CN205979069U - Packaged plant , removal shooting equipment, packaged plant control system - Google Patents

Packaged plant , removal shooting equipment, packaged plant control system Download PDF

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Publication number
CN205979069U
CN205979069U CN201620746896.2U CN201620746896U CN205979069U CN 205979069 U CN205979069 U CN 205979069U CN 201620746896 U CN201620746896 U CN 201620746896U CN 205979069 U CN205979069 U CN 205979069U
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CN
China
Prior art keywords
actuator
wheel
movable fixture
rocking bar
drive
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Application number
CN201620746896.2U
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Chinese (zh)
Inventor
贝世猛
魏乐乐
包玉奇
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Priority to CN201620746896.2U priority Critical patent/CN205979069U/en
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Abstract

The utility model provides a packaged plant, include the chassis and with a plurality of wheel subassemblies that the chassis is connected. Each the wheel subassembly includes wheel body and actuating mechanism. Actuating mechanism is including being used for the drive the wheel body includes first driving piece and second driving piece. First driving piece is used for the drive the wheel body turns to in order to change packaged plant's moving direction. The second driving piece is used for the drive wheel body axle is to rotating in order to drive packaged plant removes. Each the wheel body is respectively by the correspondence first driving piece and second driving piece individual drive turn to and the axial is rotated. The utility model discloses it has still to relate to one kind equipment and packaged plant control system are shot in packaged plant's removal.

Description

Movable fixture, follow shot equipment, movable fixture control system
Technical field
The utility model is related to travel mechanism, more particularly, to a kind of movable fixture, has the shifting of described movable fixture Dynamic capture apparatus and the control system of described movable fixture.
Background technology
Nowadays, movable fixture, for example removable shooting car, removable service robot etc., by more and more widely It is applied to a lot of fields, for example, movies-making, service, search and rescue, exploration, athletic game etc..Described movable fixture individually or The load carrying predetermined function is to execute specific task.
But, the movement of existing movable fixture and steering underaction are it is impossible to enough adapt to the operation ring of small space Border.
Utility model content
In view of this it is necessary to providing a kind of movable fixture avoiding the problems referred to above, follow shot equipment and may move Apparatus control system.
A kind of movable fixture, the multiple vehicle wheel components be connected including chassis and with described chassis, described vehicle wheel component It is distributed in the week side of boss on described chassis.Each described vehicle wheel component includes wheel body and drive mechanism.Described drive mechanism includes First actuator and the second actuator.Described first actuator is used for driving described wheel body to turn to change described removable dress The moving direction put.Described second actuator is used for driving described wheel body axial rotation to drive described movable fixture to move. Each described wheel body is independently driven by corresponding described first actuator and the second actuator respectively and is turned to and axial direction Rotate.
A kind of follow shot equipment, including movable fixture and be equipped on described movable fixture, for install clap Take the photograph the bearing part of device.Described movable fixture includes chassis and the multiple vehicle wheel components being connected with described chassis, described car Wheel assembly is distributed in the week side of boss on described chassis.Each described vehicle wheel component includes wheel body and drive mechanism.Described driving machine Structure includes the first actuator and the second actuator.Described first actuator be used for driving described wheel body turn to change described can The moving direction of mobile device.Described second actuator is used for driving described wheel body axial rotation to drive described movable fixture Mobile.Each described wheel body is independently driven and is turned to by corresponding described first actuator and the second actuator respectively And axial rotation.
A kind of movable fixture control system, for controlling the motion of movable fixture.Described movable fixture has bottom Disk and multiple vehicle wheel component, described vehicle wheel component is distributed in the week side of boss on described chassis.Each described vehicle wheel component includes taking turns Body and drive mechanism, each described vehicle wheel component includes wheel body and drive mechanism.Described drive mechanism is included for driving Move described wheeling thereof driving the first actuator of described movable fixture movement, and be used for driving described wheel body steering with Described movable fixture is made to change the second actuator of moving direction.Described movable fixture control system includes:
Receiving unit, for receiving remote signal;And
Control unit, is communicated to connect with described receiving unit, for obtaining each described wheel according to described remote signal Steering angle needed for body and speed, and control described first actuator and the second actuator independently to drive corresponding institute State wheel body to move with corresponding described steering angle and speed, and then control moving direction and the shifting of described movable fixture respectively Dynamic speed.
With respect to prior art, described movable fixture, described follow shot equipment, described movable fixture control system And the independence driving that method achieves to each wheeling thereof and turns to, enable to the movement of described movable fixture, turn To more flexible, increased the fitness to narrow and small operating environment.
Brief description
Fig. 1 is the stereogram of the movable fixture of the utility model embodiment.
Fig. 2 is the part-structure exploded view of Fig. 1 movable fixture.
Fig. 3 is another angular views of the structure of Fig. 2.
Fig. 4 is the stereogram of the follow shot equipment of the utility model embodiment.
Fig. 5 is the schematic diagram of the movable fixture control system of the utility model embodiment.
Fig. 6 is the translational motion schematic diagram of the movable fixture of the utility model embodiment.
Fig. 7 is the divertical motion schematic diagram of the movable fixture of the utility model embodiment.
Fig. 8 is the flow chart of the movable fixture control method of the utility model embodiment.
Fig. 9 is the sub-process figure of the movable fixture control method of Fig. 8.
Main element symbol description
Movable fixture 100
Chassis 10
Bottom surface 11
Top surface 12
Side 13
Connecting portion 14
Vehicle wheel component 20
Wheel body 21
Drive mechanism 22
First actuator 221
First fixed part 2211
Connector 2211a
Shrinkage pool 2211b
String holes 2211c
First location division 2211d
Lightening hole 2211e
First rotation section 2212
Planar portions 2212a
Second actuator 222
Second fixed part 2221
Second rotation section 2222
Bracing frame 223
Vertical support piece 2231
Horizontal support piece 2232
Department of assembly 2232a
Central channel 2232b
Water jacket 2232c
Slip ring 224
Inner ring 2241
Second conductive part 2241a
Installing hole 2241b
Outer shroud 2242
First conductive part 2242a
First auxiliary section 2242b
Separator 225
First contact site 2251
Second contact site 2252
Dampening assembly 30
Support 31
First vertical frame 311
Extension support 3111
Second vertical frame 312
First crossbearer 313
Second crossbearer 314
Bolster 32
Expansion link 321
Helical spring 322
Filming apparatus 200
Filming apparatus 201
Bearing part 202
Cushion socket 202a
Head 202b
Shock-absorbing ball 202c
Movable fixture control system 300
Remote control 40
First rocking bar 41
Second rocking bar 42
Receiving unit 50
Controller 60
First drive control unit 70
Second drive control unit 80
Off-front wheel w1
The near front wheel w2
Left rear wheel w3
Off hind wheel w4
Following specific embodiment will further illustrate the utility model in conjunction with above-mentioned accompanying drawing.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely description is it is clear that described embodiment is only a part of embodiment of the utility model rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of making creative work The every other embodiment being obtained, broadly falls into the scope of the utility model protection.
It should be noted that when assembly is referred to as " being fixed on " another assembly, it can be directly on another assembly Or can also there is assembly placed in the middle.When an assembly is considered as " connection " another assembly, it can be directly connected to To another assembly or may be simultaneously present assembly placed in the middle.When an assembly is considered as " being arranged at " another assembly, it Can be to be set directly on another assembly or may be simultaneously present assembly placed in the middle.Term as used herein is " vertical ", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein The purpose of description specific embodiment is it is not intended that in limiting the utility model.Term as used herein " and/or " include The arbitrary and all of combination of one or more related Listed Items.In the case of not conflicting, following embodiments and Feature in embodiment can be mutually combined.
Refer to Fig. 1, the movable fixture 100 of the exemplary embodiment of the utility model one includes chassis 10, multiple Vehicle wheel component 20 and multiple dampening assembly 30 corresponding to described vehicle wheel component 20.It is right that each described vehicle wheel component 20 passes through The described dampening assembly 30 answered is connected on described chassis 10.
Described chassis 10 is the primary load bearing structure of described movable fixture 100, and it connects described vehicle wheel component 20 energy Enough carry various types of loads and/or functional module, for example, filming apparatus, battery, controller, wireless communication unit, circuit Plate, power circuit etc..
In present embodiment, described chassis 10 is substantially square, and it includes bottom surface 11, top surface 12 and side 13.Described Bottom surface 11 is roughly parallel to described top surface 12, and described side 13 connects described bottom surface 11 and top surface 12 and is approximately perpendicular to described bottom Face 11 and top surface 12.Described chassis 10 is the case shape of hollow, its inner space can house suitably aforementioned load and/or Functional module, such as battery, controller, circuit board, power circuit etc..
Described chassis 10 includes the multiple connecting portions 14 corresponding to described dampening assembly 30, and each described connecting portion 14 is used In the corresponding described dampening assembly 30 of connection.In present embodiment, described connecting portion 14 is four, 14 points of four described connecting portions Not Wei Yu described chassis 10 corner.
In present embodiment, each described connecting portion 14 is the sunk structure being formed at described chassis 10 corner, institute State the part-structure that sunk structure can house and fix corresponding described dampening assembly 30.The bottom of the inside of described connecting portion 14 Face and/or side can arrange attachment structure (figure does not show), and described attachment structure can for connecting hole or connecting post etc. even Access node structure, described connecting portion 14 connects corresponding described dampening assembly 30 by described attachment structure.
It is appreciated that the shape on described chassis 10 is not limited to above-mentioned embodiment, it can be according to different demands Make any appropriate change, other regularly or irregularly shapes of such as circle, ellipse, streamlined etc..
Described vehicle wheel component 20 is distributed in the week side of boss on described chassis 10.Each described vehicle wheel component 20 include wheel body 21 with And drive mechanism 22.Described wheel body 21 is used for driving described movable fixture 100 to advance, retreat and/or turn to.Described driving machine Structure 22 is used for driving described wheel body 21 to rotate and turn to.
In present embodiment, described wheel body 21 be rubber wheel it will be understood that described wheel body 21 can also for plastic roller or The wheel that other any appropriate materials are made.Alternatively, the center of described wheel body 21 is provided with wheel rim and spoke (non-label), institute State wheel rim for mounting tyre, the stress that described spoke enables to described wheel rim is more uniformly distributed, be not susceptible to deform.
It is appreciated that described wheel body 21 can select other any suitable architecture, it is not limited to the above, for example described wheel Body 21 can be overall solid rubber wheel, plastic roller etc..
Described drive mechanism 22 includes the first actuator 221, the second actuator 222 and bracing frame 223.Described wheel body 21 Rotationally it is connected with support frame as described above 223, described first actuator 221 and described second actuator 222 are arranged at described On bracing frame 223.
In present embodiment, described first actuator 221 and described second actuator 222 are electric rotating machine, more specifically, Described first actuator 221 and described second actuator 222 can be brushless electric machine, brush motor or other kinds of electricity Machine.The pivot center of described first actuator 221 is approximately perpendicular to the central axis of described wheel body 21, described second actuator 222 pivot center passes through the central axis of described wheel body 21, and in other words, the pivot center of described first actuator 221 is substantially Pivot center perpendicular to described second actuator 222.
See also Fig. 2 and Fig. 3, described first actuator 221 includes the first fixed part 2211 and can be with respect to The first rotation section 2212 that described first fixed part 2211 rotates, described first fixed part 2211 can be described first actuator A part for 221 stator or be fixedly linked with described stator, described first rotation section 2212 is described first actuator 221 A part for rotor or the part being fixedly linked with described rotor.It is formed with for connecting on described first fixed part 2211 The connector 2211a of corresponding dampening assembly 30, a part of structure of described dampening assembly 30 is fixing with described connector 2211a even Connect.In present embodiment, described connector 2211a is the collar flange being formed at described first fixed part 2211 the week side of boss, described Connector 2211a is located at the lower end of described first fixed part 2211.It is appreciated that the shape of described connector 2211a and relatively Can be made other in the position of described first fixed part 2211 suitably to change, for example, described connector 2211a can be bulk Projection, columnar projections or arcuation projection etc.;Described connector 2211a can also be for supplying the part of described dampening assembly 30 The card holding structure snapping in;Described connector 2211a can be formed at the positions such as the top of described first fixed part 2211, middle part. In addition, described connector 2211a can also omit, the now described first fixed part 2211 directly portion with described dampening assembly 30 Separation structure is fixedly connected.
Described connector 2211a arranges towards on a side surface of corresponding described wheel body 21 and opens up shrinkage pool 2211b, this reality Apply in mode, described shrinkage pool 2211b is circular port, and central shaft is overlapped with the pivot center of the described first rotation.Described shrinkage pool 2211b makes described connector 2211a annular in shape towards one end of corresponding described wheel body 21.The bottom surface of described shrinkage pool 2211b It is provided with string holes 2211c and the first location division 2211d, described string holes 2211c is available for wire and passes through.
It is appreciated that the shape of described shrinkage pool 2211b is not limited to described in embodiment of above, its can and true form And make any appropriate change.
In present embodiment, described connector 2211a is provided with lightening hole towards the end face of corresponding described wheel body 21 2211e, described lightening hole 2211e can mitigate the overall weight of described first actuator 221, and then mitigate described removable dress Put 100 overall weight so that described movable fixture 100 is under conditions of equal driving force, have and carrying energy more greatly Power.Specifically, described lightening hole 2211e includes the hole of multiple arrangements substantially annular in shape.It is appreciated that described lightening hole 2211 The other positions of described connector 2211a can be arranged at, and/or be arranged on described first fixed part 2211 except described company The other positions of fitting 2211a.
Described first rotation section 2212 part is located in described first fixed part 2211, partly from described first fixed part 2211 stretch out.Partly generally cylindrical, this embodiment party outside described first fixed part 2211 is stretched out in described first rotation section 2212 Formula, the part that described first rotation section 2212 stretches out outside described first fixed part 2211 is cylinder.Described first rotation section 2212 The terminal side sections of described first fixed part 2211 stretching out have planar portions 2212a, and described planar portions 2212a make described first admittedly The cross section determining the described end in portion 2211 is non-disc.Described first fixed part 2211 is stretched out in described first rotation section 2212 End is plugged with support frame as described above 223, and described planar portions 2212a are prevented from described first rotation section 2212 and described support Relatively rotating between frame 223.
Described second actuator 222 has the structure similar with described first actuator 221, and different places are, and described The pivot center of two actuators 222 is generally perpendicular to each other setting with the pivot center of described first actuator 221.Described second drive Moving part 222 includes the second fixed part 2221 and the second rotation section that can rotate with respect to described second fixed part 2221 2222.Described second fixed part 2221 can be fixedly linked with support frame as described above, and described second rotation section 2222 stretches out described The end of two fixed parts 2221 is connected with described wheel body 21, and described second rotation section 2222 can drive described wheel body when rotating 21 axial rotation, therefore described second actuator 222 can drive described wheel body 21 to advance or retreat.
Support frame as described above 223 is used for supporting described first actuator 221, described second actuator 222 and described wheel body 21.In present embodiment, support frame as described above 223 is in substantially " Π " shape, and it includes two spaced vertical support piece 2231 And the horizontal support piece 2232 that described vertical support piece 2231 is connected, described vertical support piece 2231 is connected to described horizontal stroke Two-phase dorsal part to support member 2232.In present embodiment, described vertical support piece 2231 and described horizontal support piece 2232 All plate-shaped.Described wheel body 21 can rotationally be held between two described vertical support piece 2231, described second actuator 222 described second fixed part 2221 is fixedly connected in one of described vertical support piece 2231, and the one of described wheel body 21 Side is connected with described second actuator 222 so that the described wheel body 21 that described second actuator 222 can drive rotates, described The opposite side of wheel body 21 is rotationally connected with vertical support piece another described 2231.
The middle part of described horizontal support piece 2232 is provided with the department of assembly in mating connection with described first actuator 221 2232a.In present embodiment, described department of assembly 2232a's is substantially in the form of annular discs, and described department of assembly is towards described first actuator 221 side surface offers the central channel 2232b and annular water jacket 2232c around described central channel 2232b.This embodiment party In formula, described water jacket 2232c is in substantially circular, and in present embodiment, described central channel 2232b is that described water jacket 2232c is same Axle center is arranged and spaced.Offering on the bottom surface of described central channel 2232b can be with described first rotation section 2212 phase The jack (figure does not show) connecting, described first fixed part 2211 is stretched out in the shape of described jack and described first rotation section 2212 The shape of end be adapted, when the described end of described first rotation section 2212 is inserted in described jack, described first turn Relatively unrotatable between dynamic portion 2212 and support frame as described above 223, the now rotation of described first rotation section 2212 can drive Support frame as described above 223 rotates simultaneously.
Described drive mechanism 22 also includes the cunning being arranged between described first actuator 221 and support frame as described above 223 Ring 224 and separator 225.It is outer that described slip ring 224 includes that inner ring 2241 and being rotated with described inner ring 2241 is connected Ring 2242, described inner ring 2241 can make electrical contact with described outer shroud 2242 simultaneously, when described inner ring 2241 is with respect to described outer shroud During 2242 rotation, between described inner ring 2241 and described outer shroud 2242, remain electrical contact.The outer surface of described outer shroud 2242 On be formed with the first conductive part 2242a, the outer surface of described inner ring 2241 forms the second conductive part 2241a, described first leads Electric portion 2242a and described second conductive part 2241a can by the electrical contact of described outer shroud 2242 and described inner ring 2241 It is electrically connected to each other.In present embodiment, described first conductive part 2242a is convexly equipped in described outer shroud 2242 towards the described first driving On one side surface of part 221, described second conductive part 2241a is convexly equipped in described inner ring 2241 towards the one of support frame as described above 223 On side surface.
In present embodiment, described first conductive part 2242a and described second conductive part 2241a are projection shape.Can To understand, described first conductive part 2242a and described second conductive part 2241a can also be that the others such as wire casing can connect The structure of wire;Described first conductive part 2241a and described second conductive part 2241a can also be directly wire.Described The quantity of one conductive part 2242a and described second conductive part 2241a is two.
Described outer shroud 2242 is provided with corresponding to described first location division towards a side surface of described first actuator 221 The first auxiliary section 2242b of 2211d, described first location division 2211d and described first auxiliary section 2242b cooperate make described Form rotation stop between outer shroud 2242 and described first fixed part 2211 to be connected.In present embodiment, described first location division 2211d On be formed at projection on described first fixed part 2211, described first auxiliary section 2242b is to be opened in described outer shroud 2242 Hole.It is appreciated that described first location division 2211d can exchange with the structure of described first auxiliary section 2242b, i.e. described One auxiliary section 2242b be on be formed on described outer shroud 2242 projection, described first location division 2211d is to be opened in described the The hole of one fixed part 2211.
Described inner ring 2241 offers installing hole 2241b, described installing hole towards a side surface of support frame as described above 223 2241 are used for for described inner ring 2241 being connected to support frame as described above 223.
Described separator 225 can reduce the first fixed part 2211 and the support frame as described above 223 of described first actuator 221 Between rotary resistance so that rotating more smooth.In present embodiment, described separator 225 is plane needle bearing, It includes the first contact site 2251, the second contact site 2252 and is arranged at described first contact site 2251 and contacts with described second Needle roller (not shown) between portion 2252, described needle roller makes described first contact site 2251 and described second contact site 2252 Between being capable of relative motion.In present embodiment, described first contact site 2251 and described second contact site 2252 are all substantially For circular plate shape.It is appreciated that in other implementations, described separator 225 can also be a pair being oppositely arranged Lubrication piece, can slide between two described lubrication pieces relatively.
During assembling, the bottom of described slip ring 224 is contained in described central channel 2232b, described second conductive part 2241a energy Wire (not shown) that is enough and being arranged on support frame as described above 223 and electrically connected with described second actuator 222 is connected, described interior Ring 2241 is fixed on support frame as described above by the securing member (such as bolt, screw etc., not shown) that matches with described installing hole 2241b On 223;Described separator 225 is contained in described water jacket 2232c, and described first contact site 2251 and described water jacket 2232c connect Touch;Described first actuator 221 is connected on support frame as described above 223, and described connector 2211a is towards corresponding described wheel body 21 End insert described water jacket 2232c, and described lightening hole 2211e contacted with described second contact site 2252;Described first turn The end that described first fixed part 2211 is stretched out in dynamic portion 2212 is inserted in described jack;The top of described slip ring 224 is contained in institute State in shrinkage pool 2211b, described first conductive part 2242a insert corresponding described string holes 2211c and can with through described string holes The wire (not shown) of 2211c is connected, and described wire can pass from described string holes 2211c and via corresponding described damping group Part 30 extends to described chassis 10, and described wire is connected with the power supply on described chassis 10 and/or controller, and described wire is simultaneously electric Connect described first actuator 221 or described power supply and/or controller passes through other wire and how described first actuator 221 electrical connections, described first location division 2211d inserts in corresponding described first auxiliary section 2242b respectively, described outer to limit Relatively rotating between ring 2242 and described first fixed part 2211.
When using, described first actuator 221 can control the steering of described wheel body 21 to change described removable dress Put 100 moving direction;Described second actuator 222 can control rotating so that described removable around its center axis of wheel body 21 Dynamic device 100 is mobile, and therefore, described second actuator 222 can drive described wheel body 21 to advance or retreat.Described slip ring 224 use is it can be avoided that connected to the restriction rotating, the wheel body that therefore described first actuator 221 can drive using wire 21 are turned at any angle, the operation in therefore more applicable small space.
It is appreciated that in other implementations, described inner ring 2241 can be fixing with described first fixed part 2211 It is connected, described outer shroud 2242 can be fixedly linked with support frame as described above 223.
Described dampening assembly 30 is used for buffering the impact to described chassis 10 for the vibrations of described vehicle wheel component 20, to protect State the load that chassis 10 carried and/or functional module from or few affected by shaking.Each described dampening assembly 30 Including deformable support 31 and be arranged at the bolster 32 on described support 31.Described deformable support 31 includes first and erects Frame 311, the second vertical frame 312, the first crossbearer 313 and the second crossbearer 314.The two ends of described first vertical frame 311 respectively with described First crossbearer 313 and the pivot joint of described second crossbearer 314, the two ends of described second vertical frame 312 respectively with described first crossbearer 313 And the pivot joint of described second crossbearer 314.In present embodiment, described first vertical frame 311, described second vertical frame 312, described first Crossbearer 313 and described second crossbearer 314 head and the tail are formed by connecting almost parallel quadrangle frame-shaped, the length of described first crossbearer 313 Degree and the same length of described second crossbearer 314.In present embodiment, it is horizontal that described second crossbearer 314 is located at described first The lower section of frame 313.Described first vertical frame 311 is fixedly connected on described chassis 10, specifically, each described first vertical frame 311 connecting portions 14 being fixedly connected on described chassis 10, described first vertical frame 311 can be fixed on institute by securing members such as bolts State on chassis 10 it is also possible to be integrally formed with described chassis 10.The top of each described first vertical frame 311 is formed with an extension Frame 3111, described Extension support 3111 protrudes from and makes the length of described first vertical frame 311 be more than described second vertical frame 312.Described Second vertical frame 312 is fixedly linked with described first fixed part 2211.
Described bolster 32 can buffer the deformation of described support 31, so as to shaking of slowing down that described vehicle wheel component 20 is subject to Dynamic.Described bolster 32 can include the parts such as damping piece, elastic component.Damping piece such as liquid damper, air-pressure damping device, magnetic resistance Damper.Elastic component such as extension spring, compression spring, elastic rubber etc..
In present embodiment, the quantity of described bolster 32 is two, two described bolster 32 parallel interval arrangements.This In embodiment, each described bolster 32 substantially strip, one end of described bolster 32 is articulated in described Extension support On 3111, the other end is articulated on described second crossbearer 314.More specifically, each described bolster 32 includes expansion link 321 And be sheathed on helical spring 322 on described expansion link 321, the two ends of described helical spring 322 be held in respectively described in stretch The two ends of contracting bar 321.Described expansion link 321 wraps the more piece of mutual socket, can relatively slide described in more piece between expansion link, with Change the overall length of described expansion link 321.
It is appreciated that the quantity of described bolster 32 can do any appropriate change, for example, foundation according to actual demand The difference that the damping that described movable fixture 100 is moved on different surfaces requires, described bolster 32 quantity can be one Individual, three, four, five or more.
Because described support 31 be parallelogram lever, therefore, it is possible to remain described first vertical frame 311 with described Second vertical frame 312 parallel, as long as described first vertical frame 311 is vertically connected on described chassis it is ensured that described second is perpendicular Frame 312 is vertical all the time, and so described vehicle wheel component 20 will not be affected by extra torsion, therefore can ensure that wheel group Part 20 is difficult to be affected by extra torsion and damages, and more can ensure the control accuracy of described vehicle wheel component 20 and control easness.
It is appreciated that described support 31 is not limited to described in embodiment illustrated above, it can be arbitrarily other conjunctions Suitable mechanism, for example, described support 31 can only include a crossbearer, the two ends of described crossbearer respectively with described chassis 10 and institute State the first fixed part 2211 pivot joint, now, the two ends of described bolster 32 are fixed with described chassis 10 and described first respectively Portion 2211 is connected, and with respect to described crossbearer predetermined oblique angle;Described support 21 can also for substantially pentagon, hexagon, Or other polygonal flexible frame.In addition, in other implementations, described support 31 can omit, and only exists Between described first fixed part 2211 and described chassis 10, described bolster 32 is set.
Described movable fixture 100 can break through the restriction of described vehicle wheel component 20 steering angle using described slip ring 224, Therefore so that movable fixture 100 more flexible it is achieved that the Omni-mobile of movable fixture 100, improve described simultaneously Movable fixture 100 is in operation in narrow space adaptability.
Suitable load can be carried on described movable fixture 100 and execute specific function.For example, refer to Fig. 4, described Filming apparatus 200 are equipped with movable fixture 100, described movable fixture 100 and described filming apparatus 200 collectively form Follow shot equipment, described follow shot equipment can execute the function of follow shot photo and/or video.
In present embodiment, described filming apparatus 200 also include filming apparatus 201 and are used for carrying described filming apparatus 201 bearing part 202.Described filming apparatus 201 can have image for camera, video camera, mobile phone, panel computer etc. and shoot with video-corder work( The electronic product of energy, in present embodiment, described filming apparatus 201 are video camera.
Described bearing part 202 is used for for described filming apparatus 200 being supported in described chassis 10.In present embodiment, institute State bearing part 202 and include cushion socket 202a and head 202b.Described shock absorber part 202a and described head 202b equally constitutes The steady assembly of increasing of the shooting stability of described filming apparatus 200 can be increased.Described cushion socket 202a is fixedly installed on described bottom On disk 10, described cushion socket 202a is provided with shock-absorbing ball 202c, described shock-absorbing ball 202c is rubber shock-absorbing ball, described shock-absorbing ball 202c is arranged between described cushion socket 202a and described head 202b, its can effectively less or eliminate low-frequency vibration to described The impact of filming apparatus 200.Described head 202b can compensate for what the vibration in a rotational direction of described filming apparatus 200 led to The skew in target/direction, and/or described head 202b can be according to the attitude of the control instruction described filming apparatus 200 of adjustment, side To grade acquisition parameters.In present embodiment, described head 202b is three axle heads, and described head 202b can be around course (Yaw) Axle, roll (Roll) axle and filming apparatus 200 described in pitching (Pitch) axial adjustment are it will be understood that in other embodiment In, described head 202b can also be twin shaft head or single shaft head.
In present embodiment, the quantity of the quantity of described vehicle wheel component 20 and its corresponding described dampening assembly 30 is Four.It is appreciated that the quantity of the quantity of described vehicle wheel component 20 and its corresponding described dampening assembly 30 can be according to reality Border situation makees any appropriate change however it is not limited to the description of embodiment of above, the quantity of for example described vehicle wheel component 20 with And its quantity of corresponding described dampening assembly 30 can be three, five, six, seven, eight, ten or more.
The motion of described movable fixture 100 can have below with reference to accompanying drawing by remote control control it is also possible to autonomous control Body introduces exemplary control system and the control method of described movable fixture 100.
Refer to Fig. 5, show the schematic diagram of the movable fixture control system 300 of the utility model embodiment, institute State movable fixture control system 300 to can be used in controlling the movable fixture 100 of Fig. 1.Described movable fixture control system 300 include remote control 40, receiving unit 50, controller 60, multiple described wheel body 21, multiple described first actuator 221 and Multiple described second actuators 222, multiple the first drive control unit 70 corresponding to described first actuator 221 and multiple The second drive control unit 80 corresponding to described second actuator 222.Described receiving unit 50, described controller 60, described Wheel body 21, described first actuator 221, described second actuator 222, described first drive control unit 70 and described second Drive control unit 80 is arranged on described movable fixture 100.
Described remote control 40 and described movable fixture 100 split setting, and described remote control 40 and described receiving unit 50 communication connections.Described remote control 40 can be realized communicating to connect with described receiving unit 50 in wired or wireless manner, In present embodiment, described remote control 40 is wirelessly communicated to connect with described receiving unit 50.Described remote control 40 is used for Control movement and/or the steering of described movable fixture 100.Described remote control 40 can produce remote signal.Present embodiment In, described remote control 40 is rocker-type remote control, the rocking bar signal that described remote signal produces for rocking bar.Described remote control 40 wraps Include the first rocking bar 41 and the second rocking bar 42, it is right that described first rocking bar 41 and described second rocking bar 42 can produce in shake The rocking bar signal answered, described remote control 40 sends described rocking bar signal to described receiving unit 50.
Described first rocking bar 41 is used for controlling the turning motion of described movable fixture 100, for example described movable fixture 100 turn to and radius of turn.Specifically, the left and right direction of described first rocking bar 41 stirs to produce respectively makes described may move The rocking bar signal of the left and right directional steering of device 100, the left and right amplitude stirred of described first rocking bar 41 corresponds to described removable The radius of turn of device 100, the radius of turn stirring amplitude and described movable fixture 100 of described first rocking bar 41 has pre- If proportionate relationship, that is, described first rocking bar 41 is each stirs the turning half that amplitude corresponds to described movable fixture 100 Footpath, in present embodiment, stirring of described first rocking bar 41 becomes between amplitude and the radius of turn of described movable fixture 100 Inverse relation, i.e. described first rocking bar 41 stir that amplitude is bigger, the radius of turn of described movable fixture 100 is less, That is, described first rocking bar 41 stir that amplitude is bigger, described movable fixture 100 turning motion is more anxious.
Described second rocking bar 42 is used for controlling the translational motion of described movable fixture 100, for example described movable fixture 100 translation direction and point-to-point speed.Specifically, described second rocking bar 42 stir direction correspondence for described movable fixture 100 moving direction, described second rocking bar 42 stir amplitude correspond to described movable fixture 100 translational speed.This reality Apply in mode, the upper and lower of described second rocking bar 42 stirs advance, the retrogressing corresponding respectively to described movable fixture 100, described Second rocking bar 42 left and right stir correspond respectively to described movable fixture 100 to the left, to right translation it will be understood that described The direction of stirring of the second rocking bar 42 is not limited to the above, for example described second rocking bar 42 stir direction can with described upper, Under, left and right direction be in certain angle, now, the direction of stirring of described second rocking bar 42 also may correspond to described removable dress Put 100 particular translation direction.The amplitude of stirring of described second rocking bar 42 is in pre- with the point-to-point speed of described movable fixture 100 Fixed proportionate relationship, i.e. each of each described second rocking bar 42 stirs that amplitude corresponds to described movable fixture 100 Point-to-point speed, in present embodiment, the amplitude of stirring of described second rocking bar 42 is become with the point-to-point speed of described movable fixture 100 Proportional relation, in other words, described second rocking bar 42 to stir amplitude bigger, the corresponding point-to-point speed of described movable fixture 100 Bigger.
In present embodiment, described first rocking bar 41 and described second rocking bar 42 are entity rocking bar it will be understood that described First rocking bar 41 and described second rocking bar 42 can also be virtual rocking bar, i.e. described first rocking bar 41 and described second rocking bar 42 Can be the rocking bar icon being shown on a Touch Screen, by dragging described rocking bar icon, entity rocking bar can be simulated Control effect, now, described remote control 40 can be portable touch-controlled electronic devices, for example, mobile phone, panel computer, notes This computer etc..
Described receiving unit 50 is used for receiving the described remote signal that described remote control 40 sends and by described remote signal It is sent to described controller 60.Alternatively, between described receiving unit 50 and described remote control 40 can by WiFi, bluetooth, The communication modes such as 2G, 3G, 4G, 5G are in communication with each other.
Described controller 60 is according to the corresponding described movable fixture 100 of remote signal described in described remote control signal analysis Motion mode, and control described movable fixture 100 with described motion.
Specifically, described controller 60 is from the source of received described remote control signal analysis remote signal.For example, institute State controller 60 and can identify from described remote signal that the rocking bar signal and described second from described first rocking bar 41 shakes The rocking bar signal of the signal of bar 42.Described controller 60 controls described removable dress according to the rocking bar signal of described first rocking bar 41 Put 100 and make turning motion, control described movable fixture 100 to make translational motion according to the rocking bar signal of described second rocking bar 42.
In present embodiment, described controller 60 calculates described movable fixture 100 respectively according to described remote signal and exists Each speed required for described wheel body 21 and/or steering angle under corresponding motion mode, and respectively control signal is sent To corresponding described first drive control unit 70 of wheel body each described 21 and described second drive control unit 80, to control Make described wheel body 21 to move with corresponding speed and/or steering angle.Specifically, described first drive control unit 70 and institute Stating the second drive control unit 80 is electron speed regulator.
Below with reference to Fig. 6 and Fig. 7 illustrate according to remote signal calculate each described wheel body 21 needed for speed and/ Or the specific embodiment of steering angle.Wherein Fig. 6 is the schematic diagram of the translational motion situation of described movable fixture 100, Fig. 7 Translational motion for described movable fixture 100 and the schematic diagram of turning motion situation.
Refer to Fig. 6, rectangular coordinate system is set up for the origin of coordinates with the center C of described movable fixture 100, wherein said The direction of advance of movable fixture 100 is Y-axis positive direction, direction of retreat is Y-axis negative direction, to the right translation direction be that X-axis is square To, to the left translation direction be X-axis negative direction.In a particular embodiment, described wheel body 21 is respectively labeled as off-front wheel w1, a left side Front-wheel w2, left rear wheel w3, off hind wheel w4, described controller 60 can obtain described movable fixture according to described remote signal 100 anterior-posterior translation speed preset vfGive v with left and right point-to-point speedr.According to velocity composite principle, described movable fixture 100 Actual motion speed isWhen mobile, the actual moving direction of described movable fixture 100 and described Y-axis Angle is
In the case of translational motion, the movement velocity of each wheel body 21 and direction all same, i.e. vp1=vp2=vp3=vp4= vp, θp1p2p3p4p.
Refer to Fig. 7, if including the turn signal of described movable fixture in described remote signal, described controller 60 Radius of turn l of described movable fixture 100 can be obtained according to described remote signal, wherein l is described movable fixture 100 Center C to turning center of circle O distance.During turning motion, the steering angle needed for each wheel body 21 and speed are incomplete same, example As there is speed difference between the described wheel body 21 of left and right sides, also to ensure that it is smooth to turn, needing the motion side of each wheel body 21 Keep vertical to turning center of circle O.
According to geometrical principle, can be calculated by Fig. 7, off-front wheel w1 steering angle is:
Wherein, d1The distance between center for described off-front wheel w1 and described turning center of circle O, r is described removable dress 100 center of putting is to the distance of side.
The steering angle of the near front wheel w2 is:
Wherein, d2The distance between center for described the near front wheel w2 and described turning center of circle O.
The steering angle of left rear wheel w3 is:
θr3=π-θr2.
The steering angle of off hind wheel w4 is:
θr4=π-θr1.
Assume speed v of off-front wheel1=vp, according to each wheel body 21 apart from described turning center of circle O distance, then the near front wheel Speed v2, speed v of left rear wheel3And speed v of off hind wheel4Speed v with described off-front wheel respectively1There is following ratio close System:
Wherein, d3The distance between center for described left rear wheel w3 and described turning center of circle O, d4For described off hind wheel w4 The distance between center and described turning center of circle O.
Finally, the relation between the steering angle in conjunction with wheel body 21 each in translational motion and divertical motion and speed, obtains The steering angle of final wheel body 21 gives and speed preset is as follows:
θ1p1r1,
θ2p2r2,
θ3p3r3,
θ4p4r4,
v1=vp,
Described controller 60 gives with speed preset according to above-mentioned steering angle and sends control signals to each respectively Individual corresponding described first drive control unit 70 of described wheel body 21 and described second drive control unit 80, described to control Wheel body 21 is moved with corresponding speed and/or steering angle.
Described first drive control unit 70 is used for controlling corresponding described the according to the control signal of described controller 60 One actuator 221 is driven corresponding described wheel body 21 to be given with corresponding steering angle and turns to;Described second drive control unit 80 rotating speeds that the speed preset of each described wheel body 21 can be converted to corresponding described second actuator 222, described second Drive control unit 80 is right for controlling corresponding described second actuator 222 to drive according to the control signal of described controller 60 The described wheel body 21 answered is to correspond to rotating speed axial rotation.
Described first drive control unit 70 can control the steering of described first actuator 221 according to described control signal And rotating speed, described second drive control unit 80 can be according to the steering of described control signal described second actuator 222 of control And rotating speed.It is appreciated that described first drive control unit 70 can be independently arranged with described second drive control unit 80, Can be become one setting, and, corresponding described first drive control unit 70 of multiple described wheel body 21 can be integrated into Integrally, corresponding described second drive control unit 80 of multiple described wheel bodys 21 can also become one.
It is appreciated that in other embodiments, described controller 60 can be accompanied with described first drive control unit 70 and the function of described second drive control unit 80, now, described first drive control unit 70 and described second drive Dynamic control unit 80 can be omitted.
Described first actuator 221 is used for rotating according to the control signal of corresponding described first drive control unit 70, To drive corresponding described wheel body 21 to turn to, and then described movable fixture 100 is made to turn with predetermined angle;Described second drive Moving part 222 is used for rotating according to the control signal of corresponding described second drive control unit 80, to drive corresponding described wheel Body 21 rotates, and then so that described movable fixture 100 is moved at a predetermined velocity.
Described movable fixture control system 300 can carry out independent steering and/or translation to wheel body each described 21 Drive so that the movement of described movable fixture 100 and/or steering are more flexible, adapt to operation in small space.Meanwhile, Movable fixture control system 300 controls the translation of described movable fixture 100 respectively with the rocking bar signal that different rocking bars produce And turn to, more can easily realize same remote control 40 and control described movable fixture 100 to carry out the motion of complexity.
Refer to Fig. 8 it is illustrated that the flow chart of the utility model embodiment movable fixture control method.Described removable Apparatus control method is applied to the aforesaid movable fixture 100 of control can be by described movable fixture control system 300 reality Existing, it comprises the steps:
S801, sends remote signal to movable fixture.
This step can be executed by described remote control 40, and described remote signal can include shaking of described first rocking bar 41 generation The rocking bar signal that bar signal and/or described second rocking bar 42 produce, the rocking bar signal of described first rocking bar 41 is used for controlling described The turning motion of movable fixture 100, for example described movable fixture 100 turns to and radius of turn.Specifically, described first The left and right direction of rocking bar 41 stirs to produce respectively makes the rocking bar signal of the left and right directional steering of described movable fixture 100, described The left and right amplitude stirred of first rocking bar 41 correspond to described movable fixture 100 radius of turn, described first rocking bar 41 dial The radius of turn of dynamic amplitude and described movable fixture 100 has default proportionate relationship, i.e. described first rocking bar 41 each groups Dynamic amplitude corresponds to a radius of turn of described movable fixture 100, in present embodiment, the stirring of described first rocking bar 41 Between the radius of turn of amplitude and described movable fixture 100 inversely, i.e. the amplitude of stirring of described first rocking bar 41 is got over Greatly, the radius of turn of described movable fixture 100 is less, that is, described first rocking bar 41 to stir amplitude bigger, described removable Dynamic device 100 turning motion is more anxious.
The rocking bar signal of described second rocking bar 42 is used for controlling the translational motion of described movable fixture 100, for example described The translation direction of movable fixture 100 and point-to-point speed.Specifically, described second rocking bar 42 stir direction correspondence for described The moving direction of movable fixture 100, described second rocking bar 42 stir amplitude correspond to described movable fixture 100 movement Speed.In present embodiment, described second rocking bar 42 upper and lower stir correspond respectively to described movable fixture 100 advance, Retreat, described second rocking bar 42 left and right stir correspond respectively to described movable fixture 100 to the left, to right translation, permissible Understand, the direction of stirring of described second rocking bar 42 is not limited to the above, for example described second rocking bar 42 to stir direction permissible Be in certain angle with described upper and lower, left and right direction, now, described second rocking bar 42 stir direction also may correspond to described The particular translation direction of movable fixture 100.Described second rocking bar 42 stir the flat of amplitude and described movable fixture 100 Moving speed is in predetermined proportionate relationship, i.e. each amplitude of stirring of each described second rocking bar 42 corresponds to described removable dress Put 100 point-to-point speed, in present embodiment, described second rocking bar 42 stir amplitude and described movable fixture 100 Point-to-point speed proportional, in other words, described second rocking bar 42 stir that amplitude is bigger, described movable fixture 100 is right The point-to-point speed answered is bigger.
Described remote signal can be the signal of the signal of entity rocking bar generation or the generation of virtual rocking bar.
S802, receives described remote signal.
This step can be completed by described receiving unit 50.Described receiving unit 50 can receive what described remote control 40 sent Described remote signal is simultaneously sent to described controller 60 by described remote signal.Alternatively, described receiving unit 50 is distant with described Can be in communication with each other by the communication mode such as WiFi, bluetooth, 2G, 3G, 4G, 5G between control device 40.
S803, reads described remote signal, and corresponding removable according to remote signal described in described remote control signal analysis The motion mode of device, and control described movable fixture with described motion.
Refer to Fig. 9, step S803 can further include following steps:
S803a, is derived from rocking bar signal and the institute of described first rocking bar 41 from received described remote signal identification State the rocking bar signal of the signal of the second rocking bar 42;
S803b, controls described movable fixture 100 to make turning motion according to the rocking bar signal of described first rocking bar 41, according to Described movable fixture 100 is controlled to make translational motion according to the rocking bar signal of described second rocking bar 42.This step more specifically step Can include:Calculate described movable fixture 100 according to described rocking bar signal respectively under corresponding motion mode described in each Speed required for wheel body 21 and/or steering angle;Control each described wheel body 21 respectively according to each self-corresponding described speed And/or steering angle motion.
Each speed required for described wheel body 21 of the described movable fixture 100 of above-mentioned calculating and/or steering angle The concrete mode introduction that is referred to above in association with Fig. 6 and Fig. 7, no longer repeat.
Above-mentioned steps 803 are by described controller 60, described first drive control unit 70, described second drive control unit 80th, described first actuator 221 and the cooperation of described second actuator 222 are realized.
Described movable fixture control method is capable of each described wheel body 21 and carries out independent steering and/or translation drive Move so that the movement of described movable fixture 100 and/or steering are more flexible, adapt to operation in small space.Meanwhile, may be used Mobile device control system 300 respectively with different rocking bars produce rocking bar signal control described movable fixture 100 translation and Turn to, more can easily realize same remote control 40 and control described movable fixture 100 to carry out the motion of complexity.
It is understood that those skilled in the art also can do other changes etc. in the utility model spirit is used in this reality With new design, without departing from technique effect of the present utility model.These are done according to the utility model spirit Change, all should be included in the utility model claimed within the scope of.

Claims (26)

1. a kind of movable fixture, the multiple vehicle wheel components be connected including chassis and with described chassis, multiple described wheel groups Part be distributed in described chassis the week side of boss it is characterised in that:Each described vehicle wheel component includes wheel body and drive mechanism, described Drive mechanism includes the first actuator and the second actuator, and described first actuator is used for driving described wheel body to turn to change The moving direction of described movable fixture, described second actuator is used for driving described wheel body axial rotation described removable to drive Dynamic device moves, and each described wheel body is independently driven and carried out by corresponding described first actuator and the second actuator respectively Turn to and axial rotation.
2. movable fixture as claimed in claim 1 it is characterised in that:Each described vehicle wheel component includes bracing frame, institute State wheel body and steering machine axial rotation, described first actuator and described second drive can be carried out by corresponding support frame as described above Moving part is all connected to support frame as described above, and described first actuator drives support frame as described above to drive described wheel body to turn to.
3. movable fixture as claimed in claim 2 it is characterised in that:Each described vehicle wheel component also includes slip ring, institute State slip ring to be arranged between corresponding described first actuator and support frame as described above, described second actuator is electrically connected to described cunning Ring.
4. movable fixture as claimed in claim 3 it is characterised in that:Described first actuator include the first fixed part and The first rotation section that can rotate with respect to described first fixed part, described first rotation section is fixedly connected simultaneously with support frame as described above Support frame as described above can be driven to rotate with respect to described first fixed part.
5. movable fixture as claimed in claim 4 it is characterised in that:Described slip ring include inner ring and with described inner ring energy Enough outer shrouds rotating connection, when described inner ring rotates with respect to described outer shroud, protect between described inner ring and described outer shroud all the time Hold electrical contact.
6. movable fixture as claimed in claim 5 it is characterised in that:Described inner ring and support frame as described above are fixedly linked, institute State outer shroud to be fixedly linked with described first fixed part;Or
Described inner ring is fixedly linked with described first fixed part, and described outer shroud is connected with support frame as described above.
7. movable fixture as claimed in claim 5 it is characterised in that:It is formed with first conductive on the outer surface of described outer shroud Portion, the outer surface of described inner ring forms the second conductive part, described first conductive part and described second conductive part are by described Outer shroud can be electrically connected to each other with the electrical contact of described inner ring.
8. movable fixture as claimed in claim 7 it is characterised in that:Described first conductive part is formed at described outer shroud court A side surface to described first actuator;And/or described second conductive part is formed at described inner ring towards support frame as described above On one side surface.
9. movable fixture as claimed in claim 7 it is characterised in that:Described first conductive part and described second actuator electricity Connect;
And/or, described first fixed part is provided with string holes, and described string holes allows wire to pass through and be electrically connected with described first conductive part Connect.
10. movable fixture as claimed in claim 5 it is characterised in that:Described first fixed part is provided with the first location division, Described outer shroud is provided with the first auxiliary section corresponding to described first location division, logical between described outer shroud and described first fixed part The rotation stop that cooperates crossing described first location division with described first auxiliary section is connected.
11. movable fixtures as claimed in claim 4 it is characterised in that:Each described vehicle wheel component also includes separator, Described separator is arranged between corresponding described first actuator and support frame as described above, for reducing corresponding described first drive Frictional resistance between moving part and support frame as described above.
12. movable fixtures as claimed in claim 11 it is characterised in that:Described separator it include the first contact site, Two contact sites and be arranged at needle roller between described first contact site and described second contact site, described needle roller makes described first Between contact site and described second contact site can relative motion, described first contact site is contacted with support frame as described above, described Second contact site is contacted with described first fixed part.
13. movable fixtures as claimed in claim 4 it is characterised in that:Lightening hole is offered, institute in described first fixed part State lightening hole for mitigating the overall weight of described first actuator.
14. movable fixtures as claimed in claim 2 it is characterised in that:Support frame as described above include two spaced perpendicular The horizontal support piece be connected to support member and with described vertical support piece, described vertical support piece is connected to described horizontal The two-phase dorsal part of support member, described wheel body can rotationally be held between two described vertical support piece.
15. movable fixtures as claimed in claim 14 it is characterised in that:Described second actuator include the second fixed part with And the second rotation section that can rotate with respect to described two fixed parts, described second fixed part is fixedly connected on one of described Vertical support piece, described second rotation section and described wheel body are fixedly linked, and described second rotation section can drive described when rotating Wheel body carries out axial rotation;
And/or, the middle part of described horizontal support piece is provided with the department of assembly in mating connection with described first actuator, described support Frame is connected with described first actuator by described department of assembly.
16. movable fixtures as claimed in claim 1 it is characterised in that:Described movable fixture is also included corresponding to described Multiple dampening assemblies of vehicle wheel component, described dampening assembly is arranged between corresponding described vehicle wheel component and described chassis, with slow Rush the vibrations of corresponding described vehicle wheel component.
17. movable fixtures as claimed in claim 16 it is characterised in that:Each described dampening assembly includes deformable Frame and be arranged at bolster on described deformable support, the two ends of described deformable support connect respectively described chassis and Described first actuator, the elastic force of described bolster can resist the deformation of described support to buffer corresponding described wheel group The vibrations of part.
18. movable fixtures as claimed in claim 17 it is characterised in that:Described deformable support include the first vertical frame, Two vertical frames, the first crossbearer and the second crossbearer, the two ends of described first vertical frame respectively with described first crossbearer and described second Crossbearer pivot joint, the two ends of described second vertical frame respectively with described first crossbearer and described second crossbearer pivot joint, described first erects Frame is fixedly connected on described chassis, and described second vertical frame is fixedly connected on described first actuator.
19. movable fixtures as claimed in claim 18 it is characterised in that:Described first vertical frame, described second vertical frame, described First crossbearer and described second crossbearer head and the tail are formed by connecting almost parallel quadrangle frame-shaped.
20. movable fixtures as claimed in claim 16 it is characterised in that:Described bolster includes expansion link and is sheathed on Helical spring on described expansion link, the two ends of described helical spring are held in the two ends of described expansion link respectively.
A kind of 21. follow shot equipment, including the movable fixture as described in any one of claim 1-20 and be equipped on institute State on movable fixture, the bearing part for installing filming apparatus, described movable fixture include chassis and with described chassis Connect multiple vehicle wheel components it is characterised in that:Each described vehicle wheel component includes wheel body and drive mechanism, described driving Mechanism includes the first actuator and the second actuator, and described first actuator is used for driving described wheel body steering described to change The moving direction of movable fixture, described second actuator is used for driving described wheel body axial rotation to drive described removable dress Put movement, each described wheel body is independently driven and turned to by corresponding described first actuator and the second actuator respectively And axial rotation.
22. follow shot equipment as claimed in claim 21 it is characterised in that:Described bearing part includes increasing steady assembly, described Increase steady assembly to be arranged on described chassis and support described capturing element, to provide increasing steady function for described capturing element.
23. follow shot equipment as claimed in claim 22 it is characterised in that:Described filming apparatus can be camera, shooting Any one in machine, mobile phone, panel computer;
And/or, the steady assembly of described increasing includes cushion socket and head, and described cushion socket is fixedly installed on described chassis, described Head is connected on described cushion socket.
A kind of 24. movable fixture control systems, for controlling the fortune of the movable fixture described in any one of claim 1-20 Dynamic, described movable fixture has multiple vehicle wheel components, and each described vehicle wheel component includes wheel body and drive mechanism, each Individual described vehicle wheel component includes wheel body and drive mechanism, and described drive mechanism is included for driving described wheeling thereof to drive First actuator of described movable fixture movement, and be used for driving described wheel body to turn to so that described movable fixture changes Second actuator of moving direction, described movable fixture control system includes:
Receiving unit, for receiving remote signal;And
Control unit, is communicated to connect with described receiving unit, for obtaining each described wheel body institute according to described remote signal The steering angle needing and speed, and control described first actuator and the second actuator independently to drive corresponding described wheel Body is moved with corresponding described steering angle and speed, and then controls the moving direction of described movable fixture and mobile speed respectively Degree.
25. movable fixture control systems as claimed in claim 24 it is characterised in that:Also include remote control, described remote control Device is used for producing the described remote signal controlling described movable fixture.
26. movable fixture control systems as claimed in claim 25 it is characterised in that:Described remote control is rocker-type remote control Device, including the first rocking bar and the second rocking bar, described remote signal includes the rocking bar signal and/or described that the first rocking bar produces The rocking bar signal that two rocking bars produce;
Wherein, described controller is used for from described remote signal identification from the rocking bar signal of described first rocking bar and described The rocking bar signal of the signal of the second rocking bar, and control described movable fixture to turn according to the rocking bar signal of described first rocking bar Motion, controls described movable fixture to make translational motion according to the rocking bar signal of described second rocking bar.
CN201620746896.2U 2016-07-15 2016-07-15 Packaged plant , removal shooting equipment, packaged plant control system Active CN205979069U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107559562A (en) * 2017-08-21 2018-01-09 中冠创新(北京)技术开发有限公司 A kind of photography dolly using glide steering
CN107588152A (en) * 2017-10-26 2018-01-16 成都极点芯联科技有限公司 The camera avoiding collision to be come in and gone out based on parking lot vehicle
CN108561727A (en) * 2018-04-17 2018-09-21 上海交通大学 Damping travelling shot platform
WO2018184299A1 (en) * 2017-04-07 2018-10-11 深圳市大疆创新科技有限公司 Wheel set device and mobile device
CN111556185A (en) * 2020-04-21 2020-08-18 长沙学院 Image positioning remote control automatic self-timer

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018184299A1 (en) * 2017-04-07 2018-10-11 深圳市大疆创新科技有限公司 Wheel set device and mobile device
CN109689397A (en) * 2017-04-07 2019-04-26 深圳市大疆创新科技有限公司 Wheels group arrangement and mobile device
CN107559562A (en) * 2017-08-21 2018-01-09 中冠创新(北京)技术开发有限公司 A kind of photography dolly using glide steering
CN107588152A (en) * 2017-10-26 2018-01-16 成都极点芯联科技有限公司 The camera avoiding collision to be come in and gone out based on parking lot vehicle
CN108561727A (en) * 2018-04-17 2018-09-21 上海交通大学 Damping travelling shot platform
CN111556185A (en) * 2020-04-21 2020-08-18 长沙学院 Image positioning remote control automatic self-timer

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