CN207120897U - The head and unmanned vehicle of unmanned vehicle - Google Patents
The head and unmanned vehicle of unmanned vehicle Download PDFInfo
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- CN207120897U CN207120897U CN201720747019.1U CN201720747019U CN207120897U CN 207120897 U CN207120897 U CN 207120897U CN 201720747019 U CN201720747019 U CN 201720747019U CN 207120897 U CN207120897 U CN 207120897U
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- connecting rod
- head
- bearing support
- elevating mechanism
- unmanned vehicle
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Abstract
The utility model provides a kind of head and unmanned vehicle of unmanned vehicle, wherein, head includes body, bearing support, elevating mechanism, drive device and sensing device, elevating mechanism is arranged on bearing support, the output end of elevating mechanism is fixedly connected with body, elevating mechanism drives plummet direction of the body along body to move, and body is movable to the inside of bearing support, drive device is arranged on bearing support, and the drive end of drive device and the input of elevating mechanism connect, sensing device is arranged on body, sensing device is used to detect the contact between the distance between head and barrier and/or detection head and barrier.And the unmanned vehicle of the head is installed.The head has and can carry out folding and unfolding to the body of head, and there is the advantages of wider slewing area and security are good, also, being provided with the unmanned vehicle of the head has and can carry out folding and unfolding to the body of head, and has the advantages of wider shooting visual angle and security are good.
Description
Technical field
Unmanned vehicle technical field is the utility model is related to, is to be related to a kind of head of unmanned vehicle specifically
And it is provided with the unmanned vehicle of the head.
Background technology
With the popular popularization of aeromodelling airplane and SUAV and the gradual rise for the technology that takes photo in the sky, unmanned plane
Technology of taking photo by plane is taken photo by plane lower, safer because its cost is more manned and operated simpler so that unmanned plane technology is gradual
Favored by photographer.Unmanned plane is typically to carry the capture apparatus such as video camera, camera using unmanned vehicle to enter
Row shooting, and these capture apparatus are normally mounted on special head, and be connected to by head on unmanned vehicle, lead to
The special head is crossed, unmanned vehicle can realize that the luffing angle to capture apparatus, the anglec of rotation are adjusted, to meet
Demand of the user to different shooting visual angles.But existing unmanned vehicle the problem of existing, is：
First, existing unmanned vehicle can make cloud under normal circumstances in order to guarantee to have enough shooting visual angles
Platform is exposed as far as possible, to prevent the part of unmanned vehicle itself from entering the coverage of capture apparatus.For example, work as head mistake
When close to fuselage, the position such as fuselage, wing or propeller is easily accessible the coverage of capture apparatus, hampers capture apparatus
Shooting.
Second, generally, head can all be arranged on the belly of the fuselage of unmanned vehicle, and current, the overwhelming majority
Unmanned vehicle be not provided with undercarriage, it is exposed so as to cause when unmanned vehicle is carrying out takeoff and landing
Head is highly prone to the shock of outside so that head and the capture apparatus being arranged on head easily damage in shock
It is bad.
3rd, although there is small part unmanned vehicle to be provided with undercarriage, in order to avoid head and capture apparatus
When unmanned vehicle is carrying out takeoff and landing by external impact, it will usually setting undercarriage must be lower than head, with
Head and capture apparatus are protected.However, such set-up mode also significantly limit the visual angle model of capture apparatus
Enclose so that undercarriage enters in the part coverage of capture apparatus, hampers the shooting of capture apparatus.
4th, the adjustable rotational angle of existing head is smaller, cause the coverage of capture apparatus also accordingly by
Limit.
The content of the invention
In order to solve the above problems, main purpose of the present utility model is to provide a kind of can receive to the body of head
Put, and with the head of the good unmanned vehicle of wider slewing area and security.
Another object of the present utility model be to provide it is a kind of can carry out folding and unfolding to the body of head, and there is wider shooting
Scope and the good unmanned vehicle of security.
In order to realize main purpose of the present utility model, the utility model provides a kind of head of unmanned vehicle, including
Body, wherein, head also includes bearing support, elevating mechanism, drive device and sensing device, and elevating mechanism is arranged on bearing support
On, the output end of elevating mechanism is fixedly connected with body, and elevating mechanism drives plummet direction of the body along body to move, and body
The inside of bearing support is movable to, drive device is arranged on bearing support, and the drive end of drive device and elevating mechanism is defeated
Enter end connection, sensing device is arranged on body, and sensing device is used for the distance between detection body and barrier and/or detection
The pressure that body is born.
One scheme preferably is that drive device is the first motor, and the first guide groove, lift are provided with bearing support
Structure includes pulley and rope, and pulley is rotatably coupled around the axis of pulley with bearing support, the first end of rope and the first motor
Driving axis connection, the second end of rope is connected through the first guide groove with body, and rope is around being located on pulley.
Another preferable scheme is that drive device is the second motor, and the second guide groove, lift are provided with bearing support
Structure includes first connecting rod, sliding sleeve, second connecting rod and third connecting rod, and the first end of first connecting rod and the drive shaft of the second motor connect
Connect, the second motor drives first connecting rod to be hinged around the axis oscillating of drive shaft, the second end of sliding sleeve and first connecting rod, second connecting rod
The first connecting rod portion being connected with sliding sleeve portion and with sliding sleeve portion, bearing of trend of the sliding sleeve along first connecting rod portion are slideably socketed in
In first connecting rod portion, third connecting rod has second connecting rod portion and third connecting rod portion, the connection in second connecting rod portion and third connecting rod portion
Place's bending is set, and bearing of trend of the sliding sleeve portion along second connecting rod portion is slideably socketed in second connecting rod portion, third connecting rod portion
In the second guide groove, and third connecting rod portion is connected with body.
Another preferable scheme is that drive device is electromagnet, and bearing support is provided with the 3rd guide groove, elevating mechanism bag
Permanent magnet and fourth link are included, the output end of electromagnet is set towards permanent magnet, and fourth link is located in the 3rd guide groove, and the
The both ends of double leval jib are connected with permanent magnet, body respectively.
Further scheme is that sensing device includes range sensor and/or pressure sensor, and range sensor is arranged on
On body, range sensor is used for the distance between detection body and barrier, and pressure sensor is arranged on body, and pressure passes
Sensor is used for the pressure that detection body is born.
Therefore its stored position of the body of head can be controlled by drive device and elevating mechanism, and
The body of head can be accommodated in inside bearing support, during so that proper head is arranged on unmanned vehicle, nothing can be avoided
People's aircraft head when being risen and fallen or running into barrier is hit, and head is played a protective role, improves what is used
Security.And sensing device is set so that what sensing device can be born to the distance between head and barrier and/or body
Pressure is detected, and to enable the body of head to carry out timely folding and unfolding, prevents head from receiving the shock of outer barrie thing.
In addition, pass through the setting to the head and structure design so that head there can be larger slewing area, and then to set
The unmanned vehicle for having the head can have larger coverage.
In order to realize another object of the present utility model, the utility model provides a kind of unmanned vehicle, including fuselage, cloud
Platform and filming apparatus, head are fixedly connected with fuselage, and head includes body, and filming apparatus is arranged on body, wherein, head is also
Including bearing support, elevating mechanism, drive device and sensing device, bearing support is arranged in fuselage, and elevating mechanism is arranged on supporting
On frame, the output end of elevating mechanism is fixedly connected with body, and elevating mechanism driving body moves along the vertical of body, and this
Body is movable to the inside of bearing support, and drive device is arranged on bearing support, and the drive end of drive device and elevating mechanism
Input is connected, and sensing device is arranged on body, and sensing device is used for the distance between detection body and barrier and/or inspection
Survey the pressure that body is born.
One preferable scheme is that drive device is the first motor, and the first guide groove, elevating mechanism are provided with bearing support
Including pulley and rope, pulley is rotatably coupled around the axis of pulley with bearing support, the first end of rope and the first motor
Axis connection is driven, the second end of rope is connected through the first guide groove with body, and rope is around being located on pulley.
Another preferable scheme is that drive device is the second motor, and the second guide groove, lift are provided with bearing support
Structure includes first connecting rod, sliding sleeve, second connecting rod and third connecting rod, and the first end of first connecting rod and the drive shaft of the second motor connect
Connect, the second motor drives first connecting rod to be hinged around the axis oscillating of drive shaft, the second end of sliding sleeve and first connecting rod, second connecting rod
The first connecting rod portion being connected with sliding sleeve portion and with sliding sleeve portion, bearing of trend of the sliding sleeve along first connecting rod portion are slideably socketed in
In first connecting rod portion, third connecting rod has second connecting rod portion and third connecting rod portion, the connection in second connecting rod portion and third connecting rod portion
Place's bending is set, and bearing of trend of the sliding sleeve portion along second connecting rod portion is slideably socketed in second connecting rod portion, third connecting rod portion
In the second guide groove, and third connecting rod portion is connected with body.
Another preferable scheme is that drive device is electromagnet, and bearing support is provided with the 3rd guide groove, elevating mechanism bag
Permanent magnet and fourth link are included, the output end of electromagnet is set towards permanent magnet, and fourth link is located in the 3rd guide groove, and the
The both ends of double leval jib are connected with permanent magnet, body respectively.
Further scheme is that sensing device includes range sensor and/or pressure sensor, and range sensor is arranged on
On body, range sensor is used for the distance between detection body and barrier, and pressure sensor is arranged on body, and pressure passes
Sensor is used for the pressure that detection body is born.
Therefore be arranged on bearing support in the fuselage of unmanned vehicle, and pass through drive device and elevating mechanism energy
Enough its stored positions to the body of head are controlled so that and head can be accommodated into fuselage and inside bearing support,
And then avoiding unmanned vehicle head when being risen and fallen or running into barrier from being hit, head can be recycled in time
In bearing support in fuselage, and then head is acted on, improve the security used.And sensing device is set so that sensing
The pressure that device can be born to the distance between head and barrier and/or body detects, to cause the body of head
Timely folding and unfolding can be carried out, prevents head from being hit by outer barrie thing.In addition, by the head and unmanned flight
The setting of device and structure design so that head can have larger slewing area, and then to be provided with the unmanned vehicle
There can be larger coverage, while itself part of unmanned vehicle can also be avoided to be located at the shooting model of filming apparatus
In enclosing.
Brief description of the drawings
Fig. 1 is the head collapsed state schematic diagram of the utility model unmanned vehicle first embodiment.
Fig. 2 is the head release conditions schematic diagram of the utility model unmanned vehicle first embodiment.
Fig. 3 is the cradle head structure sketch of the utility model unmanned vehicle first embodiment.
Fig. 4 is the head collapsed state schematic diagram of the utility model unmanned vehicle second embodiment.
Fig. 5 is the head release conditions schematic diagram of the utility model unmanned vehicle second embodiment.
Fig. 6 is the cradle head structure sketch of the utility model unmanned vehicle second embodiment.
Fig. 7 is the cradle head structure sketch of the utility model unmanned vehicle 3rd embodiment.
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Embodiment
Unmanned vehicle first embodiment：
Referring to figs. 1 to Fig. 3, unmanned vehicle 10 includes fuselage 101, filming apparatus 102 and head 1, wherein, head 1
It is fixedly connected with fuselage 101.
Head 1 includes body 2, bearing support 4, elevating mechanism 5, drive device and sensing device, drive device and is arranged on
On bearing support 4, and drive device is connected with the input of elevating mechanism 5.Drive device is the first motor 31, it is preferable that first
Motor 31 is servomotor.Filming apparatus 102 is arranged on body 2, and bearing support 4 is fixedly mounted in fuselage 101, elevating mechanism 5
It is arranged on bearing support 4, also, the output end of elevating mechanism 5 is fixedly connected with the body 2 of head 1, and elevating mechanism 5 is used to drive
Dynamic plummet direction of the body 2 along body 2 is moved, and body 2 can be moved to the peace of the inside of bearing support 4 by elevating mechanism 5
Put in chamber 42.
Specifically, the first guide groove 41 is provided with bearing support 4, elevating mechanism 5 includes pulley 51 and rope 52, pulley 51
Axis around pulley 51 is slidably connected with bearing support 4, the first end of rope 52 and the driving axis connection of the first motor 31, excellent
Selection of land, wire spool is provided with the drive shaft of the first motor 31, the first end of rope 52 is fixedly connected with wire spool and rope 52
It is wrapped on wire spool.Second end of rope 52 is connected through the first guide groove 41 with body 2, also, rope 52 is around being located at cunning
On wheel 51, pulley 51 is used to change the pull direction of rope 52 and reduces the frictional force between rope 52 and pulley 51.
Sensing device（It is not shown）It is arranged on body 2, sensing device is used for the distance between detection body 2 and barrier
And/or the pressure that body 2 is born.Specifically, sensing device includes range sensor and/or pressure sensor, it is preferable that sensing
Device includes range sensor and pressure sensor, wherein, range sensor is arranged on body 2, and range sensor is used to examine
The relative distance surveyed between body and barrier or body and ground.Pressure sensor is arranged on body 2, and pressure sensor is used
In the pressure that detection body 2 is born, for example, the pressure born when body 2 touches barrier or when touching ground
The pressure born；Or the filming apparatus on body 2 with crossing filming apparatus during bar contact with ground when contacting
The pressure that body 2 is born.
When unmanned vehicle 10 is in manual adjustment state, operating personnel need to pass through manually to unmanned vehicle 10
Actual flight state is monitored, and the relative position state between head 1 and barrier or ground is monitored, simultaneously
Judge whether to need that its stored position of the body 2 of head 1 is adjusted, when judgement needs its stored position progress to body 2
During regulation, operating personnel are according to the relative position between the state of flight of unmanned vehicle 10 and head 1 and barrier or ground
Configuration state, and the carry out forward or reverse for controller the first motor 31 of control for passing through unmanned vehicle 10 so that the first motor
Wire spool in 31 drive shaft is wound or discharged to rope 52, and then realizes and the body 2 of head 1 is packed up or released
Put.
When unmanned vehicle 10, which is in, automatically adjusts state, range sensor in real time to body and barrier or body with
Relative position between ground is detected, and exports first detection signal to the control system of unmanned vehicle 10；Meanwhile press
Force snesor is monitored in real time to the pressure that body 2 is born, and the inspection of control system output second to unmanned plane during flying device 10
Survey signal.10 control system of unmanned vehicle judges this after first detection signal and/or the second detection signal is received
Whether the relative position between body 2 and barrier or body 2 and ground is located in default first secure threshold and/or judges this
Whether the pressure that body 2 is born is in default second secure threshold, if so, then 10 control system of unmanned vehicle is to the
One motor 31 exports the first control signal, and the first motor 31 starts to rotate after the first control signal is received, and by rope 52
It is wrapped on the wire spool of the drive shaft of the first motor 31, also, the second end of rope 52 pulls body 5 along originally by pulley 51
The plummet direction movement of body 2, and body 2 is recycled in the first placing chamber 42 of bearing support 4；Or the release to body 2 is high
Degree is reduced accordingly.When judging that the relative position between body 2 and barrier or body 2 and ground is located at default safety
Outside threshold value, then the current release altitude of body 2 is maintained；Or the release altitude of body 2 is accordingly increased.
Unmanned vehicle second embodiment：
Reference picture 4 to Fig. 6, unmanned vehicle 103 includes fuselage 104, filming apparatus 105 and head 106, wherein, cloud
Platform 106 is fixedly connected with fuselage 104.
Head 106 includes body 107, bearing support 6, elevating mechanism 7, drive device and sensing device, drive device and set
Put on bearing support 6, and drive device is connected with the input of elevating mechanism 7.Drive device is the second motor 32, it is preferable that
Second motor 32 is servomotor.Filming apparatus 105 is arranged on body 107, and bearing support 6 is fixedly mounted in fuselage 104, lifting
Mechanism 7 is arranged on bearing support 6, also, the output end of elevating mechanism 7 is fixedly connected with the body 2 of head 106, elevating mechanism 7
For driving plummet direction of the body 107 along body 107 to move, and body 107 can be moved to bearing support by elevating mechanism 7
In the placing chamber 62 of 6 inside.
Specifically, bearing support 6 is provided with the second guide groove 62, and elevating mechanism 7 includes first connecting rod 71, sliding sleeve 72, second
Connecting rod 73 and third connecting rod 74, wherein, the first end of first connecting rod 71 and the driving axis connection of the second motor 32, the second motor
Axis oscillating of the 32 driving first connecting rods 71 around the drive shaft of the second motor 32.Cut with scissors at second end of sliding sleeve 72 and first connecting rod 71
Connect.Second connecting rod 73 has sliding sleeve portion 731 and the first connecting rod portion 732 that is connected with sliding sleeve portion 731, and sliding sleeve 72 is along first connecting rod portion
732 extension is put direction and is slideably socketed in first connecting rod portion 732.Third connecting rod 74 has second connecting rod portion 741 and the
Three link rod parts 742, also, the bending of the junction in second connecting rod portion 741 and third connecting rod portion 742 is set, the cunning of second connecting rod 73
Bearing of trend of the set portion 731 along second connecting rod portion 741 is slideably socketed in second connecting rod portion 741,742, third connecting rod portion
In in the second guide groove 62, and third connecting rod portion 742 is connected with body 107.
Sensing device（It is not shown）It is arranged on body 107, sensing device is used between detection body 107 and barrier
The pressure that distance and/or body 107 are born.Specifically, sensing device includes range sensor and/or pressure sensor, preferably
Ground, sensing device include range sensor and pressure sensor, wherein, range sensor is arranged on body 107, Distance-sensing
The relative distance that device is used between detection body and barrier or body and ground.Pressure sensor is arranged on body 107, pressure
Force snesor is used for the pressure born of detection body 107, for example, when body 107 touch barrier be born pressure or
Person touches the pressure born during ground；Or cross shooting during filming apparatus and bar contact on body 107
The pressure that body 107 is born when device contacts with ground.
When unmanned vehicle 103 is in manual adjustment state, operating personnel need to pass through manually to unmanned vehicle 103
Actual flight state be monitored, and the relative position state between head 106 and barrier or ground is monitored,
Judge whether to need that its stored position of the body 107 of head 106 is adjusted simultaneously, when judgement needs the receipts to body 107
When putting position and being adjusted, state of flight and head 106 and barrier or ground of the operating personnel according to unmanned vehicle 103
Between relative position state, and control by the controller of unmanned vehicle 103 the carry out forward or reverse of the second motor 32,
And then bearing of trend of the second connecting rod 73 along second connecting rod portion 741 is controlled to do away from third connecting rod portion 742 or close to third connecting rod
The slip in portion 742 so that third connecting rod 74 drives the body 107 of head 106 to be moved along the bearing of trend of third connecting rod portion 742, enters
And realize and the body 107 of head 106 is packed up or discharged.
When unmanned vehicle 103, which is in, automatically adjusts state, range sensor is in real time to body and barrier or body
Relative position between ground is detected, and exports the 3rd detection signal to the control system of unmanned vehicle 103；Together
When, pressure sensor is monitored in real time to the pressure that body 107 is born, and defeated to the control system of unmanned plane during flying device 103
Go out the 4th detection signal.10 control system of unmanned vehicle is receiving the 3rd detection signal and/or the 4th detection signal
Afterwards, judge whether the relative position between body 107 and barrier or body 107 and ground is located at default 3rd secure threshold
It is interior and/or judge pressure that body 107 bears whether in default 4th secure threshold, if so, then unmanned vehicle
103 control system exports the second control signal to the second motor 32, and the second motor 32 is opened after the second control signal is received
Begin to rotate, and then make first connecting rod 71 drive bearing of trend of the second connecting rod 73 along second connecting portion 741 to do far by sliding sleeve 72
From the slip in third connecting rod portion 742, so as to drive bearing of trend of the third connecting rod 74 along third connecting rod portion 742 to move, and it incite somebody to action this
Body 107 is recycled in the second placing chamber 62 of bearing support 6；Or the release altitude of body 107 is reduced accordingly.When
Judge that the relative position between body 107 and barrier or body 107 and ground is located at outside default secure threshold, then maintain this
The current release altitude of body 107；Or the release altitude of body 107 is accordingly increased.
Unmanned vehicle 3rd embodiment：
Using the inventive concept of unmanned vehicle first embodiment or second embodiment, the 3rd embodiment of unmanned vehicle
The drive device for being 3rd embodiment with first embodiment, the difference of second embodiment is electromagnet 33, and bearing support 8 is set
It is equipped with the 3rd guide groove 82.Elevating mechanism 9 includes permanent magnet 91 and fourth link 92, wherein, the output end direction of electromagnet 33
Permanent magnet 91 is set, and fourth link 92 is located in the 3rd guide groove 82, and the both ends of fourth link 92 respectively with permanent magnet 91, this
Body 108 connects.
When unmanned vehicle is in manual adjustment state, operating personnel need to pass through manually to the reality of unmanned vehicle
State of flight is monitored, and the relative position state between head and barrier or ground is monitored, and is judged simultaneously
Whether need that its stored position of the body 108 of head is adjusted, when judgement needs to adjust its stored position of body 108
During section, operating personnel are according to the relative position shape between the state of flight of unmanned vehicle and head and barrier or ground
State, and being controlled by the controller of unmanned vehicle to the switch of magnetic valve 33, so permanent magnet 91 is carried out adhesive or
Release, so as to, to driving bearing of trend of the body 108 of head along fourth link 92 to move, be realized by fourth link 92 by cloud
The body 108 of platform is packed up or discharged.
When unmanned vehicle, which is in, automatically adjusts state, range sensor is in real time to body 108 and barrier or body
Relative position between 108 and ground is detected, and exports the 5th detection signal to the control system of unmanned vehicle；Together
When, pressure sensor is monitored in real time to the pressure that body 108 is born, and to the control system output the of unmanned plane during flying device
Six detection signals.The control system of unmanned vehicle judges this after the 5th detection signal and/or the 6th detection signal is received
Whether the relative position between body 108 and barrier or body 108 and ground is located in default 5th secure threshold and/or sentences
Whether the pressure that disconnected body 108 is born is in default 6th secure threshold, if so, the then control system of unmanned vehicle
The 3rd control signal is exported to electromagnet 33, electromagnet 33 is opened after the 3rd control signal is received, now, electromagnet
33 output end is adsorbed to permanent magnet 91, and then causes fourth link 92 to drive extension of the body 108 along fourth link 92
Direction is moved to electromagnet 33, and body 108 is recycled in the 3rd placing chamber 82 of bearing support 8.When judge body 108 with barrier
Hinder the relative position between thing or body 108 and ground to be located at outside default secure threshold, then maintain the current release of body 108
Highly.
From such scheme, head provided by the utility model has and can carry out folding and unfolding to the body of head, and has
The advantages of wider slewing area and good security, and unmanned vehicle provided by the utility model have can be to the sheet of head
Body carries out folding and unfolding, and has the advantages of wider coverage and security are good.
Finally it is emphasized that the foregoing is only preferred embodiment of the present utility model, this reality is not limited to
With new, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution and improvements done etc., should be included in protection model of the present utility model
Within enclosing.
Claims (10)
1. the head of unmanned vehicle, including body, it is characterised in that：
The head also includes：
Bearing support；
Elevating mechanism, the elevating mechanism are arranged on the bearing support, and the output end of the elevating mechanism is consolidated with the body
Fixed connection, the elevating mechanism drives plummet direction of the body along the body to move, and the body is movable to institute
State the inside of bearing support；
Drive device, the drive device are arranged on the bearing support, and the drive end of the drive device and the lifting
The input connection of mechanism；
Sensing device, the sensing device are set on the body, and the sensing device is used to detect the body and obstacle
The pressure that the distance between thing and/or the detection body are born.
2. head according to claim 1, it is characterised in that：
The drive device is the first motor；
The first guide groove is provided with the bearing support；
The elevating mechanism includes：
Pulley, the pulley are rotatably coupled around the axis of the pulley with the bearing support；
Rope, the first end of the rope and the driving axis connection of first motor, the second end of the rope is described in
First guide groove is connected with the body, and the rope is around being located on the pulley.
3. head according to claim 1, it is characterised in that：
The drive device is the second motor；
The second guide groove is provided with the bearing support；
The elevating mechanism includes：
First connecting rod, the first end of the first connecting rod and the driving axis connection of second motor, the second motor driving
Axis oscillating of the first connecting rod around the drive shaft；
Sliding sleeve, the second end of the sliding sleeve and the first connecting rod are hinged；
Second connecting rod, the second connecting rod have sliding sleeve portion and the first connecting rod portion being connected with the sliding sleeve portion, the sliding sleeve edge
The bearing of trend in the first connecting rod portion is slideably socketed in the first connecting rod portion；
Third connecting rod, the third connecting rod have second connecting rod portion and third connecting rod portion, the second connecting rod portion and the described 3rd
The junction bending of link rod part is set, and bearing of trend of the sliding sleeve portion along the second connecting rod portion is slideably socketed in described
In second connecting rod portion, the third connecting rod portion is located in second guide groove, and the third connecting rod portion connects with the body
Connect.
4. head according to claim 1, it is characterised in that：
The drive device is electromagnet；
The bearing support is provided with the 3rd guide groove；
The elevating mechanism includes：
Permanent magnet, the output end of the electromagnet are set towards the permanent magnet,
Fourth link, the fourth link are located in the 3rd guide groove, and the both ends of the fourth link respectively with it is described
Permanent magnet, body connection.
5. according to the head described in any one of Claims 1-4, it is characterised in that：
The sensing device includes：
Range sensor, on the body, the range sensor is used to detect the body for the range sensor installation
The distance between barrier；And/or
Pressure sensor, on the body, the pressure sensor is used to detect the body for the pressure sensor installation
The pressure born.
6. unmanned vehicle, including fuselage, head and filming apparatus, the head are fixedly connected with the fuselage, the head
Including body, the filming apparatus installation is on the body, it is characterised in that：
The head also includes：
Bearing support, the bearing support are arranged in the fuselage；
Elevating mechanism, the elevating mechanism are arranged on the bearing support, and the output end of the elevating mechanism is consolidated with the body
Fixed connection, the elevating mechanism drives vertical of the body along the body to move, and the body is movable to institute
State the inside of bearing support；
Drive device, the drive device are arranged on the bearing support, and the drive end of the drive device and the lifting
The input connection of mechanism；
Sensing device, the sensing device are set on the body, and the sensing device is used to detect the body and obstacle
The pressure that the distance between thing and/or the detection body are born.
7. unmanned vehicle according to claim 6, it is characterised in that：
The drive device is the first motor；
The first guide groove is provided with the bearing support；
The elevating mechanism includes：
Pulley, the pulley are rotatably coupled around the axis of the pulley with the bearing support；
Rope, the first end of the rope and the driving axis connection of first motor, the second end of the rope is described in
First guide groove is connected with the body, and the rope is around being located on the pulley.
8. unmanned vehicle according to claim 6, it is characterised in that：
The drive device is the second motor；
The second guide groove is provided with the bearing support；
The elevating mechanism includes：
First connecting rod, the first end of the first connecting rod and the driving axis connection of second motor, the second motor driving
Axis oscillating of the first connecting rod around the drive shaft；
Sliding sleeve, the second end of the sliding sleeve and the first connecting rod are hinged；
Second connecting rod, the second connecting rod have sliding sleeve portion and the first connecting rod portion being connected with the sliding sleeve portion, the sliding sleeve edge
The bearing of trend in the first connecting rod portion is slideably socketed in the first connecting rod portion；
Third connecting rod, the third connecting rod have second connecting rod portion and third connecting rod portion, the second connecting rod portion and the described 3rd
The junction bending of link rod part is set, and bearing of trend of the sliding sleeve portion along the second connecting rod portion is slideably socketed in described
In second connecting rod portion, the third connecting rod portion is located in second guide groove, and the third connecting rod portion connects with the body
Connect.
9. unmanned vehicle according to claim 6, it is characterised in that：
The drive device is electromagnet；
The bearing support is provided with the 3rd guide groove；
The elevating mechanism includes：
Permanent magnet, the output end of the electromagnet are set towards the permanent magnet；
Fourth link, the fourth link are located in the 3rd guide groove, and the both ends of the fourth link respectively with it is described
Permanent magnet, body connection.
10. according to the unmanned vehicle described in any one of claim 6 to 9, it is characterised in that：
The sensing device includes：
Range sensor, on the body, the range sensor is used to detect the body for the range sensor installation
The distance between described barrier；And/or
Pressure sensor, on the body, the pressure sensor is used to detect the body for the pressure sensor installation
The pressure born.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720747019.1U CN207120897U (en) | 2017-06-23 | 2017-06-23 | The head and unmanned vehicle of unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720747019.1U CN207120897U (en) | 2017-06-23 | 2017-06-23 | The head and unmanned vehicle of unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207120897U true CN207120897U (en) | 2018-03-20 |
Family
ID=61615177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201720747019.1U Expired - Fee Related CN207120897U (en) | 2017-06-23 | 2017-06-23 | The head and unmanned vehicle of unmanned vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027719A (en) * | 2019-05-24 | 2019-07-19 | 广东电网有限责任公司 | A kind of unmanned plane electric lifting pan-tilt head |
| CN110612493A (en) * | 2018-09-19 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control method and control device thereof, and computer-readable storage medium |
| CN110933273A (en) * | 2019-11-27 | 2020-03-27 | 重庆特斯联智慧科技股份有限公司 | Face shooting device and system suitable for ground installation of building |
| CN111746813A (en) * | 2019-03-27 | 2020-10-09 | 东汉太阳能无人机技术有限公司 | Lifting system for small-sized unmanned aerial vehicle |
| CN112093064A (en) * | 2020-09-24 | 2020-12-18 | 航大汉来（天津）航空技术有限公司 | Nacelle retracting and releasing mechanism suitable for unmanned aerial vehicle |
-
2017
- 2017-06-23 CN CN201720747019.1U patent/CN207120897U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110612493A (en) * | 2018-09-19 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control method and control device thereof, and computer-readable storage medium |
| CN111746813A (en) * | 2019-03-27 | 2020-10-09 | 东汉太阳能无人机技术有限公司 | Lifting system for small-sized unmanned aerial vehicle |
| CN110027719A (en) * | 2019-05-24 | 2019-07-19 | 广东电网有限责任公司 | A kind of unmanned plane electric lifting pan-tilt head |
| CN110933273A (en) * | 2019-11-27 | 2020-03-27 | 重庆特斯联智慧科技股份有限公司 | Face shooting device and system suitable for ground installation of building |
| CN112093064A (en) * | 2020-09-24 | 2020-12-18 | 航大汉来（天津）航空技术有限公司 | Nacelle retracting and releasing mechanism suitable for unmanned aerial vehicle |
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Granted publication date: 20180320 Termination date: 20200623 |