate 43, the outer ring of the bearing is fixedly connected with the through hole, and the stabilizing device 5 is connected with the wing plate 43 through the deep groove ball bearing.
The stabilizing device 5 comprises four identical belt pulley devices 51, the four identical belt pulley devices 51 are symmetrically arranged on a wing plate 43 of the lifting device 4, each belt pulley device 51 comprises a motor 511, a belt 512, a lock catch 513 and a transmission rod 514, one end of the motor 511 is fixedly connected with a rectangular box 41 of the lifting device 4, the other end of the motor 511 is non-fixedly connected with the belt 512 to provide power for the belt pulley device 51, one end of the belt 512 is connected with the motor 511, the other end of the belt 512 is connected with the transmission rod 514 to drive the transmission rod 514, the lock catch 513 is in a J shape, one end of the lock catch is fixedly connected with a rectangular bar 5131, the other end of the lock catch is provided with a circular through hole and is fixedly connected with the transmission rod 514, the rectangular bar 5131 is non-fixedly connected with the shank 314 through the rectangular through hole of a rectangular block 3143 on the shank 314, and the transmission rod 514 comprises an upper cylinder 5141 and a lower cylinder 5142, the upper cylinder 5141 is provided with a groove to be connected with the belt 512, the lower cylinder 5142 is fixedly connected with the upper cylinder 5141, and the lower cylinder 5142 is fixedly connected with the inner ring of the deep groove ball bearing of the lifting device 4.
The fixed platform 13 of the four-degree-of-freedom parallel mechanism 1 is fixedly connected with the bearing plate 21 on the carrying platform 2 through bolts.
The bearing plate 21 on the embarkation platform 2 is fixedly connected with the bottom of the U-shaped frame 3122 on the Hooke hinge 312 of the parallel mechanical leg 31 through a bolt.
The hooke's joints 312 of the parallel mechanical legs 31 rotate around the center line of the center frame 3121 when the upper clevis 3122 and the lower clevis 3123 rotate, and the center lines are perpendicular to each other.
The top of the rectangular box 41 is in non-fixed connection with the stepped structure at the lower end of the guide plate 23 in the carrying platform 2, and the contact between the rectangular box and the stepped structure is non-friction contact.
The contact surface of the lock 513 and the wing 43 is in non-friction contact.
The inner ring of the deep groove ball bearing is connected with the lower cylinder 5142, and the outer ring of the deep groove ball bearing is embedded into the circular through hole of the wing plate 43 to form interference connection.
The specific working process of the invention is as follows:
when the platform moves, the lock 513 of the stabilizing device 5 is closed, so that the parallel mechanical leg group 3 can move, the lifting device 4 is lowered, and the driving motor 311 of the parallel mechanical leg 31 drives the hooke joint 312, so that the parallel mechanical leg group 3 realizes the expected movement.
When the platform stops, the driving motor 311 is turned off, and after the parallel mechanical leg group 3 stops moving, the lifting device 4 is lifted, so that the rectangular box 41 of the lifting device 4 contacts with the guide plate of the carrying platform 2, then the lock 513 of the stabilizing device 5 is opened, and the parallel mechanical leg group 3 is locked, so as to ensure the stability of the operation platform.
The RPU mechanism 12 drives the revolute pair to rotate by the movement of the upper push rod 123, so as to realize the movement and rotation of the movable platform 11 around the x axis, the rotation around the y axis and the movement along the z axis, so that the movable platform 11 realizes the expected pose. The RPU mechanism 12 may work in cooperation with the platform or may work alone when the platform is fixed.
The above embodiments are merely preferred embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and any modifications on the basis of the mobile operation platform should be considered as falling within the protection scope of the patent of the present invention.
Claims (7)
1. The utility model provides a diversified four-footed photography platform which characterized in that: the device comprises a four-degree-of-freedom parallel mechanism (1), a carrying platform (2), a parallel mechanical leg group (3), a lifting device (4) and a stabilizing device (5);
the four-degree-of-freedom parallel mechanism (1) comprises a movable platform (11), four completely identical RPU mechanisms (12) and a fixed platform (13), wherein the movable platform (11) is a cuboid, two ends of the movable platform are connected with the RPU mechanisms (12), one end of each RPU mechanism (12) is connected with the movable platform (11), the other end of each RPU mechanism is connected with the fixed platform (13), each RPU mechanism comprises a T-shaped cylinder (121), an upper hinged support (122), an upper push rod (123), a lower push rod (124), a small cylinder (125) and a lower hinged support (126), a bearing is embedded in one end of each T-shaped cylinder (121) and connected with the movable platform (11) through a revolute pair, the other end of each T-shaped cylinder is connected with the upper hinged support (122) through a revolute pair, the revolute pairs with mutually perpendicular rotational axes form a Hooke hinge, the lower end of each upper hinged support (122) is fixedly connected with the upper push rod (123), each upper push rod (123) is in a rectangular strip shape and connected with the lower push rod (124) through a revolute pair, the lower push rod (124) is hollow in the middle of a rectangular strip, the lower end of the lower push rod is fixedly connected with a small cylinder (125), the small cylinder (125) is connected with a lower hinged support (126) through a revolute pair, the lower hinged support (126) is fixedly connected with a fixed platform (13), the fixed platform (13) is a cuboid, eight through holes are symmetrically formed in the cuboid, and the fixed platform is fixedly connected with the lower hinged support (126) and the fixed platform (13) through the through holes;
the carrying platform (2) comprises a bearing plate (21), an SPS mechanism (22) and a guide plate (23), the SPS mechanism (22) comprises an upper connecting rod (221) and a lower connecting rod (222), wherein the upper connecting rod (221) is connected with the lower connecting rod (222) in a moving pair mode, the upper connecting rod (221) is connected with the bearing plate (21) in a ball pair mode, and the lower connecting rod (222) is connected with the lifting device (4) in the ball pair mode; the guide plates (23) are in a step shape, and the two identical guide plates (23) are symmetrically arranged below the bearing plate (21);
the parallel mechanical leg group (3) comprises four identical parallel mechanical legs (31), the four identical parallel mechanical legs (31) are symmetrically arranged below the bearing plate (21), each parallel mechanical leg (31) comprises a driving motor (311), a Hooke hinge (312), a thigh (313) and a shank (314), and the driving motor (311) is fixedly connected below the bearing plate (21) and connected with the Hooke hinge (312) to drive the Hooke hinge (312); the Hooke's hinge (312) comprises a cross, an upper U-shaped frame (3122) and a lower U-shaped frame (3123), the cross is composed of a cube and 4 identical cylinders (3132), the 4 identical cylinders (3132) are symmetrically arranged on four faces of the cube, one of the cylinders (3132) is connected with the driving motor (311); through holes are formed in two ends of the upper U-shaped frame (3122) and the lower U-shaped frame (3123), four cylinders (3132) penetrate through the through holes to form a revolute pair, the bottom of the upper U-shaped frame (3122) is fixedly connected with the bearing plate (21), the bottom of the lower U-shaped frame (3123) is fixedly connected with thighs (313), each thigh (313) consists of a small trapezoidal block (3131) and a cylinder (3132), the small trapezoidal block (3131) is fixedly connected with the cylinders (3132) and the lower U-shaped frame (3123), and the cylinders (3132) are non-fixedly connected with the calves (314); the shank (314) consists of a hollow cylinder (3141), a hollow cylinder (3142) and a rectangular block (3143), the hollow cylinder (3141) is connected with a cylinder (3132) of the shank (314) through a sliding pair, the hollow cylinder (3142) is fixedly connected with the lower end of the hollow cylinder (3141), the rectangular block (3143) is arranged on the outer edge of the hollow cylinder (3141) and positioned on one side of the driving motor (311), the rectangular block (3143) is provided with a circular through hole and a rectangular through hole, the circular through hole is connected with the lifting device (4), and the rectangular through hole is connected with the stabilizing device (5);
the lifting device (4) comprises a rectangular box (41), an RPS mechanism, wing plates (43) and deep groove ball bearings, wherein the rectangular box (41) is a cuboid, a rectangular through hole is formed in the middle of the rectangular box, a circular through hole is formed in the top of the rectangular box (41), an SPS mechanism (22) in the carrying platform (2) penetrates through the circular through hole to be fixedly connected with the inner bottom surface of the rectangular box (41), the upper part of the rectangular box (41) is fixedly connected with a stepped structure on the guide plate (23), four small rectangular blocks (411) are symmetrically arranged on the bottom surface of the rectangular box (41), one side of each small rectangular block (411) is connected with a connecting rod (42), the RPS mechanism comprises an inner rod (421) and an outer rod (422), the inner rod (421) is connected with the rectangular box (41) in a ball pair mode and is connected with the outer rod (422) in a moving pair mode, the outer rod (422) is connected with the rectangular blocks (3143) on the lower leg (314) in a rotating pair mode, the two wing plates (43) are rectangular and symmetrically arranged on two sides of the rectangular box (41), two circular through holes are formed in the wing plates, the deep groove ball bearings are arranged in the circular through holes of the wing plates (43), the outer rings of the bearings are fixedly connected with the through holes, and the stabilizing device (5) is connected with the wing plates (43) through the deep groove ball bearings;
the stabilizing device (5) consists of four completely identical belt pulley devices (51), the four completely identical belt pulley devices (51) are symmetrically arranged on a wing plate (43) of the lifting device (4), the belt pulley devices (51) consist of a motor (511), a belt (512), a lock catch (513) and a transmission rod (514), one end of the motor (511) is fixedly connected with a rectangular box (41) of the lifting device (4), the other end of the motor (511) is non-fixedly connected with the belt (512) to provide power for the belt pulley devices (51), one end of the belt (512) is connected with the motor (511), the other end of the belt (512) is connected with the transmission rod (514) to drive the transmission rod (514), the lock catch (513) is J-shaped, one end of the belt (512) is fixedly connected with a rectangular strip (5131), the other end of the belt (51) is provided with a circular through hole and is fixedly connected with the transmission rod (514), the rectangular strip (5131) is non-fixedly connected with the shank (314) through the rectangular through hole of a rectangular block (3143) on the shank (314), the transmission rod (514) is composed of an upper cylinder (5141) and a lower cylinder (5142), the upper cylinder (5141) is provided with a groove to be connected with the belt (512), the lower cylinder (5142) is fixedly connected with the upper cylinder (5141), and the lower cylinder (5142) is fixedly connected with the inner ring of the deep groove ball bearing of the lifting device (4).
2. The multi-azimuth quadruped photography platform of claim 1, wherein: the fixed platform (13) of the four-degree-of-freedom parallel mechanism (1) is fixedly connected with the bearing plate (21) on the carrying platform (2) through bolts.
3. The multi-azimuth quadruped photography platform of claim 1, wherein: the bearing plate (21) on the carrying platform (2) is fixedly connected with the bottom of the U-shaped frame (3122) on the Hooke hinge (312) of the parallel mechanical leg (31) through a bolt.
4. The multi-azimuth quadruped photography platform of claim 1, wherein: when the upper U-shaped frame (3122) and the lower U-shaped frame (3123) of the Hooke joint (312) of the parallel mechanical leg (31) rotate, the centers of the two U-shaped frames rotate around the center line of the center frame (3121), and the centers of the two U-shaped frames are perpendicular to each other.
5. The multi-azimuth quadruped photography platform of claim 1, wherein: the top of the rectangular box (41) is in non-fixed connection with a stepped structure at the lower end of the guide plate (23) in the carrying platform (2), and the contact of the rectangular box and the stepped structure is non-friction contact.
6. The multi-azimuth quadruped photography platform of claim 1, wherein: the contact surface of the lock catch (513) and the wing plate (43) is in non-friction contact.
7. The multi-azimuth quadruped photography platform of claim 1, wherein: the inner ring of the deep groove ball bearing is connected with the lower cylinder (5142), and the outer ring of the deep groove ball bearing is embedded into the circular through hole of the wing plate (43) to form interference connection.
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