A portable tripod mobile carrying device

Abstract

The present invention relates to a portable tripod mobile bearing device, including a support base, a three-way coupling and an electromagnetic lifting rod; the support base is composed of an upper cover, an annular plate and a lower plate, and a power supply, a stepper motor driver, a mounting frame, a balance modulator, a PLC programmable controller, a stepper motor and a rotary encoder are installed in the support base, the power supply is electrically connected to the stepper motor driver, two stepper motor drivers are provided, and the two stepper motor drivers are symmetrically distributed on both sides of the power supply, four mounting frames are provided, and the two mounting frames are symmetrically distributed on both sides of a stepper motor driver; the three ends of the three-way coupling are connected to a platform fixture by flanges. This patent uses a foldable and telescopic triangular carrying platform, an electromagnetic lifting rod, and a wheeled mobile robot to effectively solve the problem that the bearing device of the existing tripod mobile bearing device is bulky and difficult to move in multiple directions at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of tripods, and in particular relates to a portable tripod mobile bearing device. Background Art

[0002] The portable tripod mobile load-bearing device is a new type of mobile load-bearing device composed of a foldable and retractable triangular load-bearing platform and a wheeled mobile robot. The tripod mobile load-bearing device currently has the functions of quickly moving the tripod body and avoiding secondary adjustment after changing stations. It has been applied in surveying and mapping engineering, panoramic photography and other fields. In the existing tripod mobile load-bearing devices, there are still problems such as the load-bearing device is bulky and difficult to move in multiple directions at the same time;

[0003] Patent "CN202320663498.4" proposes a new type of measuring tripod. By combining a cart and a tripod body, the staff can quickly move the tripod body to the next measuring point by pushing the cart. The operation process is simple, which solves the problem that the traditional tripod needs to be re-set up to measure a new point after each measurement, which is time-consuming and inefficient.

[0004] Patent "CN202320582189.4" proposes a mobile tripod leveling platform device, which includes a slide rail, a base plate arranged above it, and a movable plate. A tripod is arranged above the movable plate, and a moving mechanism and a leveling component for controlling the device are installed under the base. Through the lateral movement of the movable plate on the slide rail and the cooperation of the leveling component of the base plate, the tripod can not only move laterally but also save the time required for secondary leveling, thereby improving work efficiency.

[0005] However, the above-mentioned tripod mobile carrying devices all have the problem that the carrying device is bulky and difficult to move in multiple directions at the same time. Summary of the invention

[0006] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a portable tripod mobile bearing device, comprising a support seat, a three-way coupling and an electromagnetic lifting rod;

[0008] The support base is composed of an upper cover, an annular plate and a lower plate. A power supply, a stepper motor driver, a mounting bracket, a balance modulator, a PLC programmable controller, a stepper motor and a rotary encoder are installed in the support base. The power supply is electrically connected to the stepper motor driver. Two stepper motor drivers are provided, and the two stepper motor drivers are symmetrically distributed on both sides of the power supply. Four mounting brackets are provided, and the two mounting brackets are symmetrically distributed on both sides of a stepper motor driver.

[0009] The three ends of the three-way coupling are connected to the platform fixture by flanges, and the top side of the platform fixture is rotatably connected to the bearing platform.

[0010] As an optimal technical solution for a portable tripod mobile carrying device, the mounting frame includes a splash-proof protective shell, a transmission device and a second stepper motor, the second stepper motor is electrically connected to the stepper motor driver, one side of the transmission device is connected to one side of the splash-proof protective shell, and the second stepper motor is arranged on the top of the transmission device.

[0011] As a preferred technical solution for a portable tripod mobile carrying device, hinges are provided on the sides of the carrying platform and the sides of the platform fixture, and the two hinges at the same position are hinged.

[0012] As an optimal technical solution for a portable tripod mobile carrying device, a GPS Beidou positioning module is arranged on the top of the PLC programmable controller, the PLC programmable controller is electrically connected to a power supply, and the PLC programmable controller is electrically connected to a rotary encoder.

[0013] As a preferred technical solution for a portable tripod mobile carrying device, a six-axis accelerometer gyroscope is arranged on the top of the rotary encoder, and the rotary encoder is electrically connected to a stepper motor.

[0014] As an optimal technical solution for a portable tripod mobile carrying device, the power supply is electrically connected to a balanced modulator, and the balanced modulator is provided with a stepper motor forward and reverse controller, an electromagnetic amplifier module and a posture sensor.

[0015] As an optimal technical solution for a portable tripod mobile carrying device, the upper cover of the support base is provided with an electromagnetic generator, an information interaction protection device and a control panel, the electromagnetic generator is electrically connected to the information interaction protection device, the bottom of the information interaction protection device is docked with a balance modulator, and the bottom of the control panel is docked with the top of a GPS Beidou positioning module, and the electromagnetic lifting rod is located between the electromagnetic generator and the three-way coupling.

[0016] As an optimal technical solution for a portable tripod mobile carrying device, a guide wheel and a drive wheel are arranged at the bottom of the lower plate of the support seat, the guide wheel is connected to the rotary encoder, and the drive wheel is arranged in an anti-splash protective shell.

[0017] As an optimal technical solution for a portable tripod mobile carrying device, the top of the electromagnetic lifting rod is provided with a threaded end, the bottom of the electromagnetic lifting rod is provided with a disk structure 2, and the top of the electromagnetic generator is provided with a disk structure 1.

[0018] Beneficial effects of the invention: This patent utilizes a foldable and telescopic triangular carrying platform, an electromagnetic lifting rod, and a wheeled mobile robot to effectively solve the problem that the carrying device of the existing tripod mobile carrying equipment is bulky and difficult to move in multiple directions at the same time.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0021] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 .

[0022] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 .

[0023] Figure 3 The overall structure of the present invention is shown in FIG. Figure 3 .

[0024] Figure 4 This is a schematic diagram of the three-way coupling of the present invention after removal.

[0025] Figure 5 It is a top view cutaway schematic diagram of the support base of the present invention.

[0026] Figure 6 It is a schematic diagram of the structure of the power supply, rotary encoder, stepper motor driver and mounting bracket of the present invention.

[0027] Figure 7 It is a three-dimensional schematic diagram of the support seat of the present invention after being cut away.

[0028] Figure 8 It is a schematic diagram of the mounting frame structure of the present invention.

[0029] Fig. 9 It is a schematic diagram of the structure of the electromagnetic lifting rod of the present invention.

[0030] Figure numerals: 100, support base; 101, electromagnetic generator; 1011, disk structure 1; 102, information interaction protection device; 103, power supply; 104, balance modulator; 1041, stepper motor forward and reverse controller; 1042, electromagnetic operational amplifier module; 1043, attitude sensor; 105, PLC programmable controller; 1051, GPS Beidou positioning module; 106, rotary encoder; 1061, six-axis accelerometer gyroscope Instrument; 107, stepper motor one; 108, stepper motor driver; 109, mounting bracket; 1091, splash-proof protective shell; 1092, transmission device; 1093, stepper motor two; 110, control panel; 200, three-way coupling; 201, platform fixture; 202, load-bearing platform; 203, hinge; 300, guide wheel; 301, drive wheel; 400, electromagnetic lifting rod; 401, threaded end; 402, disk structure two. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0034] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0035] Example

[0036] Reference Figures 1 to 9 , is an embodiment of the present invention, which provides a portable tripod mobile bearing device, including a support base 100, a three-way coupling 200 and an electromagnetic lifting rod 400; the support base 100 is composed of an upper cover, an annular plate and a lower plate, and a power supply 103, a stepper motor driver 108, a mounting frame 109, a balance modulator 104, a PLC programmable controller 105, a stepper motor 107 and a rotary encoder 106 are installed in the support base 100, the power supply 103 is electrically connected to the stepper motor driver 108, the stepper motor driver 108 is a DM320C model, and the stepper motor driver 108 will The program instructions in the control system are converted into electrical signal instructions and transmitted to the stepper motor 107 to control the rotation speed and acceleration of the stepper motor 107, so as to achieve the purpose of speed regulation and positioning. Two stepper motor drivers 108 are provided, and the two stepper motor drivers 108 are symmetrically distributed on both sides of the power supply 103. Four mounting brackets 109 are provided, and the two mounting brackets 109 are symmetrically distributed on both sides of a stepper motor driver 108; the three ends of the three-way coupling 200 are connected to the platform fixture 201 by flanges, and the top side of the platform fixture 201 is rotatably connected to the supporting platform 202.

[0037] Specifically, the mounting frame 109 includes an anti-splash protective shell 1091, a transmission device 1092 and a second stepper motor 1093. The second stepper motor 1093 is electrically connected to the stepper motor driver 108. One side of the transmission device 1092 is connected to one side of the anti-splash protective shell 1091. The second stepper motor 1093 is arranged on the top of the transmission device 1092. The second stepper motor 1093 is of the same model as the first stepper motor 107. The transmission device 1092 receives the power of the second stepper motor 1093 and transmits it to the working mechanism of the driving wheel 301. At the same time, the power of the motor can be controlled to be too large to prevent damage to the inside of the device. The anti-splash protective shell 1091 prevents the gravel, sand, etc. encountered by the device during movement from being drawn into the robot, causing the loss of electronic components.

[0038] Specifically, hinges 203 are provided on the sides of the carrying platform 202 and the sides of the platform fixture 201, and the two hinges 203 at the same position are hinged; a GPS Beidou positioning module 1051 is provided on the top of the PLC programmable controller 105, wherein the GPS Beidou positioning module 105 is a Zhongkewei ATGM336H-5N model, wherein the GPS Beidou positioning module 1051 can help the device to carry out reasonable route planning when moving, and realize the understanding of the location and status of the device, the PLC programmable controller 105 is electrically connected to the power supply 103, the PLC programmable controller 105 is electrically connected to the rotary encoder 106, wherein the PLC programmable controller 105 is a PR10AC100-240v model, and the PLC programmable controller 105 controls the working instructions of the wheeled robot;

[0039] Specifically, a six-axis accelerometer gyroscope 1061 is arranged on the top of the rotary encoder 106, wherein the six-axis accelerometer gyroscope 1061 is an ICM-52602 model, and the six-axis accelerometer gyroscope 1061 accurately measures and analyzes the forward speed and rotation speed of the device driving wheel 301, and timely feeds back to the control system, thereby adjusting the reverse direction and speed of the movement of the device, so that the driving wheel 301 can maintain balance, stability and no shaking when working, and the rotary encoder 106 is electrically connected to the stepper motor 107, wherein the rotary encoder 106 is a Yunyu 300 pulse model, and when the front wheel of the device is working, the rotary encoder 106 will be used in combination with the PLC programmable controller 105 to complete a positioning control setting of a movement distance, wherein the stepper motor 107 is a 42CMO4 model, and the stepper motor 107 receives the signal command from the stepper motor driver 108 to control the rotation angle, so as to realize the mobile control of the precise position;

[0040] Specifically, the power supply 103 is electrically connected to the balanced modulator 104, and the balanced modulator 104 is provided with a stepper motor forward and reverse controller 1041, an electromagnetic operational amplifier module 1042 and a posture sensor 1043, wherein the balanced modulator 104 adopts the Modem-AD630 model, wherein the stepper motor forward and reverse controller 1041 adopts the YF-18 model, wherein the electromagnetic operational amplifier module 1042 adopts the OPA2350 model, wherein the posture sensor 1043 adopts the icm42688 model, and the balanced modulator 104 is in operation. , receiving the output signals from the electromagnetic amplifier module 1042 and the stepper motor forward and reverse controller 1041, and converting the signals into voltage and current and transmitting them to the electromagnetic generator 101. The stepper motor forward and reverse controller 1041 controls the precise positioning and rotation direction of the wheeled robot. The electromagnetic amplifier module 1042 provides current limitation, stabilizes the output current and voltage, improves the efficiency of the control system, and prevents the drive system from being overloaded and overloaded. The attitude sensor 1043 can help control the stability and accuracy of the multi-directional movement of the equipment and reduce external interference;

[0041] Specifically, the upper cover of the support base 100 is provided with an electromagnetic generator 101, an information interaction protection device 102 and a control panel 110, the electromagnetic generator 101 is electrically connected to the information interaction protection device 102, the bottom of the information interaction protection device 102 is docked with the balance modulator 104, and the bottom of the control panel 110 is docked with the top of the GPS Beidou positioning module 1051, and the electromagnetic lifting rod 400 is located between the electromagnetic generator 101 and the three-way coupling 200; the bottom of the lower plate of the support base 100 is provided with a guide wheel 300 and a driving wheel 301, the guide wheel 300 is docked with the rotary encoder 106, the driving wheel 301 is arranged in the anti-splash protection shell 1091, and the transmission device 1092 is provided with a transmission wheel to drive the driving wheel 301 to rotate;

[0042] Specifically, a threaded end 401 is provided at the top of the electromagnetic lifting rod 400, a disk structure 2 402 is provided at the bottom of the electromagnetic lifting rod 400, and a disk structure 1 1011 is provided at the top of the electromagnetic generator 101, wherein the lifting of the electromagnetic lifting rod 400 is achieved by rotating the positive and negative poles of the magnet coil power supply in the disk structure 2 402 of the electromagnetic generator 101, so that the positive and negative poles of the magnet are switched differently, thereby producing the effect principle of like attracts like and opposite repels like with the magnet of the disk structure 1 1011, thereby realizing the lifting of the electromagnetic lifting rod 400.

[0043] Through this implementation, it can be achieved that: the power supply 103 is turned on, each electronic component starts to operate (is in a waiting state), the control panel 110 inputs instructions, the PLC programmable controller 105 receives the operation instructions, the rotary encoder 106 receives the instructions from the controller, and the six-axis accelerometer gyroscope 1061 starts to operate. After the stepper motor 107 receives the signal from the rotary encoder 106, it starts to work and provides power to the transmission mechanism in the front guide wheel 300. At the same time, the guide wheel 300 starts to operate after receiving the signal. When the electronic components of each part are working, the power supply 103 will provide a source of electricity. The guide wheel 300 is the first to adjust the azimuth direction. The four drive wheels 301 also receive the operation instructions from the PLC programmable controller 105 first, and the operation The command is transmitted to the motor driver through the integrated circuit board, and the motor driver makes corresponding speed and displacement adjustment commands and transmits them to the stepper motor 1093. After receiving the command, the stepper motor 1093 provides power to the transmission device 1092, and the four drive wheels 301 start to work. When the wheeled robot moves in position, when the robot changes its position midway, the robot is first slowly lowered, and after adjusting the displacement direction of the guide wheel 300, the robot is further accelerated. When the wheeled robot is working, the PLC programmable controller 105 will transmit electrical signal commands to the electromagnetic amplifier module 1042 and the posture sensor 1043 at the rear. After receiving the command, the two electronic components will ensure the rotation of the stepper motor 1093. The control instructions of the direction and the stability and accuracy of the equipment in multi-directional movement (wheeled robot movement + electromagnetic lifting rod 400 working at the same time) are used to reduce interference from external factors. The working principle of the electromagnetic lifting rod 400 of the wheeled robot: when the lifting operation is not performed, the bottom disk structure 2 402 of the electromagnetic lifting rod 400 (magnetism is positive) and the bottom disk structure 1 1011 of the electromagnetic generator 101 (magnetism is negative at this time) will attract each other based on the principle of opposite magnetic poles (the principle of two magnets being attracted together). When the lifting operation is performed, the robot will receive input instructions from the control panel 110, and the PLC programmable controller 105 will receive the operation instructions - integrated circuit board - electromagnetic operational amplifier module 1042 (provides current limitation, stable output current) Voltage, improve the efficiency of the control system) - Balance modulator 104 (accepts the current and voltage output stably by the electromagnetic amplifier module 1042, adjusts the positive and negative transmission of the voltage and current, and transmits the working instructions and the voltage and current to the electromagnetic generator 101) - The electromagnetic generator 101 receives the working instructions and the current and voltage, and the internal electromagnetic structure starts to operate, and the magnetism of the bottom disk structure 1011 is changed to positive. The magnetism of the bottom disk structure 402 of the electromagnetic lifting rod 400 is still positive. The two will be slowly lifted up a little bit due to the principle of like magnetic poles repelling each other (the lowering operation steps are the same, but the magnetism of the instruction conversion is opposite). When the electromagnetic lifting rod 400 is working, the instruction input by the control panel 110 can only input one lifting or lowering instruction at a time.And the lifting or lowering stroke cannot be too large. After one instruction is completed, another working instruction is re-entered. When the tripod is working, the tripod will be connected and fixed with the three-way coupling 200 through the fixed support rod in the middle of the bottom.

[0044] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0045] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A portable tripod mobile carrying device, characterized in that: It comprises a support seat (100), a three-way coupling (200) and an electromagnetic lifting rod (400); The support base (100) is composed of an upper cover, an annular plate and a lower plate. A power supply (103), a stepper motor driver (108), a mounting frame (109), a balance modulator (104), a PLC programmable controller (105), a stepper motor (107) and a rotary encoder (106) are installed in the support base (100). The power supply (103) is electrically connected to the stepper motor driver (108). Two stepper motor drivers (108) are provided, and the two stepper motor drivers (108) are symmetrically distributed on both sides of the power supply (103). Four mounting frames (109) are provided, and the two mounting frames (109) are symmetrically distributed on both sides of one stepper motor driver (108). The three ends of the three-way coupling (200) are connected to the platform fixture (201) by flanges, and the top side of the platform fixture (201) is rotatably connected to the bearing platform (202); The sides of the carrying platform (202) and the sides of the platform fixture (201) are both provided with hinges (203), and the two hinges (203) at the same position are hinged; The top end of the electromagnetic lifting rod (400) is provided with a threaded end (401), the bottom end of the electromagnetic lifting rod (400) is provided with a disk structure 2 (402), and the top of the electromagnetic generator (101) is provided with a disk structure 1 (1011).

2. The portable tripod mobile carrying device according to claim 1, characterized in that: The mounting frame (109) comprises an anti-splash protection shell (1091), a transmission device (1092) and a second stepper motor (1093); the second stepper motor (1093) is electrically connected to a stepper motor driver (108); one side of the transmission device (1092) is connected to one side of the anti-splash protection shell (1091); and the second stepper motor (1093) is arranged on the top of the transmission device (1092).

3. The portable tripod mobile carrying device according to claim 1, characterized in that: A GPS Beidou positioning module (1051) is arranged on the top of the PLC programmable controller (105), the PLC programmable controller (105) is electrically connected to a power source (103), and the PLC programmable controller (105) is electrically connected to a rotary encoder (106).

4. The portable tripod mobile carrying device according to claim 1, characterized in that: A six-axis accelerometer gyroscope (1061) is arranged on the top of the rotary encoder (106), and the rotary encoder (106) is electrically connected to the stepper motor 1 (107).

5. The portable tripod mobile carrying device according to claim 1, characterized in that: The power supply (103) is electrically connected to the balanced modulator (104), and the balanced modulator (104) is provided with a stepping motor forward and reverse controller (1041), an electromagnetic operational amplifier module (1042) and a posture sensor (1043).

6. The portable tripod mobile carrying device according to claim 1, characterized in that: The upper cover of the support base (100) is provided with an electromagnetic generator (101), an information interaction protection device (102) and a control panel (110); the electromagnetic generator (101) is electrically connected to the information interaction protection device (102); the bottom of the information interaction protection device (102) is docked with the balance modulator (104); and the bottom of the control panel (110) is docked with the top of the GPS Beidou positioning module (1051); and the electromagnetic lifting rod (400) is located between the electromagnetic generator (101) and the three-way coupling (200).

7. The portable tripod mobile carrying device according to claim 1, characterized in that: A guide wheel (300) and a drive wheel (301) are arranged at the bottom of the lower plate of the support seat (100); the guide wheel (300) is docked with the rotary encoder (106); and the drive wheel (301) is arranged in an anti-splash protection shell (1091).

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