CN117208251A - Spectrometer holder for triaxial regulation unmanned aerial vehicle - Google Patents
Spectrometer holder for triaxial regulation unmanned aerial vehicle Download PDFInfo
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- CN117208251A CN117208251A CN202311386688.7A CN202311386688A CN117208251A CN 117208251 A CN117208251 A CN 117208251A CN 202311386688 A CN202311386688 A CN 202311386688A CN 117208251 A CN117208251 A CN 117208251A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000009434 installation Methods 0.000 claims abstract description 13
- 238000013016 damping Methods 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000035939 shock Effects 0.000 abstract description 13
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The invention discloses a spectrometer holder for a triaxial adjustment unmanned aerial vehicle, which belongs to the technical field of aircraft equipment, and sequentially comprises a holder shock absorbing module, a holder and a load power supply module, a course shaft transmission mechanism, a roll shaft transmission mechanism, a pitch shaft transmission mechanism and a load installation module, wherein the holder and the load power supply module are arranged in the holder shock absorbing module, the course shaft transmission mechanism is connected below the holder shock absorbing module, the roll shaft transmission mechanism is connected with the other end of the course shaft transmission mechanism, the pitch shaft transmission mechanism is connected with the other end of the roll shaft transmission mechanism, and the load installation module is connected with the other end of the pitch shaft transmission mechanism. The unmanned aerial vehicle mounting detection task under different working conditions and different requirements is met.
Description
Technical Field
The invention relates to the technical field of aircraft equipment, in particular to a spectrometer holder for a triaxial adjustment unmanned aerial vehicle.
Background
The existing stable cradle head and photoelectric pod mostly adopt a two-degree-of-freedom structure, and the detection range can cover most of the view field on the head through the two-degree-of-freedom deflection of the center of the inner frame, but the disturbance isolation performance for the triaxial movement of the carrier is poor, the requirement of accurately and rapidly tracking the target cannot be met, and the disturbance caused by the vibration of the unmanned aerial vehicle cannot be eliminated. The kind of load used is also severely limited by the difference in the location of their respective centroids.
Disclosure of Invention
Based on the technical problems, the invention provides a spectrometer holder for a three-axis adjusting unmanned aerial vehicle, which aims at the problems that the existing unmanned aerial vehicle holder in the market has low carrying capacity, poor adaptability and poor disturbance isolation performance on three-axis motion of a carrier, cannot meet the accurate and rapid tracking target and is difficult to separate the vibration of the unmanned aerial vehicle, adopts a three-degree-of-freedom holder structure, and is provided with a damping module and a three-axis adjustable mechanism, and the invention comprises the following steps:
the invention aims to provide a spectrometer holder for a triaxial adjustment unmanned aerial vehicle, which is technically characterized by sequentially comprising a holder shock absorption module, a holder and a load power supply module which are arranged in the holder shock absorption module, a course shaft transmission mechanism connected below the holder shock absorption module, a roll shaft transmission mechanism connected with the other end of the course shaft transmission mechanism, a pitch shaft transmission mechanism connected with the other end of the roll shaft transmission mechanism and a load installation module connected with the other end of the pitch shaft transmission mechanism from top to bottom.
In order to better realize the technical scheme, the tripod head damping module in the tripod head of the spectrometer for the triaxial unmanned aerial vehicle comprises a pitching shaft motor mounting seat provided with a heading shaft transmission mechanism, wherein the pitching shaft motor mounting seat is connected to the damper mounting seat through a spring damper, and the damper mounting seat is connected to a total mounting frame through a damper suspension column.
In order to better realize the technical scheme, the heading shaft transmission mechanism in the spectrometer holder for the triaxial regulation unmanned aerial vehicle comprises a transmission machine and a heading shaft transmission arm which passes through the transmission machine and is fixed with the transmission machine.
In order to better realize the technical scheme, the transverse rolling shaft transmission mechanism in the spectrometer holder for the three-axis adjusting unmanned aerial vehicle comprises a transmission machine and a transverse rolling shaft transmission arm which penetrates through the transmission machine and is fixed with the transmission machine.
In order to better realize the technical scheme, the pitching axis transmission mechanism in the spectrometer holder for the triaxial regulation unmanned aerial vehicle comprises a transmission machine and a pitching axis transmission arm which penetrates through the transmission machine and is fixed with the transmission machine.
In order to better realize the technical scheme, the transmission machine in the spectrometer holder for the triaxial regulation unmanned aerial vehicle sequentially comprises a driving motor, a motor coupler fixed with the driving motor and a coupler clamp fixed with the motor coupler from top to bottom, and the transmission arm penetrates through the coupler clamp and is fixed through a locking block adjusting screw and a locking block.
In order to better realize the technical scheme, the driving motor in the spectrometer holder for the triaxial regulation unmanned aerial vehicle comprises a motor stator end and a motor free end, motor stator end structure locking screw through holes are symmetrically formed in two ends of the motor stator end, motor free end structure locking screw threaded holes are symmetrically formed in two ends of the motor free end, and the motor stator end structure locking screw through holes) and motor free end structure locking screw threaded holes are fixed through locking screws.
In order to better realize the technical scheme, two motor stator end limiting bosses are piled between two motor stator end structure locking screw through holes in the spectrometer holder for the triaxial adjustment unmanned aerial vehicle, and a motor rotation angle limiting screw, a motor traveling end structure locking limiting screw mounting hole and a limiting screw anti-collision sleeve which are mutually matched are arranged between the two motor stator end limiting bosses.
In order to better realize the technical scheme, the load installation module in the spectrometer holder for the triaxial-adjustment unmanned aerial vehicle comprises a load I-shaped installation seat and a load installation module connecting rod, wherein a load I-shaped installation seat clamp is arranged on the load installation module connecting rod and is fixed on the load I-shaped installation seat through a locking block adjusting screw.
In order to better realize the technical scheme, the transmission arm in the spectrometer holder for the triaxial adjusting unmanned aerial vehicle is spliced up and down, and a hollowed-out shape is arranged in the middle.
The three-axis adjusting unmanned aerial vehicle spectrometer cradle head sequentially comprises a cradle head shock absorption module, a cradle head and load power supply module arranged in the cradle head shock absorption module, a course shaft transmission mechanism connected below the cradle head shock absorption module, a roll shaft transmission mechanism connected with the other end of the course shaft transmission mechanism, a pitching shaft transmission mechanism connected with the other end of the roll shaft transmission mechanism and a load installation module connected with the other end of the pitching shaft transmission mechanism from top to bottom. The unmanned aerial vehicle mounting detection task under different working conditions and different requirements is met.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a head assembly with a drone and spectrometer;
FIG. 2 is a front view of a spectrometer pan/tilt head for a triaxial accommodation unmanned aerial vehicle according to the present invention;
FIG. 3 is a side view of a spectrometer pan/tilt head for a triaxial accommodation unmanned aerial vehicle according to the present invention;
FIG. 4 is a schematic structural diagram of a pan/tilt damping module according to the present invention;
FIG. 5 is a schematic diagram of a heading shaft transmission mechanism of the present invention;
FIG. 6 is a schematic diagram of a roll shaft drive mechanism of the present invention;
FIG. 7 is a schematic view of a pitch axis drive mechanism of the present invention;
FIG. 8 is a cross-sectional view of the drive machine configuration of the present invention;
FIG. 9 is a schematic view of the structure of the transmission of the present invention;
FIG. 10 is a top view of the drive machine configuration of the present invention;
FIG. 11 is a schematic view of the load mounting module of the present invention;
FIG. 12 is a schematic view of the structure of the actuator arm of the present invention;
fig. 13 is a schematic view of a single part of an actuator arm of the present invention.
1-a cradle head damping module; 2-a cradle head and a load power supply module; 3-course shaft transmission mechanism; 4-a transverse rolling shaft transmission mechanism; 5-a pitch axis drive mechanism; 6-load mounting module; 7-unmanned aerial vehicle; 8-spectrometer holder for unmanned aerial vehicle; 9-loading; 10-a transmission machine; 11-total mounting rack; 12-damper suspension posts; 13-a damper mount; 14-a spring damper; 15-a pitching shaft motor mounting seat; 31-heading shaft drive arm; 40-roll shaft drive arms; 51-pitch axis drive arm; 101-driving a motor; 102-a motor coupling; 103-a coupling clip; 104-locking block adjusting screws; 105-motor rotation angle limit screws; 106-a stop screw anti-collision sleeve; 107-motor stator end; 108-a motor free end; 109-locking blocks; 110-locking screws; 111-locking screw through holes of the stator end structure of the motor; 112-locking screw threaded holes of a motor floating end structure; 113-a motor stator end limiting boss; 114-a motor floating end structure lock limit screw mounting hole; 61-locking block adjusting screw; 62-load i-mount; 63-load mount module links; 64-load i-shaped mount clip.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes in detail the technical solutions provided by the embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, an unmanned aerial vehicle 7 is fixed at the upper end of a spectrometer holder 8 for the three-axis adjustment unmanned aerial vehicle, a load 9 such as a spectrometer is mounted at the lower end of the spectrometer holder 8 for the three-axis adjustment unmanned aerial vehicle, and the spectrometer holder 8 for the three-axis adjustment unmanned aerial vehicle of the invention shown in fig. 2-3 sequentially comprises a holder shock absorbing module 1, a holder and load power supply module 2 arranged in the holder shock absorbing module 1, a heading shaft transmission mechanism 3 connected below the holder shock absorbing module 1, a roll shaft transmission mechanism 4 connected with the other end of the heading shaft transmission mechanism 3, a pitch shaft transmission mechanism 5 connected with the other end of the roll shaft transmission mechanism 4, and a load installation module 6 connected with the other end of the pitch shaft transmission mechanism 5. The cradle head is generally provided with the course shaft transmission mechanism 3, the roll shaft transmission mechanism 4 and the pitching shaft transmission mechanism 5, and the detection range can cover a 360-degree view field through three-degree-of-freedom deflection, so that disturbance of triaxial movement of a carrier is reduced, and a target can be accurately and rapidly tracked.
Further, the pan-tilt damping module 1 shown in fig. 4 comprises a pitch axis motor mounting seat 15 provided with a course axis transmission mechanism 3, wherein the pitch axis motor mounting seat 15 is connected to a damper mounting seat 13 through a spring damper 14, the damper mounting seat 13 is connected to a total mounting frame 11 through a damper suspension column 12, and the unmanned aerial vehicle 7 is connected above the total mounting frame 11. The shock-absorbing module is directly connected with the mounting point of the unmanned aerial vehicle, is connected with the cradle head heading shaft assembly in a hanging mode, and the cradle head shock-absorbing module 1 adopts an arrangement mode that four spring shock absorbers 14 are circumferentially arranged. The unmanned aerial vehicle 7 vibrates at a high frequency in the flight process, and is reduced through the cradle head damping module 1, so that the load 9 mounted on the cradle head 8 is not influenced.
Further, the heading shaft transmission mechanism 3 as shown in fig. 5 includes a transmission machine 10 and a heading shaft transmission arm 31 passing through the transmission machine 10 and fixed to the transmission machine 10.
Further, the roll shaft drive mechanism 4 as shown in fig. 6 comprises a drive machine 10 and a roll shaft drive arm 41 passing through said drive machine 10 and being fixed to said drive machine 10.
Further, the pitch axis transmission mechanism 5 as shown in fig. 7 includes a transmission machine 10 and a pitch axis transmission arm 51 penetrating the transmission machine 10 and fixed to the transmission machine 10.
The three driving arms 31, 41, 51 adopt a single cantilever structure, and under the condition of considering a large load, the requirements of structural strength are met, and the self weight of the holder is reduced as much as possible, so that more loading space is reserved for the working load. In order to adjust each shaft of the holder 8 to adapt to different kinds of loads 9 and different mass center positions thereof, length adjusting and locking devices of each shaft transmission arms 31, 41 and 51 are arranged, locking blocks are pushed by screws and tightly attached to the transmission support arms, and the support arms are fixed at required positions by friction force.
Further, the transmission machine 10 shown in fig. 5-10 sequentially comprises a driving motor 101, a motor coupler 102 fixed with the driving motor 101 and a coupler yoke 103 fixed with the motor coupler 102 from top to bottom, wherein the transmission arms 31, 41 and 51 pass through the coupler yoke 103 and are fixed by a locking block adjusting screw 104 and a locking block 109. The adjusting mechanism is locked by adopting the friction force of the locking block 109, and the locking and loosening are carried out through the locking block adjusting screw 104 when the adjusting mechanism is used, so that the length of each shaft can be freely adjusted in a larger continuous range. To accommodate various loads 9 of different centroid positions.
Further, the driving motor 101 shown in fig. 8-9 includes a motor stator end 107 and a motor free end 108, motor stator end structure locking screw through holes 111 are symmetrically formed at two ends of the motor stator end 107, motor free end structure locking screw threaded holes 112 are symmetrically formed at two ends of the motor free end 108, and the motor stator end structure locking screw through holes 111 and the motor free end structure locking screw threaded holes 112 are fixed by locking screws 110. The driving motor 101 is conducted to the transmission arm through the motor coupler 102 and the coupler hoop 103, so that the lower structure rotates. In order to facilitate the assembly and the debugging of the cradle head 8, each shaft is provided with a locking structure, a locking screw through hole 111 is arranged at the stator end of the rotating shaft, a locking screw threaded hole 112 is arranged at a corresponding position of the motor moving end, and a locking screw 110 is screwed into the mounting hole through the through hole, so that the effect of locking the shaft is achieved.
Further, two motor stator end limiting bosses 113 are stacked between two motor stator end structure locking screw through holes 111 shown in fig. 10, and a motor rotation angle limiting screw 105, a motor traveling end structure lock limiting screw mounting hole 114 and a limiting screw anti-collision sleeve 106 which are mutually matched are arranged between the two motor stator end limiting bosses 113. The requirement of the maximum rotation angle of each driving motor 101 is different, so that mechanical limit is designed for the transmission structure, a limit boss 113 is designed at the stator end of the rotating shaft, a limit screw mounting hole 114 is designed at the free end of the motor, a long screw is screwed into the hole, and a screw sleeve anti-collision sleeve 106 is sleeved on the hole.
Further, the load mounting module 6 shown in fig. 11 includes a load i-shaped mounting seat 62 and a load mounting module connecting rod 63, where the load mounting module connecting rod 63 is provided with a load i-shaped mounting seat clip 64, and the load i-shaped mounting seat clip is fixed on the load i-shaped mounting seat 62 by a locking block adjusting screw 61. The square frame structure of the load installation module 6 is connected with the load 9 by using four screws, and can be independently disassembled and replaced, thereby comprehensively considering the requirements of adjustability, structural rigidity and light weight. Similarly, in order to adapt to different kinds of loads 9, an adjusting and locking mechanism is also arranged in the mounting seat assembly, and the working mode is the same as that of each shaft adjusting and locking mechanism.
Further, as shown in fig. 12-13, the driving arms 31, 41, 51 are vertically spliced, and the middle is provided with a hollow shape, each driving arm and each connecting rod are vertically spliced, and the upper and lower parts are assembled into a complete rod piece in a section-by-section screw connection manner on a certain span. In order to reduce the weight and meet the structural strength requirement, the middle of the rod piece is provided with a hollowed-out weight-reducing part.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a spectrometer cloud platform for triaxial regulation unmanned aerial vehicle, its characterized in that from last to including cloud platform damper module (1), arrange in cloud platform damper module (1) cloud platform and load power module (2), connect in heading axle drive mechanism (3) of cloud platform damper module (1) below, with roll axle drive mechanism (4) that heading axle drive mechanism (3) other end is connected, with pitch axle drive mechanism (5) that roll axle drive mechanism (4) other end is connected and with load installation module (6) that pitch axle drive mechanism (5) other end is connected in proper order.
2. The spectrometer pan-tilt for a three-axis adjustment unmanned aerial vehicle according to claim 1, wherein the pan-tilt damping module (1) comprises a tilt-axis motor mount (15) provided with a heading-axis transmission mechanism (3), the tilt-axis motor mount (15) is connected to a damper mount (13) through a spring damper (14), and the damper mount (13) is connected to the total mounting (11) through a damper suspension column (12).
3. A spectrometer pan-tilt for a tri-axial unmanned aerial vehicle according to claim 1, wherein the heading axis transmission mechanism (3) comprises a transmission (10) and a heading axis transmission arm (31) passing through the transmission (10) and fixed to the transmission (10).
4. A spectrometer pan-tilt for a tri-axial unmanned aerial vehicle according to claim 1, wherein the roll axis drive mechanism (4) comprises a drive machine (10) and a roll axis drive arm (41) passing through the drive machine (10) and fixed to the drive machine (10).
5. The spectrometer pan-tilt for a three-axis adjustment unmanned aerial vehicle according to claim 1, wherein the pitch axis transmission mechanism (5) comprises a transmission machine (10) and a pitch axis transmission arm (51) penetrating the transmission machine (10) and fixed with the transmission machine (10).
6. The spectrometer pan-tilt for a three-axis adjustment unmanned aerial vehicle according to any one of claims 3 to 5, wherein the transmission (10) comprises a driving motor (101), a motor coupler (102) fixed with the driving motor (101) and a coupler yoke (103) fixed with the motor coupler (102) from top to bottom in sequence, and the transmission arms (31, 41, 51) penetrate through the coupler yoke (103) and are fixed with a locking block (109) through a locking block adjusting screw (104).
7. The spectrometer pan-tilt for the three-axis adjustment unmanned aerial vehicle according to claim 6, wherein the driving motor (101) comprises a motor stator end (107) and a motor moving end (108), motor stator end structure locking screw through holes (111) are symmetrically formed in two ends of the motor stator end (107), motor moving end structure locking screw threaded holes (112) are symmetrically formed in two ends of the motor moving end (108), and the motor stator end structure locking screw through holes (111) and the motor moving end structure locking screw threaded holes (112) are fixed through locking screws (110).
8. The spectrometer holder for the three-axis adjustment unmanned aerial vehicle according to claim 7, wherein two motor stator end limiting bosses (113) are stacked between two motor stator end structure locking screw through holes (111), and motor rotation angle limiting screws (105), motor traveling end structure lock limiting screw mounting holes (114) and limiting screw anti-collision sleeves (106) which are matched with each other are arranged between the two motor stator end limiting bosses (113).
9. The spectrometer pan-tilt for the three-axis adjustment unmanned aerial vehicle according to claim 1, wherein the load mounting module (6) comprises a load I-shaped mounting seat (62) and a load mounting module connecting rod (63), and a load I-shaped mounting seat clamp (64) is arranged on the load mounting module connecting rod (63) and is fixed on the load I-shaped mounting seat (62) through a locking block adjusting screw (61).
10. The spectrometer pan-tilt for a three-axis adjustment unmanned aerial vehicle according to claim 6, wherein the transmission arms (31, 41, 51) are vertically spliced, and a hollow shape is arranged in the middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311386688.7A CN117208251A (en) | 2023-10-25 | 2023-10-25 | Spectrometer holder for triaxial regulation unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311386688.7A CN117208251A (en) | 2023-10-25 | 2023-10-25 | Spectrometer holder for triaxial regulation unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117208251A true CN117208251A (en) | 2023-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311386688.7A Pending CN117208251A (en) | 2023-10-25 | 2023-10-25 | Spectrometer holder for triaxial regulation unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117208251A (en) |
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2023
- 2023-10-25 CN CN202311386688.7A patent/CN117208251A/en active Pending
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