CN102303707B - Pre-positioned tri-axle pan-tilt used for small-sized unmanned photographing helicopter - Google Patents
Pre-positioned tri-axle pan-tilt used for small-sized unmanned photographing helicopter Download PDFInfo
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- CN102303707B CN102303707B CN201110141396.8A CN201110141396A CN102303707B CN 102303707 B CN102303707 B CN 102303707B CN 201110141396 A CN201110141396 A CN 201110141396A CN 102303707 B CN102303707 B CN 102303707B
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- cloud terrace
- steering wheel
- rotating shaft
- helicopter
- axle
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Abstract
The invention provides a pre-positioned tri-axle pan-tilt used for a small-sized unmanned photographing helicopter. The pre-positioned tri-axle pan-tilt is characterized in that the pan-tilt is suitable for being positioned at the front part of a helicopter body (4) of the unmanned photographing helicopter and comprises a pan-tilt main axle (1), a course-heading rotating axle (1), a pitching rotating axle (2) and a lateral rotating axle (3), wherein the pan-tilt main axle (1) is connected to a supporter (6) through a bearing; the supporter (6) is fixedly connected with the helicopter body (4); the course-heading rotating axle (1) serves as the middle axle, and the pan-tilt can perform circumferential rotation around the course-heading rotating axle (1); an airborne device can perform pitching rotation within the range of a first preset angle around the pitching rotating axle (2); and a device can perform rotation within the range of a second preset angle around the lateral rotating axle (3).
Description
Technical field
The present invention relates to the part design of small-sized unmanned aircraft, belong to aviation aircraft design field
Background technology
Taking photo by plane, it is in kind to outdoor scene in flight course aloft to refer to aircraft, at various height, angle, multi-faceted photography, and shooting.As a kind of style of shooting of high technology content, to take photo by plane and apply to widely various photographic works, it brings brand-new visual experience with unique visual angle to spectators.
How taking photo by plane on conventional meaning is completed by manned craft, and owing to being subject to the restriction of the factors such as aircraft performance and secure context, actual shooting effect can not meet some creation demands of director completely.For example, the object that video camera can not very be pressed close to be taken, can not fly at narrow space, and manned craft is subject to restriction of air traffic control or regional articles of law etc., and the existence of these problems has restricted the creation of art to a certain extent.And the cost of taking photo by plane of small-sized depopulated helicopter is low, safety factor is high, and examination and approval procedures are simple, and its operation field can be spatial domain, height or dangerous zone that manned craft cannot arrive.Therefore, small-sized depopulated helicopter has become the main platform of taking photo by plane.
Current small-sized depopulated helicopter relates to multinomial gordian technique as the platform of taking photo by plane, especially the design of holder for aerial photographing.Common small-sized depopulated helicopter lower hanging The Cloud Terrace or the diaxon forward type The Cloud Terraces of adopting more, wherein lower hanging The Cloud Terrace causes the motor-driven property of helicopter poor and due to the impact of alighting gear, take angular field of view less, and the vibrations of diaxon forward type The Cloud Terrace are large and can not accomplish the shooting of full visual angle.
Summary of the invention
The present invention is for above-mentioned prior art problem, proposed a kind ofly for the take photo by plane preposition triple axle The Cloud Terrace of helicopter of miniature self-service, obtained good effect.
The lower hanging The Cloud Terrace of common depopulated helicopter makes the center of gravity of airplane too low, causes the motor-driven property of helicopter variation, the visual field of taking that has simultaneously been subject to alighting gear limitations affect, and the application of the aerial survey that makes to take photo by plane has certain limitation.Existing diaxon regulates preposition The Cloud Terrace vibrations large, and preposition triple axle The Cloud Terrace design plan herein can address the above problem.
According to an aspect of the present invention, provide a kind of for the take photo by plane preposition triple axle The Cloud Terrace of helicopter of miniature self-service, it is characterized in that described The Cloud Terrace is suitable for being placed in the front portion of the fuselage of described unmanned aerial photography helicopter, and comprise:
The Cloud Terrace main shaft, it is connected on support by bearing
Described support, itself and described fuselage are connected.
Accompanying drawing explanation
Fig. 1 is The Cloud Terrace position view according to an embodiment of the invention.
Fig. 2 is The Cloud Terrace according to an embodiment of the invention and fuselage junction axonometric drawing.
Fig. 3 is that course according to an embodiment of the invention rotating shaft place drives birds-eye view.
Fig. 4 is pitching rotating shaft place drive side view according to an embodiment of the invention.
Fig. 5 is horizontal side rotating shaft place drive side view according to an embodiment of the invention.
Fig. 6 is horizontal side rotating shaft place axle drive shaft mapping according to an embodiment of the invention.
The specific embodiment
Object of the present invention, is by the appropriate design to helicopter The Cloud Terrace position, and the appropriate design of cradle head structure and rotating shaft system is realized.
Below in conjunction with accompanying drawing, embodiments of the invention are described.
The Cloud Terrace position
The Cloud Terrace is placed in fuselage (4) front portion, and The Cloud Terrace according to an embodiment of the invention position as shown in Figure 1.It is upper that The Cloud Terrace main shaft (1) is connected to support (6) by bearing, and support (6) is connected with fuselage (4).When guaranteeing Joint strenght, main shaft (1) can freely be rotated relative to fuselage (4), as shown in Figure 2.The Cloud Terrace is preposition can make alighting gear reduce with respect to The Cloud Terrace underlying, improves the rigidity of alighting gear, the stability while increasing helicopter landing.And make helicopter center of gravity higher, thereby manoevreability increase.Make in addition airborne equipment can catch more promptly picture, and can realize the observation of full visual angle and take.
Cradle head mechanism
According to one embodiment of present invention, as shown in Figure 1, The Cloud Terrace is triple axle, and equipment platform can rotate around three axles.Its axis (1) is course rotating shaft, and The Cloud Terrace can be around the all-round rotation of this axle; Axle (2) is pitching rotating shaft, and airborne equipment can be around this axle pitch rotation in 180 degree angles.Axle (3) is horizontal side rotating shaft, and equipment can rotate around this axle in 120 degree angles.
The actuating device of each rotating shaft
Course according to an embodiment of the invention rotating shaft (1) is located to drive as shown in Figure 3.Toothed disc (11) is connected in course rotating shaft (1), steering wheel (15) is fixed on fuselage side plate (12) by support (14), steering wheel (15) rotates by belt (13) drive gear disk (11), thereby realizes The Cloud Terrace deviation from voyage route to the rotation of rotating shaft (1).
Pitching rotating shaft according to an embodiment of the invention (2) is located to drive as shown in Figure 4.Toothed disc (21) is connected in pitching rotating shaft (2), steering wheel support (25) is fixed on The Cloud Terrace bottom side plate (23), steering wheel (24) is fixed on steering wheel support (25), steering wheel (24) rotates by belt pulley (22) drive gear disk, thereby realize The Cloud Terrace bottom, around pitching rotating shaft (2), rotates.
Horizontal side rotating shaft according to an embodiment of the invention (3) is located to drive as shown in Figure 5 and Figure 6.It is upper that steering wheel support (34) is fixed on The Cloud Terrace bottom side plate (33), and steering wheel (35) is connected with side plate (33) by steering wheel support (34).It is upper that steering wheel (351) is fixed on steering wheel output shaft (352), the upper bulb (36) of installing of steering wheel (351).It is upper that carrying platform (31) is fixed on carrying platform auricle (32) by platform support (38), upper bulb (36), connecting rod (37) connecting ball head (36) installed of auricle (32).Steering wheel (35) drives carrying platform around the rotation of axle (3) by above mechanism.
Advantage of the present invention comprises:
1) adopt triaxial orientation The Cloud Terrace can overcome the limited problem in the visual field, realize omnibearing observation and shooting.
2) The Cloud Terrace is connected with fuselage by support, has effectively reduced the impact of fuselage vibrations on The Cloud Terrace, improves the stability of The Cloud Terrace and the quality of shooting picture.
3) preposition can helicopter to be stood to mass distribution more concentrated for The Cloud Terrace, improves the manoevreability of aircraft, catches image quicker.
4) type of drive that three axles rotate has rationally adopted belt, and link transmission is less with respect to gear transmission vibration, has higher stability and reliability.
Below by example, embodiments of the present invention are described:
In once shooting task, need to draw near and take a target in advancing as automobile, helicopter, from behind near in the process of target, starts The Cloud Terrace pitching rotating shaft, and the pitch angle of pick up camera is changed from small to big, and camera lens aims at the mark all the time.Helicopter pulls up to after target, in target side and target, advances side by side, now starts the rotating shaft of The Cloud Terrace course camera lens is aimed at the mark, and because helicopter is nose-down attitude when front flying, so start the horizontal side rotating shaft of The Cloud Terrace, makes shooting picture level.In whole process, by three rotating shafts of Integrated using, camera lens aims at the mark all the time, and can guarantee picture level.
Claims (4)
1. for the take photo by plane preposition triple axle The Cloud Terrace of helicopter of miniature self-service, it is characterized in that described The Cloud Terrace is suitable for being placed in the front portion of the fuselage of described unmanned aerial photography helicopter (4), and comprise:
Support (6), itself and described fuselage (4) are connected;
As the course rotating shaft (1) of The Cloud Terrace main shaft, it is upper that it is connected to support (6) by bearing, and described The Cloud Terrace can be deviated from voyage route to the all-round rotation of rotating shaft (1);
Pitching rotating shaft (2), can be in first predetermined angular range pitch rotation;
Second side plate (33) in The Cloud Terrace bottom;
Horizontal side rotating shaft (3) can be rotated in second predetermined angular range;
Second side plate (33) in The Cloud Terrace bottom;
The second steering wheel support (34), it is fixed on described the second side plate (33);
The second steering wheel (35), it is connected with the second side plate (33) by the second steering wheel support (34);
Steering wheel (351), it is fixed on the steering wheel output shaft (352) of the second steering wheel (35);
Upper a pair of the first bulb (36) installed of steering wheel (351);
With the carrying platform (31) of auricle (32), it is upper that carrying platform (31) is fixed on auricle (32) by a platform support (38), wherein on auricle (32), a pair of the second bulb (36) is installed;
Pair of links (37), for connecting respectively one of correspondence in one of described a pair of the first bulb (36) and described a pair of the second bulb (36),
Wherein,
It is upper that horizontal side rotating shaft (3) is positioned at described auricle (32),
Described the second steering wheel (35) is by driving the rotation of steering wheel (351), thereby by described pair of links (37), driving auricle (32) and carrying platform (31) are around the rotation of horizontal side rotating shaft (3).
2. The Cloud Terrace as claimed in claim 1, is characterized in that
Described The Cloud Terrace is preposition, thereby can make alighting gear reduce with respect to The Cloud Terrace underlying, improves the rigidity of alighting gear, the stability while increasing helicopter landing, and make helicopter center of gravity higher, thereby manoevreability increases.
3. The Cloud Terrace as claimed in claim 1, is characterized in that further comprising
The first toothed disc (11) being connected with course rotating shaft (1),
Steering wheel (15), its fuselage side plate (12) that is fixed on fuselage (4) by a support (14) is upper,
Wherein steering wheel (15) drives the first toothed disc (11) to rotate by a belt (13), thereby realizes The Cloud Terrace deviation from voyage route to the rotation of rotating shaft (1).
4. The Cloud Terrace as claimed in claim 1, is characterized in that further comprising
The second toothed disc (21) being connected with pitching rotating shaft (2),
The first steering wheel support (25), its first side plate (23) that is fixed on The Cloud Terrace bottom is upper,
The first steering wheel (24), it is upper that it is fixed on the first steering wheel support (25),
Wherein, steering wheel (24) drives the second toothed disc (21) to rotate by a belt pulley, thereby realizes the bottom of described The Cloud Terrace around the rotation of pitching rotating shaft (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110141396.8A CN102303707B (en) | 2011-05-27 | 2011-05-27 | Pre-positioned tri-axle pan-tilt used for small-sized unmanned photographing helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110141396.8A CN102303707B (en) | 2011-05-27 | 2011-05-27 | Pre-positioned tri-axle pan-tilt used for small-sized unmanned photographing helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102303707A CN102303707A (en) | 2012-01-04 |
| CN102303707B true CN102303707B (en) | 2014-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110141396.8A Expired - Fee Related CN102303707B (en) | 2011-05-27 | 2011-05-27 | Pre-positioned tri-axle pan-tilt used for small-sized unmanned photographing helicopter |
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| CN (1) | CN102303707B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607530A (en) * | 2012-03-08 | 2012-07-25 | 神翼航空器科技（天津）有限公司 | Helicopter aerial shooting device |
| WO2014161428A1 (en) | 2013-03-31 | 2014-10-09 | Sz Dji Technology, Co., Ltd. | Payload mounting platform |
| CN103395496A (en) * | 2013-08-14 | 2013-11-20 | 武汉华中天经光电系统有限公司 | Triaxial orthographic nacelle of unmanned aerial vehicle |
| CN103754378B (en) * | 2014-01-22 | 2015-12-02 | 徐鹏 | A kind of many lens aerial photography stable platforms |
| CN105480428A (en) * | 2015-11-13 | 2016-04-13 | 中国人民解放军国防科学技术大学 | Recovery protection type uniaxial tripod head driven by steering engine |
| CN106275478B (en) * | 2016-09-08 | 2018-06-12 | 四川建筑职业技术学院 | A kind of slide rail type three-axis stabilization holder |
| WO2019227410A1 (en) * | 2018-05-31 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Attitude conversion method, attitude display method, and pan-tilt system |
| CN108583919B (en) * | 2018-06-27 | 2023-10-27 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle machine carries cloud platform system of stabilizing suitable for panoramic video shoots |
| CN110001986A (en) * | 2019-04-24 | 2019-07-12 | 太原科技大学 | A kind of twin shaft holder based on steering engine transmission |
| CN113148203A (en) * | 2021-03-25 | 2021-07-23 | 杭州科技职业技术学院 | Unmanned aerial vehicle is supporting structure for taking photo by plane |
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| CN101298283A (en) * | 2008-04-15 | 2008-11-05 | 孙卓 | Airborne tripod head apparatus for collecting aerial information and use thereof |
| CN101848320A (en) * | 2010-05-19 | 2010-09-29 | 龚文基 | Single-line flying shuttle system |
| CN201626554U (en) * | 2009-12-07 | 2010-11-10 | 深圳市大疆创新科技有限公司 | Three-freedom-degree inertia stabilization aerial photography cradle head |
| CN201678048U (en) * | 2010-03-18 | 2010-12-22 | 保定维特瑞交通设施工程有限责任公司 | Shock absorption rational platform for unmanned helicopter |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201287830Y (en) * | 2008-10-14 | 2009-08-12 | 西安展翼航空科技有限公司 | Stabilising bracket for aerial photography camera |
| CN101604830B (en) * | 2009-07-14 | 2011-08-10 | 山东电力研究院 | Unmanned helicopter system for patrolling trolly wire route and tower and method thereof |
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2011
- 2011-05-27 CN CN201110141396.8A patent/CN102303707B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298283A (en) * | 2008-04-15 | 2008-11-05 | 孙卓 | Airborne tripod head apparatus for collecting aerial information and use thereof |
| CN201626554U (en) * | 2009-12-07 | 2010-11-10 | 深圳市大疆创新科技有限公司 | Three-freedom-degree inertia stabilization aerial photography cradle head |
| CN201678048U (en) * | 2010-03-18 | 2010-12-22 | 保定维特瑞交通设施工程有限责任公司 | Shock absorption rational platform for unmanned helicopter |
| CN101848320A (en) * | 2010-05-19 | 2010-09-29 | 龚文基 | Single-line flying shuttle system |
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| CN102303707A (en) | 2012-01-04 |
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