CN105042299A - Unmanned aerial vehicle mounted pan-tilt - Google Patents
Unmanned aerial vehicle mounted pan-tilt Download PDFInfo
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- CN105042299A CN105042299A CN201510295562.8A CN201510295562A CN105042299A CN 105042299 A CN105042299 A CN 105042299A CN 201510295562 A CN201510295562 A CN 201510295562A CN 105042299 A CN105042299 A CN 105042299A
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Abstract
The invention discloses an unmanned aerial vehicle mounted pan-tilt. The unmanned aerial vehicle mounted pan-tilt comprises a fixing base and a controller. A Z-axis driver is installed on the fixing base and connected with a Y-axis driver through a ZY connecting arm. The Y-axis driver is connected with an X-axis driver through a YX connecting arm. The X-axis driver is fixedly connected with a photographic device. According to the unmanned aerial vehicle mounted pan-tilt, the probability that a motor shaft is bent to be deformed or damaged due to dead loads or loads during long-term use is completed avoided, the service life of a motor is prolonged, and the unmanned aerial vehicle mounted pan-tilt is simpler in structure, easy to machine and lower in cost; and rapid regulation of the center of gravity of multi-degree of freedom of the pan-tilt can be achieved, and the adjustment time for the center of gravity is saved.
Description
Technical field
The present invention relates to unmanned vehicle technical field, be in particular unmanned vehicle airborne tripod head.
Background technique
Common unmanned vehicle airborne tripod head refers to the support table for installing image forming apparatus, and this image forming apparatus comprises vidicon camera or photographic camera, and image forming apparatus is arranged on The Cloud Terrace.By the adjustment to The Cloud Terrace, reach the camera lens of adjustment image forming apparatus, realize the correct object to the shooting of target.But the motor bearings due to existing The Cloud Terrace is subject to the weight of connected whole frame and image forming apparatus even load, due to long-term load, very easily cause motor shaft to be out of shape or damage, causing The Cloud Terrace unstability, bring puzzlement to shooting.
In addition, existing cradle head structure is huge, complicated, and often have a large amount of non-standards, processing cost is high, and product appearance cannot meet the needs of industrialized production.
Therefore, a kind of structure unmanned vehicle airborne tripod head that is simple, stable performance becomes the target that those skilled in the art pursue all the time.
Summary of the invention
For solving defect in prior art, the invention provides a kind of unmanned vehicle airborne tripod head, solving existing cradle head structure huge, complicated, the technical problems such as stability is low.
For achieving the above object, the invention discloses unmanned vehicle airborne tripod head, unmanned vehicle airborne tripod head, comprise fixed base and controller, fixed base is provided with Z axis to drive, Z axis is driven through ZY link arm and drives with Y-axis and be connected, and Y-axis is driven through YX link arm and drives with X-axis and be connected, and X-axis drives affixed imaging means; YX link arm comprises axle sleeve, housing, screw, roll axle bearing, Y-axis drives and comprises y-axis motor, the output shaft of y-axis motor inserts in axle sleeve, is fixedly connected with axle sleeve, and axle sleeve is fixedly connected with housing by screw, is embedded with roll axle bearing between housing and y-axis motor outer wall.
Unmanned vehicle airborne tripod head of the present invention passes through desired location and the annexation of axle sleeve, housing, screw and y-axis motor outer wall, y-axis motor output shaft direction realizes the pressure being born load by y-axis motor outer wall, and y-axis motor output shaft only overcomes the resistance of axial rotation, completely avoid motor shaft in Long-Time Service due to conducted oneself with dignity or load cause its bending distortion or damage possibility, extend the working life of motor.
Further, Z axis drives and comprises Z axis motor, and the output shaft of Z axis motor is course axle, one end of the affixed ZY link arm in one end of course axle; The affixed Y-axis of the other end of ZY link arm drives, and the output shaft of y-axis motor is roll axle, the middle part of the affixed YX link arm in one end of roll axle; The affixed X-axis in one end of YX link arm drives, and X-axis drives and comprises X-axis motor, the other end of YX link arm, the output shaft of X-axis motor affixed imaging means respectively.
Further, be provided with controller between fixed base and Z axis drive, controller comprises master control borad.
Further, imaging means comprises safety cover and is located at camera, power supply and the inertial measuring unit in safety cover.
Further, fixed base comprises end face and bottom surface, and end face comprises at least one gusset, and end face has lightening hole or groove; Four angles of fixed base have a fixed end respectively.
Further, Z axis drives and also comprises course axle bearing, and course axle passes course axle bearing and is connected with course axle bearing.
Further, course next to axis is provided with course axle and hides line device.
Further, the y-axis motor back side is provided with motor driving plate.
Further, YX link arm takes the shape of the letter U, and comprise two cantilever arms and a transverse arm, transverse arm drives with Y-axis and is fixedly connected with, and a cantilever arm drives for connecting X-axis, and another cantilever arm connects imaging means; Imaging means is located between two cantilever arms.
Beneficial effect of the present invention is: unmanned vehicle airborne tripod head of the present invention completely avoid motor shaft in Long-Time Service due to the possibility of being conducted oneself with dignity or load causes its bending distortion or damages, extend the working life of motor, and its structure is simpler, easily process, cost is lower; And the quick adjustment of the multivariant center of gravity of The Cloud Terrace can be realized, saved the time of adjustment center of gravity.
Accompanying drawing explanation
Fig. 1 is a kind of stereogram of unmanned vehicle airborne tripod head.
Fig. 2 is the another kind of stereogram of unmanned vehicle airborne tripod head.
Fig. 3 is the plan view of unmanned vehicle airborne tripod head.
Fig. 4 is the enlarged view at A place in Fig. 3.
Fig. 5 is the enlarged view at B place in Fig. 3.
In figure,
1, fixed base; 2, controller; 20, master control borad; 21, master control lid; 3, Z axis drives; 30, Z axis motor; 300, course axle; 301, course axle is hided line device; 302, course axle bearing; 303, slip-ring rotor; 304, slip ring cover; 305, slip ring stator; 4, ZY link arm; 5, Y-axis drives; 50, y-axis motor; 500, roll axle; 501, axle sleeve; 502, screw; 51, housing; 52, motor driving plate; 53, bonnet; 54, roll axle bearing; 6, YX link arm; 7, X-axis drives; 8, imaging means.
Embodiment
Below in conjunction with accompanying drawing, explanation is explained in detail to structure of the present invention.
Unmanned vehicle airborne tripod head as shown in Figure 1, 2, comprise fixed base 1 and controller 2, fixed base 1 is for fixing with the frame of unmanned vehicle, and fixed base 1 connects Z axis by securing means and drives 3, fixed base 1 and Z axis are provided with controller 2 between driving 3, and controller 2 comprises master control borad 20; Z axis drives 3 to comprise Z axis motor 30, and the output shaft of Z axis motor 30 is course axle 300, one end of the affixed ZY link arm 4 in course axle 300 lower end, and ZY link arm 4 can rotate with the rotation of Z axis motor 30 output shaft; The affixed Y-axis of the other end of ZY link arm 4 drives 5, and Y-axis drives 5 to comprise y-axis motor 50, and the output shaft of y-axis motor 50 is roll axle 500, the middle part of the affixed YX link arm 6 in one end of roll axle 500, and YX link arm 6 can rotate with the rotation of y-axis motor 50; The affixed X-axis in one end of YX link arm 6 drives 7, and X-axis drives 7 to comprise X-axis motor, and the affixed imaging means 8 in output shaft rear end of X-axis motor, imaging means 8 comprises safety cover and is located at camera, power supply and the inertial measuring unit in safety cover.
Approximate " H " shape of fixed base 1 of the present embodiment, comprise end face and bottom surface, end face comprises at least one gusset, structure-reinforced for fixed base 1, and end face has the multiple lightening hole of loss of weight for fixed base 1 or groove simultaneously; Four angles of fixed base 1 have a fixed end respectively, overall for fixed base 1 and unmanned vehicle frame being fixed as one.
In order to more stably fix imaging means 8, YX link arm 6 takes the shape of the letter U, comprise two cantilever arms and a transverse arm, transverse arm is used for driving 5 to be fixedly connected with Y-axis, a cantilever arm is used for slidably connecting X-axis and drives 7, another cantilever arm is used for the imaging means 8 that is slidably connected, and imaging means 8 is located between two cantilever arms.
In the present embodiment, controller 2 comprises and carries out the master control borad 20 of multi-angled shooting for controlling whole airborne tripod head and be located at the master control lid 21 of master control borad outside; Z axis drives 3 also to comprise course axle to hide line device 301, course axle bearing 302, slip-ring rotor 303, slip ring cover 304, slip ring stator 305, the side of course axle 300 is located at by axle line device 301 of hiding in course, and course axle 300 is through course axle bearing 302 and be fixedly connected with course axle bearing 302; Y-axis drives 5 to comprise housing 51, is located at motor driving plate 52, bonnet 53, the roll axle bearing 54 at y-axis motor 50 back side, and the back side of motor driving plate 52 is provided with bonnet 53.
As shown in Figure 5, the topmost inventive point of the present invention is: YX link arm 6 comprises axle sleeve 501, housing 51, screw 502.The output shaft of y-axis motor 50, namely roll axle 500, inserting in axle sleeve 501 and to be fixedly connected with axle sleeve 501, axle sleeve 501 is fixedly connected with housing 51 by screw 502, is embedded with roll axle bearing 54 between housing 51 and y-axis motor 50 outer wall.When roll axle 500 rotates, drive axle sleeve 501, housing 51 and load to rotate, and housing 51 and load pressure diametrically reach y-axis motor 50 outer wall by roll axle bearing.
Unmanned vehicle airborne tripod head of the present invention is innovatively by desired location and the annexation of axle sleeve 501, housing 51 and screw 502; protect roll axle 500 not by load pressure diametrically; and the pressure of load is passed to y-axis motor 50 outer wall by housing 51 bears; motor output shaft completely avoid motor shaft in Long-Time Service due to conducted oneself with dignity or load cause its bending distortion or damage possibility, extend the working life of motor.
The footpath that the weight that above-mentioned load mainly comprises X-axis driving, imaging means etc. is brought upwards pressure.
In the present embodiment, fixed base 1 is arranged on the downside of the frame of unmanned vehicle, Z axis drives 3 parts that can control on the downside of it can realize the rotation of 0 ° to 360 ° in the plane vertical with Z-direction, Y-axis drives 5 parts that can control on the right side of it in the plane vertical with Y direction, realize the rotation of 0 ° to 360 °, and X-axis drives 7 can control the rotation that imaging means 8 realizes 0 ° to 360 ° in the plane vertical with X-axis direction.The output shaft of X, Y, Z axis motor 30 is orthogonal, and therefore, unmanned vehicle airborne tripod head of the present invention can realize comprehensive, multi-angle, without dead angle shooting, and governing speed is fast.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all do in flesh and blood of the present invention any amendment, equivalent to replace and simple modifications etc., all should be included within protection scope of the present invention.
Claims (9)
1. unmanned vehicle airborne tripod head, comprise fixed base (1) and controller (2), fixed base is provided with Z axis and drives (3), Z axis is driven through ZY link arm (4) and drives with Y-axis (5) to be connected, Y-axis is driven through YX link arm (6) and drives with X-axis (7) to be connected, and X-axis drives affixed imaging means (8); It is characterized in that: YX link arm comprises axle sleeve (501), housing (51), screw (502), roll axle bearing (54), Y-axis drives and comprises y-axis motor (50), the output shaft of y-axis motor inserts in axle sleeve, is fixedly connected with axle sleeve, axle sleeve is fixedly connected with housing by screw, is embedded with roll axle bearing between housing and y-axis motor outer wall.
2. unmanned vehicle airborne tripod head according to claim 1, is characterized in that: Z axis drives and comprises Z axis motor (30), and the output shaft of Z axis motor is course axle (300), one end of the affixed ZY link arm in one end of course axle; The affixed Y-axis of the other end of ZY link arm drives, and the output shaft of y-axis motor is roll axle (500), the middle part of the affixed YX link arm in one end of roll axle; The affixed X-axis in one end of YX link arm drives, and X-axis drives and comprises X-axis motor, the other end of YX link arm, the output shaft of X-axis motor affixed imaging means respectively.
3. unmanned vehicle airborne tripod head according to claim 1 and 2, is characterized in that: be provided with controller between fixed base and Z axis drive, and controller comprises master control borad (20).
4. unmanned vehicle airborne tripod head according to claim 1 and 2, is characterized in that: imaging means comprises safety cover and is located at camera, power supply and the inertial measuring unit in safety cover.
5. unmanned vehicle airborne tripod head according to claim 1 and 2, it is characterized in that: fixed base comprises end face and bottom surface, end face comprises at least one gusset, and end face has lightening hole or groove; Four angles of fixed base have a fixed end respectively.
6. unmanned vehicle airborne tripod head according to claim 2, is characterized in that: Z axis drives and also comprises course axle bearing (302), and course axle passes course axle bearing and is connected with course axle bearing.
7. the unmanned vehicle airborne tripod head according to claim 2 or 6, is characterized in that: course next to axis is provided with course axle and hides line device (301).
8. the unmanned vehicle airborne tripod head according to claim 2 or 6, is characterized in that: the y-axis motor back side is provided with motor driving plate (52).
9. unmanned vehicle airborne tripod head according to claim 2, it is characterized in that: YX link arm takes the shape of the letter U, comprise two cantilever arms and a transverse arm, transverse arm drives with Y-axis and is fixedly connected with, a cantilever arm drives for connecting X-axis, and another cantilever arm connects imaging means; Imaging means is located between two cantilever arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510295562.8A CN105042299B (en) | 2015-04-22 | 2015-06-02 | Unmanned vehicle airborne tripod head |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510194836 | 2015-04-22 | ||
| CN2015101948364 | 2015-04-22 | ||
| CN201510295562.8A CN105042299B (en) | 2015-04-22 | 2015-06-02 | Unmanned vehicle airborne tripod head |
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| Publication Number | Publication Date |
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| CN105042299A true CN105042299A (en) | 2015-11-11 |
| CN105042299B CN105042299B (en) | 2017-05-31 |
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| CN201510295562.8A Active CN105042299B (en) | 2015-04-22 | 2015-06-02 | Unmanned vehicle airborne tripod head |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017084386A1 (en) * | 2015-11-20 | 2017-05-26 | 深圳市道通智能航空技术有限公司 | Dual-arm camera mount |
| CN107102653A (en) * | 2017-06-07 | 2017-08-29 | 歌尔股份有限公司 | A kind of apparatus and method for the carry equipment angle over the ground for controlling unmanned plane |
| CN107933940A (en) * | 2017-10-26 | 2018-04-20 | 北京遥感设备研究所 | A kind of cantilevered support structure suitable for airborne photoelectric servo platform |
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN109643130A (en) * | 2017-03-02 | 2019-04-16 | 深圳市大疆创新科技有限公司 | A kind of thumb wheel regulating mechanism, remote controler and unmanned plane |
| US10919645B2 (en) | 2015-10-28 | 2021-02-16 | Autel Robotics Co., Ltd. | Gimbal quick assembly/disassembly apparatus and unmanned aerial vehicle having the same |
| CN113653925A (en) * | 2021-08-16 | 2021-11-16 | 珠海格力电器股份有限公司 | Scanning device |
| CN113965683A (en) * | 2021-11-02 | 2022-01-21 | 郑州航空工业管理学院 | Suspension-moving type large-scale project archive image acquisition equipment |
| WO2022083426A1 (en) * | 2020-10-19 | 2022-04-28 | 深圳市大疆创新科技有限公司 | Support mechanism and camera system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10919645B2 (en) | 2015-10-28 | 2021-02-16 | Autel Robotics Co., Ltd. | Gimbal quick assembly/disassembly apparatus and unmanned aerial vehicle having the same |
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| CN107933940A (en) * | 2017-10-26 | 2018-04-20 | 北京遥感设备研究所 | A kind of cantilevered support structure suitable for airborne photoelectric servo platform |
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| CN113965683A (en) * | 2021-11-02 | 2022-01-21 | 郑州航空工业管理学院 | Suspension-moving type large-scale project archive image acquisition equipment |
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