Five-degree-of-freedom multifunctional gimbal

Abstract

The present application relates to a kind of five degrees of freedom multifunctional holder, including jacking mechanism, pitching mechanism, rotary mechanism, horizontal shift mechanism, longitudinal shift mechanism, the horizontal shift mechanism and longitudinal shift mechanism connect rotary mechanism, the rotary fixed end of pitching mechanism is installed on rotary mechanism, support active end extends to longitudinal shift mechanism in height direction downward, the jacking mechanism is installed on the panel of pitching mechanism, and the transmission structure of stroke range is embedded in the space between the panel of pitching mechanism and rotary mechanism.The present application is reasonably distributed and mutually nested by five degrees of freedom adjusting mechanism, and the spatial position of jacking mechanism is nested in pitching mechanism, and the spatial position of rotary mechanism is nested in pitching mechanism, can realize the adjusting function of holder in horizontal shift, longitudinal shift, pitching, rotary, jacking and other multiple degrees of freedom, also compresses the overall height of holder to the greatest extent.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-degree-of-freedom platform, in particular to a five-degree-of-freedom multifunctional gimbal. BACKGROUND

[0002] The gimbal is a support device capable of multi-angle adjustment, which can adjust the spatial position and posture of the use object in multiple degrees of freedom according to the characteristics and needs of the use object.

[0003] The existing gimbals in the industry have the following problems:

[0004] (1) The adjustment can only be made in two to three degrees of freedom, and the adjustment capacity is limited;

[0005] (2) The adjustment mechanisms of each degree of freedom are simply superimposed in the vertical direction, the overall height of the gimbal is high, and the space occupied is large;

[0006] (3) The adjustment mode is mainly manual, it is difficult to control the adjustment accuracy, and the adjustment process is repetitive;

[0007] (4) Although there is an electric adjustment mode, under this adjustment mode, there is a lack of backup adjustment mechanism, and the vitality is poor. SUMMARY

[0008] The purpose of the present application is to provide a five-degree-of-freedom multifunctional gimbal, which solves the problems of poor adjustment capacity, large space occupation, difficult to control accuracy, lack of emergency capacity and the like of the existing gimbals. By reasonably distributing and nesting the five-degree-of-freedom adjustment mechanisms, the spatial position of the jacking mechanism is nested into the pitching mechanism, and the spatial position of the rotating mechanism is nested into the pitching mechanism, which can realize the adjustment function of the gimbal in multiple degrees of freedom such as horizontal movement, vertical movement, pitching, rotating and jacking, and also compresses the overall height of the gimbal to the maximum extent.

[0009] In order to achieve the above-mentioned purpose, the technical scheme of the present application is: a five-degree-of-freedom multifunctional gimbal, comprising a jacking mechanism, a pitching mechanism, a rotating mechanism, a horizontal movement mechanism and a vertical movement mechanism, the horizontal movement mechanism and the vertical movement mechanism are connected to the rotating mechanism, the rotating fixed end of the pitching mechanism is installed on the rotating mechanism, and the supporting movable end extends downward in the height direction to the vertical movement mechanism, the jacking mechanism is installed on the panel of the pitching mechanism, and the transmission structure in the stroke range is embedded in the space between the panel of the pitching mechanism and the rotating mechanism.

[0010] Further, the jacking mechanism comprises a cloud platform, a detachable multi-section hydraulic jack, a flange type oil-free bushing, a jacking guide shaft, a jacking limiting block, a jack support, a hydraulic manual pump, the cloud platform is connected with the pitching platform of the pitching mechanism through the jacking guide shaft and the flange type oil-free bushing, the detachable multi-section hydraulic jack is connected with the support plate through the jack support, the upper end of the detachable multi-section hydraulic jack is connected with the cloud platform, the detachable multi-section hydraulic jack is connected with the hydraulic manual pump, the hydraulic manual pump is manually operated to drive the jack piston rod to extend, so as to lift the cloud platform.

[0011] Further, the jacking mechanism has an adjustment range of 60mm; the pitching mechanism has a pitching angle adjustment range of ±5°; the horizontal moving mechanism and the longitudinal moving mechanism have a stroke of ±100mm.

[0012] Further, the pitching mechanism comprises a reducer mounting plate, a guide rail mounting plate, a pitching platform, a guide rail pair, a buffer block, a pitching guide shaft support assembly, a pitching guide shaft, a pitching guide shaft support, a fixed side square lead screw support, a lead screw nut pair assembly, a guide wheel assembly, a wedge-shaped transmission block, a support side square lead screw support, a servo motor and a worm gear reducer, one end of the pitching platform is connected with the pitching guide shaft support assembly, the other end is connected with the lead screw nut pair assembly through the fixed side square lead screw support and the support side square lead screw support, one end of the lead screw in the lead screw nut pair assembly is connected with the worm gear reducer and the servo motor, the lead screw is connected with the wedge-shaped transmission block through the lead screw nut, the wedge-shaped transmission block is connected with the guide wheel assembly in cooperation, the servo motor provides power, the power is transmitted through the lead screw nut pair assembly and the worm gear reducer, the wedge-shaped transmission block is driven to move along the guide wheel assembly, so as to adjust the pitching angle of the pitching platform of the pitching mechanism.

[0013] Further, the rotating mechanism comprises a servo motor, a planetary reducer, a rotating support, a rotating reducer, a cloud platform base, a guide wheel assembly support shaft and a stop block, the cloud platform base is connected with the rotating support through the rotating reducer, the servo motor is connected with the rotating reducer through the planetary reducer, the servo motor provides power, the power is transmitted through the rotating reducer, so as to adjust the rotating angle.

[0014] Further, the horizontal moving mechanism comprises a lead screw nut pair, a horizontal moving transmission plate, a horizontal moving guide shaft, a hand wheel, an outer spherical surface square bearing seat and a horizontal moving guide shaft support seat, the lead screw nut in the lead screw nut pair is connected with the horizontal moving transmission plate, the lead screws at two ends are respectively connected in the outer spherical surface square bearing seat and pass through the outer spherical surface square bearing seat to be respectively connected with the driving motor and the hand wheel, the horizontal moving transmission plate is guided and connected with the horizontal moving guide shaft, the driving motor drives the lead screw nut pair to drive the horizontal moving transmission plate to move horizontally.

[0015] Further, the longitudinal moving mechanism comprises a screw nut pair, a square screw support fixed end, a worm gear, an outer spherical square bearing seat, a hand wheel, a square screw support support end, one end of the worm gear is connected with the outer spherical square bearing seat, one end is connected with a driving motor, and the other end is connected with the hand wheel, the worm gear is in transmission connection with the screw nut pair, the screw in the screw nut pair is connected with the square screw support support end, the screw nut is connected with the rotating mechanism, the driving motor drives the rotating mechanism to move longitudinally through the worm gear transmission and the screw nut pair.

[0016] Further, the horizontal moving mechanism and the longitudinal moving mechanism are mechanically self-locked through the screw nut pair, the driving motor is without a brake, and when the motor fails, manual operation is carried out through the hand wheel.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] (1) The present application realizes the movement of the holder in five degrees of freedom through reasonable design, greatly improving the movement ability of the holder.

[0019] (2) The present application reasonably arranges each degree of freedom adjusting mechanism, nests each mechanism in the height direction, greatly reduces the overall height of the holder, and reduces the occupied space of the holder.

[0020] (3) The holder base in the present application is designed as an L-shaped cantilever beam structure, and the horizontal moving mechanism is designed on the side surface to avoid height superposition with the longitudinal moving mechanism, and the structure is compact.

[0021] (4) The main executing mechanisms in the present application are all driven by servo motors, which can realize effective control of each mechanism, and are higher in control accuracy than hydraulic driving.

[0022] (5) All adjusting mechanisms in the present application are provided with manual operation mechanical interfaces, when the driving motor fails, the corresponding adjusting mechanism can be driven to work through the manual operation rod or the rotating hand wheel, thereby ensuring the emergency ability of the holder.

[0023] (6) The multi-degree-of-freedom holder in the present application can be adaptively adjusted according to different performance index requirements, and can meet most multi-degree-of-freedom attitude adjustment operation scenes. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a general structure schematic diagram of the present application;

[0025] Figure 2 is a height range distribution diagram of each mechanism of the present application;

[0026] Figure 3 is Figure 1 is a structure schematic diagram of the jacking mechanism in

[0027] Figure 4 is the height adjustment range of the jacking mechanism in Figure 1 ;

[0028] Figure 5 is the structure diagram of the pitch mechanism in Figure 1 ;

[0029] Figure 6 is the angle adjustment range of the pitch mechanism in Figure 1 ;

[0030] Figure 7 is the structure diagram of the rotation mechanism in Figure 1 ;

[0031] Figure 8 is the working mode and corresponding angle adjustment range of the rotation mechanism in Figure 1 ;

[0032] wherein: (a) longitudinal mode, (b) transverse mode;

[0033] Figure 9 is the structure diagram of the transverse movement mechanism in Figure 1 ;

[0034] Figure 10 is the structure diagram of the longitudinal movement mechanism in Figure 1 ;

[0035] Figure 11 is the displacement range of the transverse movement mechanism and the longitudinal movement mechanism in Figure 1 ;

[0036] Figure: Jack-up mechanism 1, gimbal panel 1-1, split multi-section hydraulic jack 1-2, flange type oil-free bushing 1-3, jack-up guide shaft 1-4, jack-up limiting block 1-5, jack support 1-6, hydraulic hand pump 1-7, tilting mechanism 2, reducer mounting plate 2-1, guide rail mounting plate 2-2, tilting panel 2-3, guide rail pair 2-4, buffer block 2-5, tilting guide shaft support assembly 2-6, tilting guide shaft 2-7, tilting guide shaft support 2-8, square screw support (fixed side) 2-9, screw nut pair assembly 2-10, guide wheel assembly 2-11, wedge-shaped transmission block 2-12, square screw support (support side) 2-13, servo motor 2-14, worm gear reducer 2-15, rotating mechanism 3, servo motor 3-1, planetary reducer 3-2, rotating support 3-3, rotating reducer 3-4, gimbal base 3-5, guide wheel assembly support shaft 3-6, stop block 3-7, horizontal movement mechanism 4, screw nut pair 4-1, horizontal movement transmission plate 4-2, horizontal movement guide shaft 4-3, hand wheel 4-4, outer spherical square bearing seat 4-5, horizontal movement guide shaft support seat 4-6, vertical movement mechanism 5, screw nut pair 5-1, square screw support fixed end 5-2, worm gear 5-3, outer spherical square bearing seat 5-4, hand wheel 5-5, square screw support support end 5-6, H1-tilting mechanism height range, H2-rotating mechanism height range, H3-vertical movement mechanism height range, H4-jack-up mechanism height range, H5-horizontal movement mechanism height range. DETAILED DESCRIPTION

[0037] The application will be further described below in conjunction with the drawings and examples.

[0038] As shown in the drawings, Figure 1 The application provides a five-degree-of-freedom multifunctional gimbal, which includes a jack-up mechanism 1, a tilting mechanism 2, a rotating mechanism 3, a horizontal movement mechanism 4 and a vertical movement mechanism 5. The vertical movement mechanism 5 is connected with the rotating mechanism 3, the tilting mechanism 2 is installed on the rotating mechanism 3, and the jack-up mechanism 1 is installed on the tilting mechanism 2.

[0039] As shown in the drawings, Figure 2 Each mechanism is nested in the height direction, the vertical movement mechanism 5 is connected with the rotating mechanism 3, the rotating fixed end of the tilting mechanism 2 is installed on the rotating mechanism 3, the support movable end extends downward in the height direction to the vertical movement mechanism 5, the jack-up mechanism 1 is installed on the panel of the tilting mechanism 2, and the transmission structure of the stroke range is embedded in the space between the panel of the tilting mechanism 2 and the rotating mechanism 3. Figure 3 H1-tilting mechanism height range; H2-rotating mechanism height range; H3-vertical movement mechanism height range; H4-jack-up mechanism height range; H5-horizontal movement mechanism height range.

[0040] As shown in the drawings, Figure 3As shown, the jacking mechanism 1 is composed of a gimbal panel 1-1, a detachable 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 hand pump 1-7, etc. The gimbal panel 1-1 is connected with the pitch panel 2-3 of the pitch mechanism 2 through the jacking guide shaft 1-4 and the flange type oil-free bushing 1-3 at the bottom, and the detachable multi-section hydraulic jack 1-2 is connected with the support plate through the jack support 1-6, and the upper end of the detachable multi-section hydraulic jack 1-2 is connected with the gimbal panel 1-1. By manually operating the hydraulic hand pump 1-7, the piston rod of the detachable multi-section hydraulic jack 1-2 is extended, so as to lift the gimbal panel 1-1 along the jacking guide shaft 1-4.

[0041] As shown in FIG. 1, the jacking mechanism 1 is connected with the pitch mechanism 2. Figure 4 As shown, the adjustment range of the jacking mechanism 1 is 60 mm.

[0042] As shown in FIG. 1, the jacking mechanism 1 is connected with the pitch mechanism 2. Figure 5 As shown, the pitch mechanism 2 is composed of a reducer mounting plate 2-1, a guide rail mounting plate 2-2, a pitch panel 2-3, a guide rail pair 2-4, a buffer block 2-5, a pitch guide shaft support assembly 2-6, a pitch guide shaft 2-7, a pitch 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 (support side) 2-13, a servo motor 2-14, a worm gear reducer 2-15, etc. One end of the pitch panel 2-3 is connected with the pitch guide shaft support assembly 2-6 at the bottom, and the other end is connected with the screw nut pair assembly 2-10 through the square screw support (fixed side) 2-9 and the square screw support (support side) 2-13, the screw in the screw nut pair assembly 2-10 is connected with the worm gear reducer 2-15 and the servo motor 2-14 at one end, and the screw is connected with the wedge-shaped transmission block 2-12 through a screw nut, and the wedge-shaped transmission block 2-12 is connected with the guide wheel assembly 2-11 in cooperation. The servo motor 2-14 provides power, which is transmitted through the screw nut pair 2-10, the worm gear reducer 2-15, and the wedge-shaped transmission block 2-12, so as to drive the wedge-shaped transmission block 2-12 to move along the guide wheel assembly 2-11, thereby adjusting the pitch angle of the pitch panel 2-3 of the pitch mechanism 2.

[0043] As shown in FIG. 1, the jacking mechanism 1 is connected with the pitch mechanism 2. Figure 6 As shown, the adjustment range of the pitch angle of the pitch mechanism 2 is ±5°.

[0044] As shown in FIG. 1, the jacking mechanism 1 is connected with the pitch mechanism 2. Figure 7As shown, the rotating mechanism 3 is composed of a servo motor 3-1, a planetary reducer 3-2, a rotating support 3-3, a rotating reducer 3-4, a holder base 3-5, a guide wheel assembly support shaft 3-6, and a stop block 3-7. The holder base 3-5 is connected to the rotating support 3-3 through the rotating reducer 3-4, and the servo motor 3-1 is connected to the rotating reducer 3-4 through the planetary reducer 3-2. The servo motor 3-1 provides power, which is transmitted through the rotating reducer 3-4 to adjust the rotation angle.

[0045] As shown in (a) and (b) of FIG. 1, Figure 8 As shown in (a) and (b) of FIG. 1,

[0046] As shown in (a) and (b) of FIG. 1, Figure 9 As shown in (a) and (b) of FIG. 1,

[0047] As shown in (a) and (b) of FIG. 1, Figure 10 As shown in (a) and (b) of FIG. 1,

[0048] The horizontal moving mechanism 4 and the vertical moving mechanism 5 are mechanically self-locked through the screw-nut pair. The driving motor does not have a brake, and when the motor fails, the hand wheel can be used for manual operation.

[0049] As shown in (a) and (b) of FIG. 1, Figure 11 As shown in (a) and (b) of FIG. 1,

Claims

1. A five-degree-of-freedom multi-functional gimbal, characterized in that: The jacking mechanism, the tilting mechanism, the rotating mechanism, the horizontal moving mechanism and the longitudinal moving mechanism are connected with the rotating mechanism, the rotating fixed end of the tilting mechanism is installed on the rotating mechanism, the supporting movable end extends downward to the longitudinal moving mechanism in the height direction, the jacking mechanism is installed on the panel of the tilting mechanism, the transmission structure in the stroke range is embedded in the space between the panel of the tilting mechanism and the rotating mechanism; the jacking mechanism comprises a holder panel, a separated multi-section hydraulic jack, a flange type oil-free bushing, a jacking guide shaft, a jacking limiting block, a jack support and a hydraulic hand pump, the lower surface of the holder panel is connected with the tilting panel of the tilting mechanism through the jacking guide shaft and the flange type oil-free bushing, the separated multi-section hydraulic jack is connected with the holder support through the jack support, the upper end of the separated multi-section hydraulic jack is connected with the holder panel, the separated multi-section hydraulic jack is connected with the hydraulic hand pump, the hydraulic hand pump is manually operated to drive the jack piston rod to extend, so as to lift the upper panel of the holder; the rotating mechanism comprises a servo motor, a planetary reducer, a rotating support, a rotating reducer, a holder base, a guide wheel assembly support shaft and a stop block, the holder base is connected with the rotating support through the rotating reducer, the servo motor is connected with the rotating reducer through the planetary reducer, power is provided by the servo motor, and transmission is performed through the rotating reducer, so as to adjust the rotating angle.

2. The five-degree-of-freedom multi-functional gimbal of claim 1, wherein: The adjusting range of the jacking mechanism is 60mm; the adjusting range of the tilting angle of the tilting mechanism is ±5°; and the strokes of the horizontal moving mechanism and the longitudinal moving mechanism are both ±100mm.

3. The five-degree-of-freedom multi-functional gimbal of claim 1, wherein: The tilting mechanism comprises a reducer mounting plate, a guide rail mounting plate, a tilting panel, a guide rail pair, a buffer block, a tilting guide shaft support assembly, a tilting guide shaft, a tilting 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 reducer, one end of the lower surface of the tilting panel is connected with the tilting 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 the screw in the screw nut pair assembly is connected with the worm reducer and the servo motor, the screw is connected with the wedge-shaped transmission block through the screw nut, the wedge-shaped transmission block is connected with the guide wheel assembly in cooperation, power is provided by the servo motor, transmission is performed through the screw nut pair via the worm reducer, the wedge-shaped transmission block is driven to move along the guide wheel assembly, and the tilting angle of the tilting panel of the tilting mechanism is adjusted.

4. The five-degree-of-freedom multi-functional gimbal of claim 1, wherein: The horizontal moving mechanism comprises a screw nut pair, a horizontal moving transmission plate, a horizontal moving guide shaft, a hand wheel, an outer spherical surface square bearing seat and a horizontal moving guide shaft support, the screw nut in the screw nut pair is connected with the horizontal moving transmission plate, the two ends of the screw are connected in the outer spherical surface square bearing seat and connected with the driving motor and the hand wheel through the outer spherical surface square bearing seat, the horizontal moving transmission plate is guided and connected with the horizontal moving guide shaft, and the horizontal moving transmission plate is driven to move horizontally by the driving motor driving the screw nut pair.

5. The five-degree-of-freedom multi-functional gimbal of claim 1, wherein: The longitudinal moving mechanism comprises a screw nut pair, a square screw support fixed end, a worm gear, an outer spherical square bearing seat, a hand wheel, a square screw support support end, and one end of the worm gear is connected with the outer spherical square bearing seat, one end of which is connected with a driving motor and the other end is connected with the hand wheel, the worm gear is in transmission connection with the screw nut pair, the screw in the screw nut pair is connected with the square screw support support end, the screw nut is connected with the rotary mechanism, and the driving motor drives the worm gear to drive the rotary mechanism to move longitudinally through the screw nut pair.

6. The five-degree-of-freedom multi-functional gimbal of claim 1, wherein: The horizontal moving mechanism and the longitudinal moving mechanism are mechanically self-locked through the screw nut pair, the driving motor is not provided with a brake, and when the motor fails, manual operation is conducted through the hand wheel.

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