CN202295294U - Cradle head for unmanned aerial vehicle - Google Patents
Cradle head for unmanned aerial vehicle Download PDFInfo
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- CN202295294U CN202295294U CN2011203494560U CN201120349456U CN202295294U CN 202295294 U CN202295294 U CN 202295294U CN 2011203494560 U CN2011203494560 U CN 2011203494560U CN 201120349456 U CN201120349456 U CN 201120349456U CN 202295294 U CN202295294 U CN 202295294U
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Abstract
The utility model discloses a cradle head for an unmanned aerial vehicle, which comprises a machine frame assembly, a transmission assembly and a shooting assembly. The machine frame assembly comprises a first support, a second support, a third support and a connection rod member. The shooting assembly is fixed on the first support which is arranged to be rotatable relative to the second support, the second support is arranged to be rotatable relative to the third support, and the connection rod member and the second support form a four-rod mechanism. The transmission assembly comprises a first motor and a second motor, wherein the first motor directly drives the first support to rotate relative to the second support, and the second motor directly drives the connection rod member so as to drive the second support to rotate relative to the third support. The connection rod member and the second support together form the four-rod mechanism, the second motor directly drives the connection rod member to rotate so as to drive the second support to rotate around the third support, and the connection rod member supplies effective support to two opening ends of the second support in the vertical direction, so that load capacity and rigidity of the cradle head are increased, deformation quantity of the cradle head is effectively reduced, and self weight of the second support is reduced.
Description
Technical field
The utility model relates to the unmanned vehicle field, relates in particular to a kind of unmanned vehicle that is used to take photo by plane or monitors and uses The Cloud Terrace.
Background technology
Unmanned plane has that volume is little, in light weight, expense is low, flexible operation and safe characteristics, can be widely used in taking photo by plane, monitors, field such as search and rescue, resource exploration.Because unmanned plane itself exists high-frequency vibration and low-frequency jitter, need to dispose the stable platform of taking photo by plane and be used for carrying pick up camera, photographic camera to realize steady shot.Mostly the stable platform of taking photo by plane is that the attitude that detects pick up camera or photographic camera through electronic machine changes, and the reverse compensation of control steering wheel realizes the stable of pick up camera or photographic camera.
In the prior art, the purpose that the diaxon that most of The Cloud Terraces adopt mechanical gears to drive to realize pick up camera or photographic camera, three or multiaxis rotate.Because all there is hysteresis quality in gear transmission; Unmanned vehicle turn, hover, rise, under the various attitudes such as decline or inclination; The The Cloud Terrace response time is long; The steering wheel adjustment is slow, and the adjustment angle causes pick up camera or camera images quality to be affected to adapt to the adjustment of unmanned vehicle attitude thereby make pick up camera or photographic camera be difficult in time.Simultaneously; Big multiple no-manned plane diaxon or three The Cloud Terraces exist stability not enough, and camera rocks comparatively violently in the unmanned plane generation attitude change process, can not eliminate because the influence that low frequency rocks or body tilts to cause; Therefore also be difficult to shoot the special quality image, can't satisfy demand of specialty.
The utility model content
The technical matters that the utility model will solve is, exists stability not enough to unmanned vehicle in the prior art with The Cloud Terrace, influences the defective of the shooting quality of picture shooting assembly, provides a kind of unmanned vehicle to use The Cloud Terrace, can finely address the above problem.
The utility model solves the technical scheme that its technical matters adopted: construct a kind of unmanned vehicle and use The Cloud Terrace; Comprise housing assembly, transmission component and picture shooting assembly; Said housing assembly comprises first support, second support, the 3rd support and link component; Said picture shooting assembly is fixed on said first support; Said first support and said second support rotate and are provided with, and said second support rotates setting with said the 3rd support, and said link component and said second are configured to four-bar mechanism; Said transmission component comprises first motor and second motor; Said first support of said first motor direct-drive rotates relative to said second support, rotates relative to said the 3rd support thereby the said link component of said second motor direct-drive drives said second support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and is concrete, and said link component comprises first connecting rod, second connecting rod and the third connecting rod that is articulated and connected successively; The hinged end that is arranged on said second support of the free end of said first connecting rod, the hinged other end that is arranged on said second support of the free end of said third connecting rod; Said second connecting rod is positioned on said the 3rd support through said second motor.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, further, also comprises hold-down arm, and an end of said hold-down arm is fixed on said the 3rd support, and the other end is captiveed joint with the stator of said second motor; The rotor of said second motor is captiveed joint with said second connecting rod.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and further, an end of said hold-down arm is fixed on said the 3rd support, and the other end is captiveed joint with the rotor of said second motor; The stator of said second motor is captiveed joint with said second connecting rod.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and preferred, said second support is " U " shape of opening, and the free end of said first connecting rod, the free end of said third connecting rod rotate respectively on two open ends that are arranged on said second support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and further, the stator of said first motor is fixed on said first support, and the rotor of said first motor and said second support fixedly install.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and further, the rotor of said first motor is fixed on said first support, and the stator of said first motor and said second support fixedly install.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and preferred, the center of gravity of said first support and said picture shooting assembly drops on the S. A. of said first support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and preferred, said first support, said second support and said picture shooting assembly single-piece center of gravity drop on the S. A. of said second support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and further, said transmission component also comprises the 4th motor, and said second support of said the 4th motor direct-drive rotates relative to said the 3rd support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and preferred, the stator of said the 4th motor is fixed on said the 3rd support, and the rotor of said the 4th motor is fixed on said second support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and preferred, the rotor of said the 4th motor is fixed on said the 3rd support, and the stator of said the 4th motor is fixed on said second support.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and further, said housing assembly comprises also and be used for externally being fixedly coupled frame that said transmission component also comprises the 3rd motor; Said the 3rd support of said the 3rd motor-driven rotates relative to said link span.
A kind of unmanned vehicle of the utility model is used The Cloud Terrace, and preferred, said first support, said second support, said the 3rd support and said picture shooting assembly single-piece center of gravity drop on the S. A. of said the 3rd support.
The utility model can reach following beneficial effect: the link component and second support constitute four-bar mechanism jointly; Thereby the rotation of the second motor direct-drive link component drives second support and rotates around the 3rd support; The link component and second support rotate equal angles, can not influence the rotary motion trace of second support; Simultaneously, the link component in the vertical direction is that two open ends of second support provide effective support, increases the load carrying ability and the rigidity of second support, and effectively it reduces deformation quantity, alleviates the own wt of second support.
Description of drawings
To combine accompanying drawing and embodiment that the utility model is described further below, in the accompanying drawing:
Fig. 1 is the structural representation of the unmanned vehicle that provides of the utility model embodiment one with The Cloud Terrace;
Fig. 2 is the structural representation of the unmanned vehicle that provides of the utility model embodiment two with The Cloud Terrace;
Fig. 3 is the blast structural representation of the unmanned vehicle that provides of the utility model embodiment two with The Cloud Terrace;
Fig. 4 is the structural representation of the unmanned vehicle that provides of the utility model embodiment three with The Cloud Terrace;
Fig. 5 is the structural representation of the unmanned vehicle that provides of the utility model embodiment four with The Cloud Terrace;
Fig. 6 is the blast structural representation of the unmanned vehicle that provides of the utility model embodiment four with The Cloud Terrace;
The drawing reference numeral explanation:
1, picture shooting assembly 2, first support
3, first motor 4, second support
5, the 4th motor 6, the 3rd support
7, the 3rd motor 8, link span
10, hold-down arm 12, link component
121, first connecting rod 122, second connecting rod
123, third connecting rod 13, second motor
The specific embodiment
Understand for technical characterictic, purpose and effect to the utility model have more clearly, contrast the specific embodiment that accompanying drawing specifies the utility model at present.
Embodiment one
As shown in Figure 1, be the embodiment that the utility model provides, a kind of unmanned vehicle is used The Cloud Terrace, and this The Cloud Terrace is the diaxon The Cloud Terrace, specifically comprises housing assembly, transmission component and picture shooting assembly 1.The shape of picture shooting assembly 1 is not limited to square shown in Fig. 1 here, can also be common on the market circle, elliposoidal or other shape.Housing assembly comprises first support 2, second support 4, the 3rd support 6 and link component 12; Picture shooting assembly 1 is fixed on first support 2; First support 2 and second support 4 rotate and are provided with, and second support 4 and the 3rd support 6 rotate and be provided with, and the link component 12 and second support 4 constitute four-bar mechanism.The propulsion source that present embodiment provides is a motor, and adopt micro-machine to drive and have the following advantages: the power consumption of (1) motor direct-drive is less, energy-conserving and environment-protective; (2) response time is short, in time quick adjusting to be adapting to the various flight attitudes of unmanned vehicle, thereby makes the shooting stability height of picture shooting assembly.Transmission component comprises that first motor 3 and second motor, 13, the first motors, 3 direct drives, first support 2 rotate relative to second support 4, rotate relative to the 3rd support 6 thereby second motor, 13 direct drive link components 12 drive second support 4.Two free ends of second support 4 stretch out, and first support 2 and picture shooting assembly 1 unitary rotation are arranged between two free ends, and second support 4 is in rotation process; Its two free-ended length are long more; The center of gravity of first support 2 and picture shooting assembly 1 is got over the locating point away from second support 4, thereby causes the rocking property of second support 4 big more, and picture shooting assembly 1 is more unstable; In order to reduce the rocking property of second support 4; Improve stability, as shown in Figure 1, also comprise link component 12; Two free ends of link component 12 rotate two open ends that are arranged on second support 4 respectively, rotate relative to the 3rd support 6 thereby second motor, 13 direct drive link components 12 drive second support 4.Link component 12 of the utility model and second support, 4 common formation four-bar mechanisms; Thereby second motor, 13 direct drive link components 12 rotate and drive second support 4 around 6 rotations of the 3rd support; The link component 12 and second support 4 rotate equal angles, can not influence the rotary motion trace of second support 4; Simultaneously, link component 12 in the vertical directions are that two open ends of second support 4 provide effective support, increase the load carrying ability and the rigidity of second support 4, and effectively it reduces deformation quantity, alleviates the own wt of second support 4.
On the basis of technique scheme, concrete, link component 12 comprises first connecting rod 121, second connecting rod 122 and the third connecting rod 123 that is articulated and connected successively; The hinged end that is arranged on second support 4 of the free end of first connecting rod 121, the hinged other end that is arranged on second support 4 of the free end of third connecting rod 123; Second connecting rod 122 is positioned on the 3rd support 6 through second motor 13.
As preferably, also comprise hold-down arm 10, an end of hold-down arm 10 is fixed on the 3rd support 6, and the other end is captiveed joint with the stator of second motor 13; The rotor of second motor 13 is captiveed joint with second connecting rod 122.Perhaps, the rotor of second motor 13 and the location swap of stator, that is: an end of hold-down arm 10 is fixed on the 3rd support 6, and the other end is captiveed joint with the rotor of second motor 13; The stator of second motor 13 is captiveed joint with second connecting rod 122.
On the basis of technique scheme, as preferably, second support 4 is " U " shape of opening, and the free end of the free end of first connecting rod 121, third connecting rod 123 rotates respectively on two open ends that are arranged on second support 4.
In time adjust rotational angle for the ease of motor, as preferably, the vertical setting of S. A. Y axle of the S. A. X axle of first support 2 and second support 4.In order to realize first motor, 3 direct drives, more preferably, the stator of first motor 3 is fixed on first support 2, and the rotor of first motor 3 and second support 4 fixedly install; Perhaps, exchange the position of the rotor and the stator of first motor 3, also can realize rotating, that is: the rotor of first motor 3 is fixed on first support 2, and the stator of first motor 3 and second support 4 fixedly install.
Further, in order to increase the stability in picture shooting assembly 1 shooting process, the center of gravity of first support 2 and picture shooting assembly 1 drops on the S. A. of first support 2.Through mechanical analysis; When the center of gravity of first support 2 and picture shooting assembly 1 drops on the S. A. X axle of first support 2; First support 2 turns to arbitrarily angled; The moment that all can not rotate, promptly first support 2 can not rock because of moment back and forth, increases the stability of the picture shooting assembly 1 in the rotation process.When the unmanned vehicle smooth running, promptly need not under the motor-driven situation, first support 2 also is in dynamic balance state with picture shooting assembly 1.
As a same reason, through mechanical analysis, in order to increase stability; Avoid black box around the Y axle rotation moment that rotates; As preferred version, as shown in Figure 1, first support 2, second support 4 drop on the S. A. of second support 4 with picture shooting assembly 1 single-piece center of gravity.
On the basis of technique scheme, as preferably, the The Cloud Terrace that present embodiment provides is applicable to the small-sized unmanned aircraft of taking photo by plane or monitoring, and first motor 3, second motor 13 are preferably dc brushless motor.Unmanned vehicle adopts the benefit of dc brushless motor to be with The Cloud Terrace: (1) electronic commutation replaces traditional mechanical commutation, dependable performance, do not have wearing and tearing forever, fault rate is low, the life-span has been improved about 6 times than brush motor; (2) belong to static motor, no-load current is little; (3) high (4) volume of efficient is little.
Further; Transmission component also comprises circuit card, inertial sensor, microprocessor and signal wire (SW); Inertial sensor comprises and is used to the accelerometer that detects the gyroscope of angular velocity signal and be used for the sense acceleration signal, and microprocessor is controlled just commentaries on classics, counter-rotating and the rotating speed size of first motor 3, second motor 13 according to angular velocity signal and acceleration signal.Through the inertial sensor attitude of dynamic monitoring unmanned vehicle in time is set, and the positive and negative rotation of control motor in time fast, thereby improve the shooting stability of picture shooting assembly.
Embodiment two
Like Fig. 2, shown in Figure 3; The embodiment two that provides for the utility model; This The Cloud Terrace is three The Cloud Terraces; Be with embodiment one described diaxon The Cloud Terrace difference: this useless aircraft comprises also with the housing assembly of The Cloud Terrace and is used for externally being fixedly coupled frame 8 that transmission component also comprises the 3rd motor 7; The 3rd motor 7 drives the 3rd support 6 and rotates relative to link span 8.In order to realize that rotating in a circumferential direction of picture shooting assembly 1 take to carry out in the 360 degree scopes rotating, link span 8 externally is fixed on helicopter or the multi-rotor aerocraft, and the 3rd support 6 can rotate relative to link span 8 around the Z axle.
On the basis of technique scheme, further, in order to increase the stability in picture shooting assembly 1 shooting process, as preferably, first support 2, second support 4, the 3rd support 6 drop on the S. A. of the 3rd support 6 with picture shooting assembly 1 single-piece center of gravity.
Unmanned vehicle is identical with cradle head structure described in the embodiment one with other structural development of The Cloud Terrace in the present embodiment, repeats no more the description in the reference implementation example one at this.
Embodiment three
As shown in Figure 4; Another embodiment that provides for the utility model; A kind of unmanned vehicle uses The Cloud Terrace to be the diaxon The Cloud Terrace; The difference of this The Cloud Terrace and embodiment one described The Cloud Terrace is: this unmanned vehicle comprises also that with the transmission component of The Cloud Terrace the 4th motor 5, the four motors 5 direct drives second support 4 rotates relative to the 3rd support 6.The 4th motor 5 can be used as auxiliary power source, cooperates with second motor 13 to drive 4 rotations of second support.Because link component 12 and second support, 4 common formation four-bar mechanisms, therefore, the 4th motor 5 and second motor 13 are used the rotation of driven in synchronism second support 4.Be appreciated that also independent drive second support 4 rotations of the 4th motor 5 and second motor 13.
On the basis of technique scheme, as preferably, the stator of the 4th motor 5 is fixed on the 3rd support 6, and the rotor of the 4th motor 5 is fixed on second support 4; Perhaps, the rotor of the 4th motor 5 is fixed on the 3rd support 6, and the stator of the 4th motor 5 is fixed on second support 4.
Unmanned vehicle is identical with cradle head structure described in the embodiment one with other structural development of The Cloud Terrace in the present embodiment, repeats no more the description in the reference implementation example one at this.
Embodiment four
Like Fig. 5, shown in Figure 6; The embodiment that provides for the utility model; It is three The Cloud Terraces that this unmanned vehicle uses The Cloud Terrace; The difference of the The Cloud Terrace described in these three The Cloud Terraces and the embodiment three is: this unmanned vehicle comprises also with the housing assembly of The Cloud Terrace and is used for externally being fixedly coupled frame 8 that transmission component also comprises the 3rd motor 7; The 3rd motor 7 drives the 3rd support 6 and rotates relative to link span 8.In order to realize that rotating in a circumferential direction of picture shooting assembly 1 take to carry out in the 360 degree scopes rotating, link span 8 externally is fixed on helicopter or the multi-rotor aerocraft, and the 3rd support 6 can rotate relative to link span 8 around the Z axle.
On the basis of technique scheme, as preferably, first support 2, second support 4, the 3rd support 6 drop on the S. A. of the 3rd support 6 with picture shooting assembly 1 single-piece center of gravity.
On the basis of technique scheme, as preferably, transmission component comprises that also the 4th motor 5, the four motors 5 direct drives second support 4 rotates relative to the 3rd support 6.
On the basis of technique scheme, as preferably, the stator of the 4th motor 5 is fixed on the 3rd support 6, and the rotor of the 4th motor 5 is fixed on second support 4; Perhaps, the rotor of the 4th motor 5 is fixed on the 3rd support 6, and the stator of the 4th motor 5 is fixed on second support 4.
Unmanned vehicle is identical with cradle head structure described in the embodiment three with other structural development of The Cloud Terrace in the present embodiment, repeats no more at this, with reference to foregoing description.
Combine accompanying drawing that the embodiment of the utility model is described above; But the utility model is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, rather than restrictive; Those of ordinary skill in the art is under the enlightenment of the utility model; Not breaking away under the scope situation that the utility model aim and claim protect, also can make a lot of forms, these all belong within the protection of the utility model.
Claims (10)
1. a unmanned vehicle is used The Cloud Terrace, comprises housing assembly, transmission component and picture shooting assembly (1), it is characterized in that:
Said housing assembly comprises first support (2), second support (4), the 3rd support (6) and link component (12); Said picture shooting assembly (1) is fixed on said first support (2); Said first support (2) rotates with said second support (4) and is provided with; Said second support (4) rotates with said the 3rd support (6) and is provided with, and said link component (12) constitutes four-bar mechanism with said second support (4);
Said transmission component comprises first motor (3) and second motor (13); Said first support of said first motor (3) direct drive (2) rotates relative to said second support (4), the said link component of said second motor (13) direct drive (12) thus driving said second support (4) rotates relative to said the 3rd support (6).
2. unmanned vehicle according to claim 1 is used The Cloud Terrace, it is characterized in that, said link component (12) comprises first connecting rod (121), second connecting rod (122) and the third connecting rod (123) that is articulated and connected successively; The hinged end that is arranged on said second support (4) of the free end of said first connecting rod (121), the hinged other end that is arranged on said second support (4) of the free end of said third connecting rod (123); Said second connecting rod (122) is positioned on said the 3rd support (6) through said second motor (13).
3. unmanned vehicle according to claim 2 is used The Cloud Terrace, it is characterized in that, also comprises hold-down arm (10), and an end of said hold-down arm (10) is fixed on said the 3rd support (6), and the other end is captiveed joint with the stator of said second motor (13); The rotor of said second motor (13) is captiveed joint with said second connecting rod (122);
Perhaps, an end of said hold-down arm (10) is fixed on said the 3rd support (6), and the other end is captiveed joint with the rotor of said second motor (13); The stator of said second motor (13) is captiveed joint with said second connecting rod (122).
4. unmanned vehicle according to claim 2 is used The Cloud Terrace; It is characterized in that; Said second support (4) is " U " shape of opening, and the free end of the free end of said first connecting rod (121), said third connecting rod (123) rotates respectively on two open ends that are arranged on said second support (4).
5. unmanned vehicle according to claim 1 is used The Cloud Terrace, it is characterized in that, the stator of said first motor (3) is fixed on said first support (2), and the rotor of said first motor (3) and said second support (4) fixedly install;
Perhaps, the rotor of said first motor (3) is fixed on said first support (2), and the stator of said first motor (3) and said second support (4) fixedly install.
6. unmanned vehicle according to claim 1 is used The Cloud Terrace, it is characterized in that, said first support (2) drops on the S. A. of said first support (2) with the center of gravity of said picture shooting assembly (1).
7. unmanned vehicle according to claim 1 is used The Cloud Terrace, it is characterized in that, said first support (2), said second support (4) drop on the S. A. of said second support (4) with said picture shooting assembly (1) single-piece center of gravity.
8. use The Cloud Terrace according to each described unmanned vehicle of claim 1-7, it is characterized in that, said transmission component also comprises the 4th motor (5), and said second support of said the 4th motor (5) direct drive (4) rotates relative to said the 3rd support (6).
9. unmanned vehicle according to claim 8 is used The Cloud Terrace, it is characterized in that, the stator of said the 4th motor (5) is fixed on said the 3rd support (6), and the rotor of said the 4th motor (5) is fixed on said second support (4);
Perhaps, the rotor of said the 4th motor (5) is fixed on said the 3rd support (6), and the stator of said the 4th motor (5) is fixed on said second support (4).
10. unmanned vehicle according to claim 9 is used The Cloud Terrace, it is characterized in that, said housing assembly comprises also and be used for externally being fixedly coupled frame (8) that said transmission component also comprises the 3rd motor (7); Said the 3rd motor (7) drives said the 3rd support (6) and rotates relative to said link span (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203494560U CN202295294U (en) | 2011-09-15 | 2011-09-15 | Cradle head for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203494560U CN202295294U (en) | 2011-09-15 | 2011-09-15 | Cradle head for unmanned aerial vehicle |
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| CN202295294U true CN202295294U (en) | 2012-07-04 |
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| CN2011203494560U Expired - Lifetime CN202295294U (en) | 2011-09-15 | 2011-09-15 | Cradle head for unmanned aerial vehicle |
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