VERTICALLY STABILIZED PLATFORM

Abstract

Embodiments of the inventive subject matter are directed to vertically stabilized platforms. These platforms have a top portion that moves only along a single axis (e.g., vertically up and down), and a bottom portion that remains stationary relative to a reference frame. The top portion is coupled with the bottom portion by scissor linkages that are all configured to slide on one end to allow the top portion to move up and down without any perturbations or movements along any other axes. Stabilization in some embodiments is accomplished by incorporating struts that couple with both the bottom portion (either directly or indirectly) and two of the scissor linkages. Struts can include both a damper and a spring and can be selected based on anticipated load to be stabilized. Embodiments can be mounted on, e.g., truck beds, ships, or other surfaces that can move, giving rise to a need for a stabilized platform.

Claims

1. A stabilized platform comprising: a top frame comprising a top guide rail; a bottom frame comprising a bottom guide rail; a first scissor linkage rotatably coupled with a top sliding block that is coupled with the top guide rail; wherein the first scissor linkage is rotatably coupled with the bottom frame; wherein the top sliding block comprises a top sliding block elongated channel that is configured to couple with the top guide rail; a second scissor linkage rotatably coupled with a bottom sliding block that is coupled with the bottom guide rail; wherein the second scissor linkage is rotatably coupled with the top frame; wherein the bottom sliding block comprises a bottom sliding block elongated channel that is configured to couple with the bottom guide rail; wherein the first scissor linkage and the second scissor linkage are coupled by a pin joint; and a strut configured to damp movement of the top frame relative to the bottom frame.

2. The stabilized platform of claim 1, further comprising a top surface coupled with the top frame.

3. The stabilized platform of claim 1, further comprising a stopper coupled with the bottom frame and configured to interact with the top frame upon compression of the top frame toward the bottom frame.

4. The stabilized platform of claim 1, wherein the strut comprises a spring and a damper.

5. The stabilized platform of claim 1, wherein the first and second elongated channels comprise a plastic material to reduce friction between the first and second elongated channels and top and bottom guide rails, respectively.

6. A stabilized platform comprising: a top frame comprising a top guide rail; a bottom frame comprising a bottom guide rail; a first scissor linkage rotatably coupled with the bottom frame and slidably coupled with the top guide rail by a top sliding block that has a first channel sized and dimensioned to slidably couple with the top guide rail; a second scissor linkage rotatably coupled with the top frame and slidably coupled with the bottom guide rail by a bottom sliding block that has a second channel sized and dimensioned to slidably couple with the bottom guide rail; wherein the first scissor linkage and the second scissor linkage are coupled by a pin joint; and a strut configured to damp movement of the top frame relative to the bottom frame.

7. The stabilized platform of claim 6, wherein the first and second top guide rails are parallel and wherein the first and second bottom guide rails are parallel.

8. The stabilized platform of claim 6, further comprising a top surface coupled with the top frame.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0016] FIG. 1 is a front perspective view of a stabilization platform.

[0017] FIG. 2 is a rear perspective view thereof.

[0018] FIG. 3 is a cutaway view thereof.

[0019] FIG. 4 shows a detail view of a top portion of the stabilization platform.

[0020] FIG. 5 shows a detail view of a strut portion of the stabilization platform.

DETAILED DESCRIPTION

[0021] The following discussion provides example embodiments of the inventive subject matter. Although each embodiment can represent a single combination of inventive elements, the inventive subject matter is considered to include all possible combinations of the disclosed elements. Thus, if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.

[0022] As used in the description in this application and throughout the claims that follow, the meaning of a, an, and the includes plural reference unless the context clearly dictates otherwise. Also, as used in the description in this application, the meaning of in includes in and on unless the context clearly dictates otherwise.

[0023] Also, as used in this application, and unless the context dictates otherwise, the term coupled to is intended to include both direct coupling (in which two elements that are coupled to each other contact each other) and indirect coupling (in which at least one additional element is located between the two elements). Therefore, the terms coupled to and coupled with are used synonymously.

[0024] Unless the context dictates the contrary, all ranges set forth in this application should be interpreted as being inclusive of their endpoints and open-ended ranges should be interpreted to include only commercially practical values. Similarly, all lists of values should be considered as inclusive of intermediate values unless the context indicates the contrary.

[0025] It should be noted that any language directed to a computer or computing device should be read to include any suitable combination of computing devices, including servers, interfaces, systems, databases, agents, peers, Engines, controllers, or other types of computing devices operating individually or collectively. One should appreciate the computing devices comprise a processor configured to execute software instructions stored on a tangible, non-transitory computer readable storage medium (e.g., hard drive, solid state drive, RAM, flash, ROM, etc.). The software instructions preferably configure the computing device to provide the roles, responsibilities, or other functionality as discussed below with respect to the disclosed apparatus. In especially preferred embodiments, the various servers, systems, databases, or interfaces exchange data using standardized protocols or algorithms, possibly based on HTTP, HTTPS, AES, public-private key exchanges, web service APIs, known financial transaction protocols, or other electronic information exchanging methods. Data exchanges preferably are conducted over a packet-switched network, the Internet, LAN, WAN, VPN, or other type of packet switched network. The following description includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided in this application is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.

[0026] Vertical stabilization platforms are used in many applications, from creating a stable platform for a camera (e.g., to film a scene in a movie or TV show or to take photographs) to creating a stable platform for, e.g., a weapon to be mounted on a moving vehicle and everything in between. Vessels at sea may also have a need for a stabilized platform that can, e.g., ensure sensitive equipment can operate properly or be spared from damage or malfunction in rough seas. As used in this application, the term stabilized, stabilization, and so on are intended to refer to both active stabilization (e.g., open- or closed-loop control systems) and passive stabilization (e.g., a spring/mass/damper system). Embodiments of the inventive subject matter are designed to give rise to a stabilized (e.g., actively leveled or passively damped) top portion of a platform that remains stable along a single axis while mounted or set on a surface or object (e.g., a vehicle, a ship, the ground, etc.).

[0027] Systems of the inventive subject matter are therefore designed to feature stabilization mechanisms that are disposed below, e.g., a platform surface. This confers advantages such as creating a top portion of the platform for equipment to be mounted or placed that is stabilized. That top portion can be, e.g., a flat, open space. Although shown as a flat surface on top in the figures, there is no requirement for the top surface to be flat, and it can instead be comprised of any kind of custom frame or mounting system that can couple with the stabilizing elements below the top surface. Systems where equipment to be stabilized must be mounted above or below a stabilizing armas often seen in the prior artcan be limited in size based on the configuration of the stabilizer. Moreover, lever arm-based systems cannot create stabilization along a single axis, resulting necessarily in the creation of a movement arc according to arm length of the stabilizing arm. High forces are also required to stabilize a mass at the end of a lever arm, and such systems can require complicated gimbal mechanisms that can accommodate only certain, smaller loads. Thus, platforms of the inventive subject matter are easier to use with a wider variety of payloads mounted or set on a top surface across a broader range of weights. By implementing hardware systems that facilitate primarily z-axis movements (e.g., vertical movements) without a need for a long lever arm, embodiments of the inventive subject matter can handle much heavier payloads.

[0028] Embodiments of the inventive subject matter are designed to facilitate movement of a stabilized surface along a z-axis (as defined by the axes included next to FIG. 1). In some embodiments, the z-axis is normal to a stabilized top surface of a system of the inventive subject matter (i.e., where the top surface is parallel to the surface to which the platform is set or mounted), though it is not required for the stabilized top surface to be normal to the z-axis. FIGS. 1 and 2 show a stabilization platform 100 of the inventive subject matter from two different angles. Stabilization platform 100 is configured to dampen and stabilize a payload on its top surface 102 along the platform's z-axis. By focusing on z-axis stabilization, stabilization platform 100 is compact and minimizes use of mechanisms that can fail while also providing consistent and predictable movement along only a single axis.

[0029] Stabilization platform 100 comprises a top frame 104 that the top surface 102 couples to. Top frame 104 can be formed as a single piece or multiple pieces that are joined together either directly or indirectly (e.g., via the top surface 102). Top frame 104 thus couples with top-sliding scissor linkages 106 as well as bottom-sliding scissor linkages 108. Top-sliding scissor linkages 106 couple with top frame 104 via top sliding guides 110 and with bottom frame 112 via pin joints 146, while bottom-sliding scissor linkages 108 couple with bottom frame 112 via bottom sliding guides 114 and with the top frame 104 via pin joints 142 (shown in FIG. 4). Top-sliding scissor linkages 106 additionally couple with bottom-sliding scissor linkages 108 by pin joints in their middle portions to create an X-shaped configuration. This overall configuration results in high strength in both the x and y axes, despite allowing for movement only along the z-axis. This strength helps to prevent system failure when experiencing movements (e.g., changes in position and resulting derivative terms) in the x and y directions.

[0030] Stabilization is achieved at least in part by incorporating one or more struts 116. A strut as used in this application refers to a combination of a shock absorber with a spring element (e.g., as shown in the figures), such as a shock absorber with a coil over spring or the like. Struts that combine both a shock absorber and a spring element are preferable because they facilitate creation of a more compact spring/mass/damper system. In some embodiments the strut can refer to a set of components that are physically separate in, e.g., a side-by-side or other configuration such that the system can nevertheless still be modeled as a spring/mass/damper system. Each strut 116 combines a shock absorber and coil over spring. In some embodiments, struts 116 can be electronically actuated to bring about active stabilization. Thus, some embodiments of the inventive subject matter can include active damping to improve performance.

[0031] Passive damping can be described according to spring/mass/damper modeling for the system, while active damping can feature electronic, hydraulic, or other mechanical/electromechanical systems that are implemented (either alone or in combination with other systems) to improve damping based on factors such as vertical movements (e.g., position, velocity, acceleration, and further derivatives thereof along the system's z-axis). Active damping can thus require monitoring of signals generated by one or more inertial measurement units (IMU). An IMU is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers. In embodiments of the inventive subject matter, an IMU can be used to effect remote tuning of the system's dampers to actively adjust damping by measuring movements of the platform's stabilized surface. Vibration isolators and anti-vibration mountings be used to mount stabilization platform 100 to a surface to improve its performance. An IMU can be coupled with, e.g., top surface 102 or to a payload so that measurements from the IMU can be used to ensure top surface 102 remains stable. Gimbals, vibration isolators, and anti-vibration mountings can be implemented in association with top surface 102 to improve stabilization of the mounted device. In some embodiments, one or more IMUs can be implemented along with one or more computing devices to receive and process IMU information to create a control system (e.g., open- or closed-loop, depending on configuration).

[0032] FIG. 1 shows bottom strut cross member 118. Bottom strut cross member 118 couples with bottom frame 112 to give struts 116 a first structural member to couple with. FIG. 2 shows top strut cross member 120. Top strut cross member 120 couples with both bottom sliding scissor linkages 108, giving struts 116 a second structural member to couple with. Top strut cross member 120 thus moves with bottom-sliding scissor linkages 108 while bottom strut cross member 118 remains stationary as it couples with bottom frame 112. This configuration allows struts 116 to oppose movements of top surface 102, thereby creating a spring/mass/damper system that can be tuned according to actual or expected payloads. In some embodiments, bottom strut cross member 118 is formed as a part of bottom frame 112, and in some embodiments, top strut cross member 120 is formed as a part of top-sliding scissor linkages 106.

[0033] Top and bottom sliding guides 110 & 114 are designed to allow top surface 102 to move along a z-axis without perturbating in the x direction. Because of the way system 100 is configured, top surface 102 thus moves along the z-axis without any deviations, arcs, or sways that could impact the stability or function of a payload. By allowing one side of the top- and bottom-sliding scissor linkages to slide along top and bottom sliding guides 110 & 114, top surface 102 can smoothly move up and down while also remaining level. Bottom-sliding scissor linkages 108 couple with bottom sliding guides 114 by bottom sliding pin joints 122 that each couple with (or comprise) a slot that matches the cross-sectional shape of the bottom sliding guides 114. The same is true for the top-sliding scissor linkages 106, which couple to top sliding pin joints 124. In some embodiments, top and bottom sliding guides 110 and 114 can be lubricated to reduce friction between these components and the bottom- and top-sliding pin joints 122 and 124. In some embodiments, bearings can be implemented, or materials selected based on coefficients of friction (e.g., static and dynamic) between the sliding guides and the material of the sliding pin joints that contact the sliding guides. For example, the sliding pin joints can include a plastic material (e.g., nylon or the like) or coating that is configured to interact with the guide rails to minimize friction while also minimizing a number of moving parts. These features can be seen better in FIGS. 3 and 4.

[0034] FIG. 3 shows a cutaway view of stabilization system 100. In this view, one of the struts 116 is shown coupled with top static pin joint 126 and bottom static pin joint 128. The other strut not shown in this view is configured and coupled to the system similarly (and, in the case of stabilization system 100, symmetrically). Back stopper 130 and front stopper 132 are also visible both in this figure and in others. These mechanisms are included to prevent or otherwise minimize damage that can be caused when system 100 is fully compressed (e.g., when top surface 102 moves toward bottom frame 112. Damage is minimized or prevented because back stopper 130 and front stopper 132 interact with either top frame 104 (or, in some embodiments, top surface 102). Back stopper 130 and front stopper 132 are shown coupled with bottom frame 112. As shown in FIG. 3, back stopper 130 and front stopper 132 are shown inserted into holes 134 and 136 in bottom frame 112. In some embodiments back stopper 130 and front stopper 132 comprise male threading while holes 134 and 136 comprise female threading, while in other embodiments, the stoppers can be coupled with the holes by pressure fit, adhesive, or both.

[0035] Back and front stoppers 130 and 132 are additionally positioned on bottom frame 112 such that they will interact top frame 104 upon sufficient compression. The portions of the top frame 104 and the bottom frame 112 that back and front stoppers 130 and 132 are disposed on both protrude toward each other, as shown in the figures. These protrusions allow for the stoppers to prevent over compression while also providing a backstop via the frames themselves that prevent damage to components of the stabilization system. While a magnitude of compression described, e.g., as a point load or distributed load may be sufficient for certain embodiments to describe how far a stabilization system of the inventive subject matter can be compressed, it is more universally applicable to focus instead on a magnitude of vertical travel. An amount of vertical travel that a particular embodiment can undergo will depend upon that system's overall size as well as a distance between the system's top frame and stoppers. In some embodiments, stoppers comprise springs or spring equivalent mechanisms (e.g., air springs).

[0036] In one stabilization system, for example: the total height of the system when the top surface is fully upwardly extended is about 24.7; and the fully compressed height of the system is about 13.4. This results in total top surface travel distance from full extended to fully compressed of about 11.4, while such a system weighs about 90 lbs. and fits into a footprint of 22.25 by 19 (where height varies as described). When loaded, the neutral height will rest somewhere between the fully extended height and the fully compressed height, depending on many factors including spring moduli, damper characteristics, payload weight, and so on. Systems of the inventive subject matter can be built to any needed size or specification.

[0037] FIG. 4 shows a close-up image of a top portion of stabilization system 100. This view makes it easier to see the configuration of top frame 104, which has a front end (drawn on the right on the figures sheet) and a back end (drawn on the left on the figures sheet). The back end comprises a downward protruding portion comprising structural members 138 and 140. Structural member 138 extends vertically downward and structural member 140 extends from structural member 138 back up to top frame 104. This forms an approximately triangular section of top frame 104. Roughly where structural members 138 and 140 meet, bottom-sliding scissor linkage 108 couples with top frame 104 via pin joint 142. Although not visible in this view, the bottom-sliding scissor linkage 108 on the opposite side couples with frame 104 in the same way (e.g., frame 104 is constructed symmetrically). This triangular section makes creates vertical displacement between a plane where the scissor linkages mate with top pin joints and a plane where the top surface is, which helps to ensure interior space exists within the system even at full compression, which can help to prevent damage to the system in scenarios where full (or over) compression occurs. The same triangular portions exist on the bottom frame for the same purpose.

[0038] FIG. 4 also makes more easily visible the slot portion 144 of a top sliding pin joint 124. As shown, slot portion 144 is configured to slide along top guide rail 110 to facilitate movement of top-sliding scissor linkage 106 that occurs when top surface 102/top frame 104 (and associated mechanisms or components) move vertically up and down.

[0039] Systems of the inventive subject matter are designed to facilitate assembly and repair or customization via part replacement. For example, struts 116 can easily be removed and replaced with struts having different mechanical characteristics, depending on a payload's characteristics (e.g., a payload's weight). In some embodiments, struts 116 can be manually adjusted to affect, e.g., damping or spring characteristics. Strut subassembly is shown in FIG. 5. By allowing for adjustments to be made to the mechanical characteristics of the system, a system supporting a payload can be tuned to stabilize vertical movement as efficiently and smoothly as desired. For example, in some embodiments, it may be desirable to implement a system that is critically damped given a certain payload, while in other embodiments, it may be desirable to implement a system that is overdamped (or even underdamped) to varying degrees for a certain payload.

[0040] In some embodiments, struts 116 can comprise linear actuators. Thus, a strut 116 can include a hydraulic, pneumatic, or electromechanical linear actuator and be configured to actuate such that strut 116 changes its length, thereby causing a change in configuration of stabilization platform 100 (e.g., top surface 102 moves up or down) by moving scissor linkages relative to each other and/or to top and bottom frames.

[0041] It is contemplated that embodiments of the inventive subject matter can be made according to a variety of different sizes to accommodate different payloads. Payloads that systems can accommodate range from 0 to 1,000 s of pounds. In a preferred embodiment, a stabilization system can be tuned for a payload in the range of 50-300 lbs with a maximum payload weight of 300 lbs. These ranges and maxima can be adjusted by, e.g., using different struts or by adjusting the mechanical characteristics of existing struts as described above.

[0042] Stabilization system 100 is designed to reduce low frequency shock to payloads within the confines of the system's physical footprint (e.g., the system's outside dimensions). For example, an embodiment of the system can be designed to support a payload of 100 lbs. and reduce shock to the payload by almost 50% while softly rolling shock forces into more gradual movements. Thus, systems of the inventive subject matter provide stabilization against low frequency shock as well as shock reduction to protect sensitive payloads (e.g., camera or other optical equipment and the like). Systems of the inventive subject matter can be designed to support payloads above 100 pounds, though many payload weights can be accommodated by modifying the system as described above.

[0043] Shock can be measured in Pseudo Velocity Shock Spectrum (PVSS), Power Spectral Density (PSD), and Acceleration Time History at Peak Acceleration/Time. This data can be captured in real time using shock and vibration sensors (e.g., IMUs). IMUs can include, for example, piezoelectric MEMS, digital capacitive accelerometers, or the like. One suitable sensor is the Endaq Digital Capacitive sensor, which features a 40 g at a 4 kHz sample rate. This and the following description are directed to how shock can be measured-measurement of shock is not required for systems of the inventive subject matter to function to reduce shock.

[0044] To collect movement data using multiple sensors, each sensor's internal can be synchronized at the beginning of each test cycle. A sensor can then be mounted to the top surface of a stabilization system while another sensor can be mounted to a base (e.g., a surface to which the stabilization system is affixed, such as the bed of a truck or the ground). Sensor data will be recorded and compared to display and analyze differences in the data from both the moving sensor and the non-moving, base-mounted sensor. Thus, shock absorbing characteristics of a particular system configuration with a particular payload can be measured for descriptive or optimization purposes.

[0045] Thus, specific systems and methods directed to vertical stabilization platforms have been disclosed. It should be apparent, however, to those skilled in the art that many more modifications besides those already described are possible without departing from the inventive concepts in this application. The inventive subject matter, therefore, is not to be restricted except in the spirit of the disclosure. Moreover, in interpreting the disclosure all terms should be interpreted in the broadest possible manner consistent with the context. In particular the terms comprises and comprising should be interpreted as referring to the elements, components, or steps in a non-exclusive manner, indicating that the referenced elements, components, or steps can be present, or utilized, or combined with other elements, components, or steps that are not expressly referenced.