CN219120155U - Five-degree-of-freedom multifunctional cradle head - Google Patents
Five-degree-of-freedom multifunctional cradle head Download PDFInfo
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- CN219120155U CN219120155U CN202223313913.8U CN202223313913U CN219120155U CN 219120155 U CN219120155 U CN 219120155U CN 202223313913 U CN202223313913 U CN 202223313913U CN 219120155 U CN219120155 U CN 219120155U
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Abstract
The utility model relates to a five-degree-of-freedom multifunctional holder which comprises a jacking mechanism, a pitching mechanism, a rotating mechanism, a traversing mechanism and a longitudinal moving mechanism, wherein the traversing mechanism and the longitudinal moving mechanism are connected with the rotating mechanism, a rotating fixed end of the pitching mechanism is arranged on the rotating mechanism, a supporting movable end extends downwards to the longitudinal moving mechanism in the height direction, the jacking mechanism is arranged on a panel of the pitching mechanism, and a transmission structure in a stroke range is embedded into a space between the panel of the pitching mechanism and the rotating mechanism. According to the utility model, the five degrees of freedom adjusting mechanisms are reasonably distributed and mutually nested, the space position of the jacking mechanism is nested in the pitching mechanism, and the space position of the slewing mechanism is nested in the pitching mechanism, so that the adjusting functions of the cradle head on a plurality of degrees of freedom such as transverse movement, longitudinal movement, pitching, slewing and jacking are realized, and the integral height of the cradle head is compressed to the greatest extent.
Description
Technical Field
The utility model relates to a multi-freedom-degree platform, in particular to a five-freedom-degree multifunctional cradle head.
Background
The cradle head is a supporting device capable of performing multi-angle adjustment, and can adjust the spatial position and the posture of a used object in a plurality of degrees of freedom according to the characteristic requirements of the used object.
The following problems exist in the current cradle head in the industry:
(1) Can only be adjusted in two to three degrees of freedom, and has limited adjustment capability;
(2) The adjusting mechanisms of all degrees of freedom are simply overlapped in the vertical direction, the overall height of the cradle head is higher, and the occupied space is large;
(3) The adjustment mode is mainly manual, the adjustment precision is difficult to control, and the repeatability of the adjustment process is high;
(4) Although there is an electric adjustment mode, in this adjustment mode, a spare adjustment mechanism is absent, and the vitality is poor.
Disclosure of Invention
The utility model aims at: the multifunctional cradle head with five degrees of freedom solves the problems that an existing cradle head is poor in adjusting capability, large in occupied space, difficult to control in precision, lack of emergency capability and the like. Through reasonably distributing and mutually nesting the five-degree-of-freedom adjusting mechanisms, the space position of the jacking mechanism is nested in the pitching mechanism, and the space position of the slewing mechanism is nested in the pitching mechanism, so that the adjusting functions of the cradle head on a plurality of degrees of freedom such as transverse movement, longitudinal movement, pitching, slewing and jacking can be realized, and the overall height of the cradle head is compressed to the greatest extent.
In order to achieve the above purpose, the technical scheme of the utility model is as follows: the utility model provides a multi-functional cloud platform of five degrees of freedom, includes climbing mechanism, every single move mechanism, rotation mechanism, sideslip mechanism, indulges and moves the mechanism, sideslip mechanism and indulge and move the mechanism and connect rotation mechanism, the gyration stiff end of every single move mechanism is installed on rotation mechanism, supports the expansion end and upwards extends to indulge and move the mechanism in the direction of height, climbing mechanism installs on every single move the panel of mechanism, embeds the transmission structure of stroke scope in the space between every single move mechanism panel and the rotation mechanism.
Further, the lifting mechanism comprises a tripod head panel, a separated multisection hydraulic jack, a flange type oil-free bushing, a jacking guide shaft, a jacking limiting block, a jack support and a hydraulic manual pump, wherein the lower surface of the tripod head panel is connected with the pitching panel of the pitching mechanism through the jacking guide shaft and the flange type oil-free bushing, the support plate is connected with the separated multisection hydraulic jack through the jack support, the upper end of the separated multisection hydraulic jack is connected with the tripod head panel, the separated multisection hydraulic jack is connected with the hydraulic manual pump, and a jack piston rod is driven to extend out through manual operation of the hydraulic manual pump, so that the tripod head upper panel is lifted.
Further, the adjusting range of the jacking mechanism is 60mm; the pitch angle adjusting range of the pitch mechanism is +/-5 degrees; the strokes of the transverse moving mechanism and the longitudinal moving mechanism are +/-100 mm.
Further, every single move mechanism includes reduction gear mounting panel, guide rail mounting panel, every single move panel, guide rail pair, buffer block, every single move guiding axle support subassembly, every single move guiding axle support, fixed side square screw support, screw nut pair subassembly, leading wheel subassembly, wedge drive piece, supporting side square screw support, servo motor, turbine worm reduction gear, every single move guiding axle support subassembly is connected to one end below the every single move panel, and the other end passes through fixed side square screw support and supporting side square screw support and connects screw nut pair subassembly, and turbine worm reduction gear and servo motor are connected to screw one end in the screw nut pair subassembly, and the screw passes through screw nut and connects wedge drive piece, and wedge drive piece is connected with leading wheel subassembly cooperation, provides power by servo motor, drives wedge drive piece through screw nut pair transmission via turbine worm reduction gear along the removal of leading wheel subassembly to adjust pitch angle to every single move panel of every single move mechanism.
Further, the slewing mechanism comprises a servo motor, a planetary reducer, a slewing bearing, a slewing reducer, a tripod head base, a guide wheel component supporting shaft and a stop block, wherein the tripod head base is connected with the slewing bearing through the slewing reducer, the servo motor is connected with the slewing reducer through the planetary reducer, power is provided by the servo motor, and the servo motor drives through the slewing reducer, so that the slewing angle is adjusted.
Further, sideslip mechanism includes screw nut pair, sideslip driving plate, sideslip guiding axle, hand wheel, outer sphere square bearing frame, sideslip guiding axle supporting seat, screw nut in the screw nut pair connects the sideslip driving plate, and the screw both ends are connected respectively in outer sphere square bearing frame to pass outer sphere square bearing frame and connect driving motor and hand wheel respectively, sideslip driving plate direction connection sideslip guiding axle drives the sideslip driving plate through driving motor drive screw nut pair and carries out lateral displacement.
Further, indulge and move mechanism includes screw nut pair, square screw support stiff end, turbine worm, outer sphere square bearing frame, hand wheel, square screw support supporting terminal, turbine worm both ends are connected with outer sphere square bearing frame, and driving motor is connected to one of them end, and the hand wheel is connected to the other end, turbine worm is connected with screw nut pair transmission, and screw in the screw nut pair is connected with square screw support supporting terminal, and screw nut connects rotation mechanism, is driven through turbine worm transmission by driving motor, drives the machine of turning through screw nut pair and carries out longitudinal displacement.
Furthermore, the transverse moving mechanism and the longitudinal moving mechanism realize mechanical self-locking through a screw nut pair, a driving motor does not have a brake, and when the motor fails, the manual operation is performed through a hand wheel.
Compared with the prior art, the utility model has the following beneficial effects:
(1) According to the utility model, through reasonable design, the movement of the cradle head on five degrees of freedom is realized, and the movement capability of the cradle head is greatly improved.
(2) According to the utility model, through reasonably arranging the clearance adjusting mechanisms, the mechanisms are mutually nested in the height direction, so that the overall height of the holder is greatly reduced, and the occupied space of the holder is reduced.
(3) According to the utility model, the cradle head base is designed into an L-shaped cantilever beam structure, and the transverse moving mechanism is designed on the side surface, so that the height superposition of the transverse moving mechanism and the longitudinal moving mechanism is avoided, and the structure is compact.
(4) The main actuating mechanisms in the utility model are driven by servo motors, so that effective control of each mechanism can be realized, and compared with hydraulic driving, the control precision is higher.
(5) According to the utility model, all the adjusting mechanisms are provided with manual operation mechanical interfaces, when the driving motor fails, the corresponding adjusting mechanisms can be driven to work by connecting the manual operation rod or rotating the hand wheel, so that the emergency capability of the cradle head is ensured.
(6) The multi-degree-of-freedom cradle head can be adaptively adjusted according to different performance index requirements, and can be applied to most of multi-degree-of-freedom posture adjustment operation scenes.
Drawings
FIG. 1 is a schematic general construction of the present utility model;
FIG. 2 is a height range profile of the mechanisms of the present utility model;
FIG. 3 is a schematic view of the jacking mechanism of FIG. 1;
FIG. 4 is a schematic view of the height adjustment range of the lift mechanism of FIG. 1;
FIG. 5 is a schematic view of the pitch mechanism of FIG. 1;
FIG. 6 is a schematic view of the range of angular adjustment of the pitch mechanism of FIG. 1;
FIG. 7 is a schematic view of the swing mechanism of FIG. 1;
FIG. 8 is a schematic view of the operating mode and corresponding angular adjustment range of the swing mechanism of FIG. 1;
wherein: (a) a portrait mode, (b) a landscape mode;
FIG. 9 is a schematic view of the traversing mechanism of FIG. 1;
FIG. 10 is a schematic view of the longitudinal movement mechanism of FIG. 1;
FIG. 11 is a schematic view of the displacement ranges of the traversing mechanism and the longitudinally shifting mechanism of FIG. 1;
in the figure: the hydraulic lifting device comprises a lifting mechanism 1, a tripod head panel 1-1, a separated multi-section hydraulic jack 1-2, a flange type oil-free bushing 1-3, a lifting guide shaft 1-4, a lifting limit block 1-5, a jack support 1-6, a hydraulic manual pump 1-7, a pitching mechanism 2, a speed reducer mounting plate 2-1, a guide rail mounting plate 2-2, a pitching panel 2-3, a guide rail pair 2-4, a buffer block 2-5, a pitching guide shaft support assembly 2-6, a pitching guide shaft 2-7, a pitching guide shaft support 2-8, a square screw support (fixed side) 2-9, a screw nut pair assembly 2-10, a guide wheel assembly 2-11, a wedge transmission block 2-12, a square screw support (supporting side) 2-13 the device comprises a servo motor 2-14, a worm gear reducer 2-15, a rotary mechanism 3, a servo motor 3-1, a planetary reducer 3-2, a rotary support 3-3, a rotary reducer 3-4, a cradle head base 3-5, a guide wheel assembly supporting shaft 3-6, a stop block 3-7, a traversing mechanism 4, a screw nut pair 4-1, a traversing transmission plate 4-2, a traversing guiding shaft 4-3, a hand wheel 4-4, an outer spherical square bearing seat 4-5, a traversing guiding shaft supporting seat 4-6, a longitudinal moving mechanism 5, a screw nut pair 5-1, a square screw support fixed end 5-2, a worm gear 5-3, an outer spherical square bearing seat 5-4, a hand wheel 5-5, a square screw support supporting end 5-6, H1-elevation mechanism height range, H2-rotation mechanism height range, H3-longitudinal movement mechanism height range, H4-jacking mechanism height range, H5-transverse movement mechanism height range.
Detailed Description
The utility model will be further described with reference to the drawings and examples.
As shown in fig. 1, the utility model provides a five-degree-of-freedom multifunctional cradle head, which comprises a jacking mechanism 1, a pitching mechanism 2, a slewing mechanism 3, a traversing mechanism 4 and a longitudinal moving mechanism 5. The vertical moving mechanism 5 is connected with the slewing mechanism 3, the pitching mechanism 2 is arranged on the slewing mechanism 3, and the jacking mechanism 1 is arranged on the pitching mechanism 2.
As shown in fig. 2, the mechanisms are nested in the height direction, the vertical movement mechanism 5 is connected with the slewing mechanism 3, the slewing fixed end of the pitching mechanism 2 is mounted on the slewing mechanism 3, the supporting movable end extends downwards to the vertical movement mechanism 5 in the height direction, the jacking mechanism 1 is mounted on the panel of the pitching mechanism 2, and the transmission structure in the stroke range is embedded in the space between the panel of the pitching mechanism 2 and the slewing mechanism 3. In fig. 3: h1-elevation range of pitch mechanism; h2—the swing mechanism height range; h3-vertical movement mechanism height range; h4-climbing mechanism height range; h5-the height range of the traversing mechanism.
As shown in FIG. 3, the jacking mechanism 1 consists of a pan-tilt panel 1-1, a separated multi-section hydraulic jack 1-2, a flange type oil-free bushing 1-3, a jacking guide shaft 1-4, a jacking limiting block 1-5, a jack support 1-6, a hydraulic manual pump 1-7 and the like. The lower surface of the pan-tilt panel 1-1 is connected with a pitching panel 2-3 of a pitching mechanism 2 through a jacking guide shaft 1-4 and a flange type oil-free bushing 1-3, a support plate is connected with a separated multi-section hydraulic jack 1-2 through a jack support 1-6, and the upper end of the separated multi-section hydraulic jack 1-2 is connected with the pan-tilt panel 1-1. The hydraulic manual pump 1-7 is manually operated to drive the piston rod of the separated multi-section hydraulic jack 1-2 to extend, so that the pan-tilt panel 1-1 is lifted along the lifting guide shaft 1-4.
As shown in fig. 4, the adjustment range of the lifting mechanism 1 is 60mm.
As shown in FIG. 5, the pitching mechanism 2 is composed of a decelerator mounting plate 2-1, a guide rail mounting plate 2-2, a pitching panel 2-3, a guide rail pair 2-4, a buffer block 2-5, a pitching guide shaft support assembly 2-6, a pitching guide shaft 2-7, a pitching guide shaft support 2-8, a square screw support (fixed side) 2-9, a screw nut pair assembly 2-10, a guide wheel assembly 2-11, a wedge-shaped transmission block 2-12, a square screw support (supporting side) 2-13, a servo motor 2-14, a worm and gear decelerator 2-15 and the like. One end below the pitching panel 2-3 is connected with a pitching guide shaft support assembly 2-6, the other end is connected with a screw nut assembly 2-10 through a square screw support (fixed side) 2-9 and a square screw support (supporting side) 2-13, one end of a screw in the screw nut assembly 2-10 is connected with a worm and gear reducer 2-15 and a servo motor 2-14, the screw is connected with a wedge-shaped transmission block 2-12 through a screw nut, and the wedge-shaped transmission block 2-12 is connected with a guide wheel assembly 2-11 in a matched manner. The servo motor 2-14 provides power, the worm and gear reducer 2-15 drives the wedge-shaped transmission block 2-12 to move along the guide wheel assembly 2-11 through the transmission of the screw and nut pair 2-10, and therefore the pitch angle of the pitch panel 2-3 of the pitch mechanism 2 is adjusted.
As shown in fig. 6, the pitch angle adjustment range of the pitch mechanism 2 is ±5°.
As shown in FIG. 7, the slewing mechanism 3 consists of a servo motor 3-1, a planetary reducer 3-2, a slewing bearing 3-3, a slewing reducer 3-4, a tripod head base 3-5, a supporting shaft 3-6 of a guide wheel assembly and a stop block 3-7. The cradle head base 3-5 is connected with the rotary support 3-3 through the rotary speed reducer 3-4, and the servo motor 3-1 is connected with the rotary speed reducer 3-4 through the planetary speed reducer 3-2. The servo motor 3-1 provides power, and the rotation speed reducer 3-4 is used for transmission to adjust the rotation angle.
As shown in fig. 8 (a) and (b), the cradle head has two modes of operation (longitudinal and transverse), in which the relative angle of the cradle head start position is 90 °. The angular adjustment range of the swing mechanism 3 in both modes is + -10 deg..
As shown in FIG. 9, the traversing mechanism 4 consists of a screw-nut pair 4-1, a traversing transmission plate 4-2, a traversing guide shaft 4-3, a hand wheel 4-4, an outer spherical square bearing seat 4-5 and a traversing guide shaft supporting seat 4-6. The screw nut in the screw nut pair 4-1 is connected with the transverse moving transmission plate 4-2, two ends of the screw are respectively connected in the outer spherical square bearing seats 4-5, and pass through the outer spherical square bearing seats 4-5 to respectively connect the driving motor and the hand wheel 4-4, and the transverse moving transmission plate 4-2 is connected with the transverse moving guide shaft 4-3 in a guiding way. The screw nut pair 4-1 is driven by the driving motor to drive the transverse moving transmission plate 4-2 to carry out transverse displacement.
As shown in FIG. 10, the longitudinal moving mechanism 5 consists of a screw-nut pair 5-1, a square screw support fixed end 5-2, a worm gear 5-3, an outer spherical square bearing seat 5-4, a hand wheel 5-5 and a square screw support supporting end 5-6. Two ends of the worm gear 5-3 are connected with an outer spherical square bearing seat 5-4, one end of the worm gear is connected with a driving motor, and the other end of the worm gear is connected with a hand wheel 5-5. The worm gear 5-3 is in transmission connection with the screw nut pair 5-1, a screw in the screw nut pair 5-1 is connected with the square screw support supporting end 5-6, and the screw nut is connected with the slewing mechanism 3. The driving motor drives the rotary mechanism 3 to longitudinally displace through the worm gear 5-3 and the screw nut pair 5-1.
The traversing mechanism 4 and the longitudinal moving mechanism 5 realize mechanical self-locking through a screw nut pair, a driving motor does not have a brake, and manual operation can be carried out through a hand wheel when the motor fails.
As shown in FIG. 11, the travel of both the traversing mechanism and the longitudinally moving mechanism is + -100 mm.
Claims (8)
1. A five-degree-of-freedom multifunctional holder is characterized in that: the device comprises a jacking mechanism, a pitching mechanism, a revolving mechanism, a traversing mechanism and a longitudinally moving mechanism, wherein the traversing mechanism and the longitudinally moving mechanism are connected with the revolving mechanism, a revolving fixed end of the pitching mechanism is arranged on the revolving mechanism, a supporting movable end extends downwards to the longitudinally moving mechanism in the height direction, the jacking mechanism is arranged on a panel of the pitching mechanism, and a transmission structure of a stroke range is embedded into a space between the panel of the pitching mechanism and the revolving mechanism.
2. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the lifting mechanism comprises a tripod head panel, a separated multi-section hydraulic jack, a flange type oil-free bushing, a lifting guide shaft, a lifting limiting block, a jack support and a hydraulic manual pump, wherein the lower surface of the tripod head panel is connected with a pitching panel of the pitching mechanism through the lifting guide shaft and the flange type oil-free bushing, the support plate is connected with the separated multi-section hydraulic jack through the jack support, the upper end of the separated multi-section hydraulic jack is connected with the tripod head panel, the separated multi-section hydraulic jack is connected with the hydraulic manual pump, and a jack piston rod is driven to extend through the manual operation hydraulic manual pump, so that the upper panel of the tripod head is lifted.
3. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the adjusting range of the jacking mechanism is 60mm; the pitch angle adjusting range of the pitch mechanism is +/-5 degrees; the strokes of the transverse moving mechanism and the longitudinal moving mechanism are +/-100 mm.
4. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the pitching mechanism comprises a speed reducer mounting plate, a guide rail mounting plate, a pitching panel, a guide rail pair, a buffer block, a pitching guide shaft support assembly, a pitching guide shaft support, a fixed side square screw support, a screw nut pair assembly, a guide wheel assembly, a wedge-shaped transmission block, a supporting side square screw support, a servo motor and a worm gear reducer, wherein one end below the pitching panel is connected with the pitching guide shaft support assembly, the other end is connected with the screw nut pair assembly through the fixed side square screw support and the supporting side square screw support, one end of a screw in the screw nut pair assembly is connected with the worm gear reducer and the servo motor, the screw is connected with the wedge-shaped transmission block through a screw nut, the wedge-shaped transmission block is matched and connected with the guide wheel assembly, the servo motor provides power, and the wedge-shaped transmission block is driven to move along the guide wheel assembly through the screw nut pair transmission through the worm gear reducer, so that the pitch angle of the pitching panel of the pitching mechanism is adjusted.
5. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the rotary mechanism comprises a servo motor, a planetary reducer, a rotary support, a rotary reducer, a tripod head base, a guide wheel component supporting shaft and a stop block, wherein the tripod head base is connected with the rotary support through the rotary reducer, the servo motor is connected with the rotary reducer through the planetary reducer, power is provided by the servo motor, and the rotary reducer is used for transmission, so that the rotary angle is adjusted.
6. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the transverse moving mechanism comprises a screw nut pair, a transverse moving transmission plate, a transverse moving guide shaft, a hand wheel, an outer spherical square bearing seat and a transverse moving guide shaft supporting seat, wherein the screw nut in the screw nut pair is connected with the transverse moving transmission plate, two ends of a screw are respectively connected in the outer spherical square bearing seat and pass through the outer spherical square bearing seat to be respectively connected with a driving motor and the hand wheel, the transverse moving transmission plate is connected with the transverse moving guide shaft in a guiding way, and the screw nut pair is driven by the driving motor to drive the transverse moving transmission plate to carry out transverse displacement.
7. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the vertical moving mechanism comprises a screw-nut pair, a square screw-nut support fixing end, a worm and gear, an outer spherical square bearing seat, a hand wheel and a square screw-nut support supporting end, wherein two ends of the worm and gear are connected with the outer spherical square bearing seat, one end of the worm and gear is connected with a driving motor, the other end of the worm and gear is connected with the hand wheel, the worm and gear is in transmission connection with the screw-nut pair, a screw in the screw-nut pair is connected with the square screw-nut support supporting end, the screw-nut is connected with a rotating mechanism, and the worm and gear is driven by the driving motor to drive the rotating mechanism to longitudinally displace through the screw-nut pair.
8. The five-degree-of-freedom multi-function pan-tilt of claim 1, wherein: the transverse moving mechanism and the longitudinal moving mechanism realize mechanical self-locking through a screw nut pair, a driving motor does not have a brake, and when the motor fails, the manual operation is performed through a hand wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223313913.8U CN219120155U (en) | 2022-12-07 | 2022-12-07 | Five-degree-of-freedom multifunctional cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223313913.8U CN219120155U (en) | 2022-12-07 | 2022-12-07 | Five-degree-of-freedom multifunctional cradle head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219120155U true CN219120155U (en) | 2023-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223313913.8U Active CN219120155U (en) | 2022-12-07 | 2022-12-07 | Five-degree-of-freedom multifunctional cradle head |
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| Country | Link |
|---|---|
| CN (1) | CN219120155U (en) |
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- 2022-12-07 CN CN202223313913.8U patent/CN219120155U/en active Active
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