CN102303707B - Pre-positioned tri-axle pan-tilt used for small-sized unmanned photographing helicopter - Google Patents

Abstract

The present invention provides a front three-axis cloud platform for a small unmanned aerial photography helicopter, which is characterized in that the platform is suitable for being placed on the front part of the fuselage (4) of the unmanned aerial photography helicopter, And include: the pan-tilt main shaft (1), which is connected to the bracket (6) through bearings; the bracket (6), which is fixedly connected with the fuselage (4); the yaw shaft (1) as the central axis, The pan-tilt can rotate around the yaw shaft (1); the pitch shaft (2), the airborne equipment can pitch and rotate around the pitch shaft (2) within a first predetermined angle range; the lateral shaft (3), the equipment It can rotate around the lateral rotation axis (3) within a second predetermined angle range.

Description

A front three-axis gimbal for small unmanned aerial photography helicopter

technical field

The invention relates to the component design of a small unmanned aerial vehicle and belongs to the field of aviation vehicle design

Background technique

Aerial photography refers to the use of aircraft to take pictures of real objects at different heights, angles, and multiple directions while flying in the air. As a high-tech shooting method, aerial photography has been widely used in various photographic works, and it brings a new visual experience to the audience with a unique perspective.

Aerial photography in the conventional sense is mostly done by manned aircraft. Due to the limitations of aircraft performance and safety factors, the actual shooting effect cannot fully meet some creative needs of the director. For example, the camera cannot be very close to the object to be photographed, cannot fly in a small space, manned aircraft is restricted by air traffic control or regional legal provisions, etc. The existence of these problems restricts the creation of film and television art to a certain extent. However, small unmanned helicopters have low cost of aerial photography, high safety factor, and simple approval procedures, and their operating sites can be in airspace, altitude or dangerous areas that manned aircraft cannot reach. Therefore, small unmanned helicopters have become the main platform for aerial photography.

The current small unmanned helicopter as an aerial photography platform involves many key technologies, especially the design of the aerial photography platform. Ordinary small unmanned helicopters mostly use a bottom-mounted gimbal or a two-axis front-mounted gimbal. The under-hung gimbal leads to poor maneuverability of the helicopter and due to the influence of the landing gear, the range of shooting angles is small, while the two-axis front-mounted gimbal The gimbal vibrates greatly and cannot shoot from a full angle of view.

Contents of the invention

The present invention aims at the above-mentioned problems in the prior art, and proposes a front three-axis pan-tilt for a small unmanned aerial photography helicopter, which achieves good results.

The under-mounted gimbal of ordinary unmanned helicopters makes the center of gravity of the aircraft too low, resulting in poor maneuverability of the helicopter. At the same time, the limitation of the landing gear affects the field of view of the shooting, which limits the application of aerial photography and aerial survey. The existing two-axis adjustment front gimbal vibrates greatly. The design scheme of the front three-axis gimbal in this paper can solve the above problems.

According to one aspect of the present invention, a front three-axis pan/tilt for a small unmanned aerial photography helicopter is provided, which is characterized in that the pan/tilt is suitable for being placed in front of the fuselage of the unmanned aerial photography helicopter section, and includes:

The main shaft of the gimbal, which is connected to the bracket through bearings

The bracket is fixedly connected with the fuselage.

Description of drawings

Fig. 1 is a schematic diagram of a position of a pan/tilt according to an embodiment of the present invention.

Fig. 2 is an isometric view of the joint between the pan-tilt and the fuselage according to an embodiment of the present invention.

Fig. 3 is a top view of the drive at the yaw rotation axis according to an embodiment of the present invention.

Fig. 4 is a side view of the drive at the pitch rotation axis according to an embodiment of the present invention.

Fig. 5 is a side view of the drive at the lateral rotating shaft according to an embodiment of the present invention.

Fig. 6 is an isometric view of the drive at the lateral rotating shaft according to an embodiment of the present invention.

Detailed ways

The object of the present invention is achieved by rationally designing the position of the cloud platform of the helicopter, and rationally designing the structure of the platform and the rotating shaft system.

Embodiments of the present invention will be described below in conjunction with the accompanying drawings.

PTZ position

The cloud platform is placed at the front of the fuselage (4), and the position of the cloud platform according to an embodiment of the present invention is shown in Figure 1 . The pan-tilt main shaft (1) is connected on the support (6) through a bearing, and the support (6) is fixedly connected with the fuselage (4). While ensuring the connection strength, the main shaft (1) can freely rotate relative to the fuselage (4), as shown in FIG. 2 . Compared with the bottom of the gimbal, the front of the gimbal can lower the landing gear, improve the rigidity of the landing gear, and increase the stability of the helicopter when it takes off and lands. And the center of gravity of the helicopter is higher, so the maneuverability is improved. In addition, the airborne equipment can capture pictures more quickly, and can realize full-view observation and shooting.

PTZ mechanism

According to an embodiment of the present invention, as shown in FIG. 1 , the pan/tilt is a three-axis type, and the equipment platform can rotate around three axes. The axis (1) is the yaw axis, and the gimbal can rotate around the axis; the axis (2) is the pitch axis, and the airborne equipment can rotate within 180 degrees around the axis. Axle (3) is a lateral rotating shaft, and the equipment can rotate in an angle of 120 degrees around this shaft.

Drives for each shaft

According to an embodiment of the present invention, the drive at the yaw rotating shaft (1) is shown in FIG. 3 . The steering wheel (1) is fixedly connected with the gear plate (11), the steering gear (15) is fixed on the fuselage side plate (12) through the bracket (14), and the steering gear (15) drives the gear plate (11) through the belt (13). ) rotation, so as to realize the rotation of the gimbal around the yaw axis (1).

According to an embodiment of the present invention, the drive at the pitching axis (2) is shown in FIG. 4 . The pitching shaft (2) is fixedly connected with the gear plate (21), the steering gear bracket (25) is fixed on the side plate (23) at the lower part of the cloud platform, the steering gear (24) is fixed on the steering gear bracket (25), and the steering gear ( 24) Drive the gear plate to rotate through the belt pulley (22), so as to realize the rotation of the lower part of the pan-tilt around the pitch shaft (2).

According to an embodiment of the present invention, the driving at the lateral rotating shaft (3) is shown in Fig. 5 and Fig. 6 . The steering gear bracket (34) is fixed on the side plate (33) at the bottom of the cloud platform, and the steering gear (35) is connected to the side plate (33) by the steering gear bracket (34). The steering wheel (351) is fixed on the steering gear output shaft (352), and the ball head (36) is installed on the steering wheel (351). Carrying platform (31) is fixed on carrying platform lug (32) by platform support (38), ball head (36) is installed on the ear piece (32), and connecting rod (37) connects ball head (36). The steering gear (35) drives the loading platform to rotate around the axis (3) through the above mechanism.

Advantages of the present invention include:

1) The use of three-axis directional gimbal can overcome the problem of limited field of view and realize all-round observation and shooting.

2) The gimbal is connected with the fuselage through the bracket, which effectively reduces the impact of the vibration of the fuselage on the gimbal, improves the stability of the gimbal and the quality of the shooting picture.

3) The front of the gimbal can make the vertical mass distribution of the helicopter more concentrated, improve the maneuverability of the aircraft, and capture images more quickly.

4) The driving mode of the three-axis rotation reasonably adopts belt and connecting rod transmission, which has less vibration than gear transmission and has higher stability and reliability.

Embodiment of the present invention is described below by example:

In a shooting task, it is necessary to shoot a moving target such as a car from far to near. When the helicopter is approaching the target from behind, it will start the pitching axis of the gimbal, so that the pitch angle of the camera will change from small to large, and the lens will always be aligned. Target. After the helicopter catches up with the target, it will move side by side with the target. At this time, the gimbal rotation axis is activated to align the camera lens with the target. Since the helicopter is in a downward attitude when flying forward, the lateral rotation axis of the gimbal is activated to make the shooting picture level. . Through the comprehensive use of three rotating shafts throughout the process, the camera lens is always aimed at the target, and the picture level can be guaranteed.

Claims (4)

1. A front three-axis head for small unmanned aerial helicopters, characterized in that said head is adapted to be placed in front of the fuselage (4) of said unmanned aerial helicopter and comprises:

the bracket (6) is fixedly connected with the machine body (4);

the course rotating shaft (1) is used as a main shaft of the holder and is connected to the bracket (6) through a bearing, and the holder can rotate around the course rotating shaft (1) in the navigation direction;

a pitching rotating shaft (2) which can rotate in a pitching mode within a first preset angle range;

a second side plate (33) at the lower part of the pan/tilt head;

the transverse rotating shaft (3) can rotate in a second preset angle range;

a second side plate (33) at the lower part of the pan/tilt head;

the second steering engine bracket (34) is fixed on the second side plate (33);

the second steering engine (35) is connected with the second side plate (33) through a second steering engine bracket (34);

a rudder disk (351) fixed to a steering engine output shaft (352) of the second steering engine (35);

a pair of first bulbs (36) arranged on the rudder disc (351);

the carrying platform (31) is provided with a lug plate (32), the carrying platform (31) is fixed on the lug plate (32) through a platform bracket (38), and a pair of second ball heads (36) are mounted on the lug plate (32);

a pair of links (37) for respectively connecting one of the pair of first ball heads (36) and a corresponding one of the pair of second ball heads (36),

wherein,

the transverse side rotating shaft (3) is positioned on the lug plate (32),

the second steering engine (35) drives the steering wheel (351) to rotate, so that the lug (32) and the carrying platform (31) are driven to rotate around the transverse side rotating shaft (3) through the pair of connecting rods (37).

2. A head according to claim 1, characterized in that it comprises

The cradle head is arranged in the front, so that the landing gear can be lowered relative to the lower position of the cradle head, the rigidity of the landing gear is improved, the stability of the helicopter during taking off and landing is improved, the gravity center of the helicopter is higher, and the maneuverability is improved.

3. A head according to claim 1, characterised by further comprising

A first gear disc (11) fixedly connected with the course rotating shaft (1),

a steering engine (15) which is fixed on a side plate (12) of the body (4) through a bracket (14),

wherein steering wheel (15) drive first toothed disc (11) through a belt (13) and rotate to realize the rotation of cloud platform around navigating to pivot (1).

4. A head according to claim 1, characterised by further comprising

A second gear wheel disc (21) fixedly connected with the pitching rotating shaft (2),

a first steering engine bracket (25) which is fixed on a first side plate (23) at the lower part of the pan-tilt,

a first steering engine (24) fixed on a first steering engine bracket (25),

the steering engine (24) drives the second gear wheel disc (21) to rotate through a belt pulley, so that the lower part of the holder rotates around the pitching rotating shaft (2).