CN105042299B - Unmanned vehicle airborne tripod head - Google Patents
Unmanned vehicle airborne tripod head Download PDFInfo
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- CN105042299B CN105042299B CN201510295562.8A CN201510295562A CN105042299B CN 105042299 B CN105042299 B CN 105042299B CN 201510295562 A CN201510295562 A CN 201510295562A CN 105042299 B CN105042299 B CN 105042299B
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Abstract
The invention discloses unmanned vehicle airborne tripod head, including fixed seat and controller, Z axis driving is installed in fixed seat, Z axis are driven through ZY linking arms and Y-axis drive connection, and Y-axis is driven through YX linking arms and X-axis drive connection, and X-axis drives affixed camera head.Unmanned vehicle airborne tripod head of the invention completely avoid motor shaft in long-term use due to being conducted oneself with dignity or loaded the possibility for causing its bending deformation or damage, extend the service life of motor, and its structure is simpler, and easy processing, cost is lower；And the quick regulation of the multivariant center of gravity of head can be realized, the time of adjustment center of gravity has been saved.
Description
Technical field
The present invention relates to unmanned vehicle technical field, specifically for unmanned vehicle airborne tripod head.
Background technology
Common unmanned vehicle airborne tripod head refers to the support works platform for installing imaging device, the imaging device bag
Video camera or camera are included, imaging device is arranged on head.By the adjustment to head, the mirror of adjustment imaging device is reached
Head, the purpose for realizing the correct shooting to target.But because the motor bearings of existing head receives connected whole frame
With the weight of imaging device even load, due to long-term load, easily cause motor shaft distortion or damage, cause head unstability,
Puzzlement is brought to shooting.
In addition, existing cradle head structure is huge, complexity, often with substantial amounts of non-standard, outside high processing costs, and product
The need for sight cannot meet industrialized production.
Therefore, a kind of simple structure, the unmanned vehicle airborne tripod head of stable performance become those skilled in the art's beginning
The target pursued eventually.
The content of the invention
To solve defect in the prior art, the invention provides a kind of unmanned vehicle airborne tripod head, existing cloud is solved
Platform huge structure, complexity, the low technical problem of stability.
To achieve the above object, the invention discloses unmanned vehicle airborne tripod head, unmanned vehicle airborne tripod head, including
Fixed seat and controller, are provided with Z axis driving in fixed seat, Z axis are driven through ZY linking arms and Y-axis drive connection, and Y-axis drives
By YX linking arms and X-axis drive connection, X-axis drives affixed camera head；YX linking arms include axle sleeve, housing, screw, roll
Axle bearing, Y-axis drives includes y-axis motor, is fixedly connected with axle sleeve in the output shaft insertion axle sleeve of y-axis motor, and axle sleeve passes through spiral shell
Nail is fixedly connected with the casing, and roll axle bearing is embedded between housing and y-axis motor outer wall.
Unmanned vehicle airborne tripod head of the invention by the setting position of axle sleeve, housing, screw and y-axis motor outer wall and
Annexation, realizes being born by y-axis motor outer wall the pressure of load, and y-axis motor output shaft on y-axis motor output direction of principal axis
Only overcome the resistance of axial rotation, it is entirely avoided motor shaft causes it to bend due to being conducted oneself with dignity or loaded in long-term use
Deformation or the possibility damaged, extend the service life of motor.
Further, Z axis drive includes Z axis motor, and the output shaft of Z axis motor is course axle, and one end of course axle is affixed
One end of ZY linking arms；The affixed Y-axis of the other end of ZY linking arms drives, and the output shaft of y-axis motor is roll axle, the one of roll axle
Hold the middle part of affixed YX linking arms；The affixed X-axis in one end of YX linking arms drives, and X-axis drives includes X-axis motor, YX linking arms
The other end, the output shaft of X-axis motor are respectively and fixedly connected with camera head.
Further, fixed seat and Z axis are provided with controller between driving, and controller includes master control borad.
Further, camera head includes protective cover and the camera in protective cover, power supply and inertial measuring unit.
Further, fixed seat includes top surface and bottom surface, and top surface includes at least one gusset, and top surface is provided with lightening hole or recessed
Groove；Four angles of fixed seat have a fixing end respectively.
Further, Z axis drive also includes course axle bearing, and course axle connects through course axle bearing and with course axle bearing
Connect.
Further, course next to axis is provided with course axle and hides line device.
Further, the y-axis motor back side is provided with motor driving plate.
Further, YX linking arms take the shape of the letter U, including two cantilever arms and a transverse arm, and transverse arm drives fixed company with Y-axis
Connect, a cantilever arm is used to connect X-axis driving, another cantilever arm connection camera head；Camera head is located at two cantilever arms
Between.
Beneficial effects of the present invention are：Unmanned vehicle airborne tripod head of the invention completely avoid motor shaft to be made for a long time
Due to being conducted oneself with dignity or loaded the possibility for causing its bending deformation or damage in, the service life of motor is extended, and it is tied
Structure is simpler, and easy processing, cost is lower；And the quick regulation of the multivariant center of gravity of head can be realized, adjustment has been saved
The time of center of gravity.
Brief description of the drawings
Fig. 1 is a kind of stereogram of unmanned vehicle airborne tripod head.
Fig. 2 is another stereogram of unmanned vehicle airborne tripod head.
Fig. 3 is the front view of unmanned vehicle airborne tripod head.
Fig. 4 is the enlarged drawing at A in Fig. 3.
Fig. 5 is the enlarged drawing at B in Fig. 3.
In figure,
1st, fixed seat；2nd, controller；20th, master control borad；21st, master control lid；3rd, Z axis drive；30th, Z axis motor；300th, course
Axle；301st, course axle is hided line device；302nd, course axle bearing；303rd, slip-ring rotor；304th, slip ring cover；305th, slip ring stator；4、ZY
Linking arm；5th, Y-axis drives；50th, y-axis motor；500th, roll axle；501st, axle sleeve；502nd, screw；51st, housing；52nd, motor drives
Plate；53rd, bonnet；54th, roll axle bearing；6th, YX linking arms；7th, X-axis drives；8th, camera head.
Specific embodiment
Explanation is explained in detail to structure of the invention below in conjunction with the accompanying drawings.
Unmanned vehicle airborne tripod head as shown in Figure 1, 2, including fixed seat 1 and controller 2, fixed seat 1 are used for and nothing
The frame of people's aircraft is fixed, and fixed seat 1 connects Z axis and drives 3 by fastener, and fixed seat 1 and Z axis are installed between driving 3
There is controller 2, controller 2 includes master control borad 20；Z axis driving 3 includes Z axis motor 30, and the output shaft of Z axis motor 30 is course axle
300, one end of the affixed ZY linking arms 4 in the lower end of course axle 300, ZY linking arms 4 can revolve with the rotation of the output shaft of Z axis motor 30
Turn；The affixed Y-axis of the other end of ZY linking arms 4 drives 5, and Y-axis driving 5 includes y-axis motor 50, and the output shaft of y-axis motor 50 is horizontal stroke
Roller bearing 500, the middle part of the affixed YX linking arms 6 in one end of roll axle 500, YX linking arms 6 can revolve with the rotation of y-axis motor 50
Turn；The affixed X-axis in one end of YX linking arms 6 drives 7, and X-axis driving 7 includes X-axis motor, and the output shaft rear end of X-axis motor is affixed to be taken the photograph
As device 8, camera head 8 includes protective cover and the camera in protective cover, power supply and inertial measuring unit.
Approximate " H " shape of the fixed seat 1 of the present embodiment, including top surface and bottom surface, top surface includes at least one gusset, for solid
Reservation 1 it is structure-reinforced, while top surface has the loss of weight multiple lightening holes or groove for fixed seat 1；Four of fixed seat 1
Angle has a fixing end respectively, overall for fixed seat 1 and unmanned vehicle frame to be fixed as into one.
In order to more stably fix camera head 8, YX linking arms 6 take the shape of the letter U, including two cantilever arms and a transverse arm, horizontal
Arm is used to drive 5 to be fixedly connected with Y-axis, and a cantilever arm is used for slidable connection X-axis and drives 7, and another cantilever arm is used to slide
Dynamic connection camera head 8, camera head 8 is between two cantilever arms.
In the present embodiment, controller 2 include for control whole airborne tripod head carry out multi-angled shooting master control borad 20 and
Master control lid 21 outside master control borad；Z axis drive 3 also to hide line device 301, course axle bearing 302, slip-ring rotor including course axle
303rd, slip ring cover 304, slip ring stator 305, course axle hide line device 301 located at course axle 300 side, course axle 300 through boat
It is fixedly connected to axle bearing 302 and with course axle bearing 302；Y-axis driving 5 includes housing 51, the electricity located at the back side of y-axis motor 50
Machine driving plate 52, bonnet 53, roll axle bearing 54, the back side of motor driving plate 52 are provided with bonnet 53.
As shown in figure 5, topmost inventive point of the invention is：YX linking arms 6 include axle sleeve 501, housing 51, screw
502.The output shaft of y-axis motor 50, that is, roll axle 500, insertion axle sleeve 501 is interior and is fixedly connected with axle sleeve 501, axle sleeve
501 are fixedly connected by screw 502 with housing 51, and roll axle bearing 54 is embedded between housing 51 and the outer wall of y-axis motor 50.In horizontal stroke
When roller bearing 500 is rotated, axle sleeve 501, housing 51 and load is driven to rotate, and housing 51 and load pressure diametrically are by horizontal stroke
Roller bearing reaches the outer wall of y-axis motor 50.
Unmanned vehicle airborne tripod head of the invention is innovatively by the setting position of axle sleeve 501, housing 51 and screw 502
And annexation, pressure of the roll axle 500 not by load diametrically is protected, and the pressure of load is transmitted by housing 51
Undertaken to the outer wall of y-axis motor 50, motor output shaft completely avoid motor shaft and be led due to being conducted oneself with dignity or loaded in long-term use
Its bending deformation or the possibility damaged are caused, the service life of motor is extended.
The pressure radially that the above-mentioned main weight band including X-axis driving, camera head etc. of load comes.
In the present embodiment, fixed seat 1 is arranged on the downside of the frame of unmanned vehicle, and Z axis drive 3 to can control on the downside of it
Part is capable of achieving 0 ° to 360 ° of rotation in the plane vertical with Z-direction, and Y-axis drives 5 parts that can control on the right side of it to exist
0 ° to 360 ° of rotation is realized in the plane vertical with Y direction, X-axis drives 7 controllable camera heads 8 to be hung down with X-direction
0 ° to 360 ° of rotation is realized in straight plane.The output shaft of X, Y, Z axis motor 30 is orthogonal, therefore, it is of the invention nobody
Air craft carried head can realize comprehensive, multi-angle, be shot without dead angle, and governing speed is fast.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and simple modifications for being made in content etc., should be included within the scope of the present invention.
Claims (9)
1. unmanned vehicle airborne tripod head, including fixed seat (1) and controller (2), are provided with Z axis and drive (3) in fixed seat, Z
Axle is driven through ZY linking arms (4) and drives (5) to be connected with Y-axis, and Y-axis is driven through YX linking arms (6) and drives (7) to be connected with X-axis,
X-axis drives affixed camera head (8)；It is characterized in that：YX linking arms include axle sleeve (501), housing (51), screw (502), horizontal stroke
Roller bearing (54), Y-axis drives includes y-axis motor (50), is fixedly connected with axle sleeve in the output shaft insertion axle sleeve of y-axis motor,
Axle sleeve is fixedly connected with the casing by screw, and roll axle bearing is embedded between housing and y-axis motor outer wall.
2. unmanned vehicle airborne tripod head according to claim 1, it is characterised in that：Z axis drive includes Z axis motor
(30), the output shaft of Z axis motor is course axle (300), one end of the affixed ZY linking arms in one end of course axle；ZY linking arms it is another
The affixed Y-axis in one end drives, and the output shaft of y-axis motor is roll axle (500), the middle part of the affixed YX linking arms in one end of roll axle；
The affixed X-axis in one end of YX linking arms drives, and X-axis drives includes X-axis motor, the other end of YX linking arms, the output shaft of X-axis motor
It is respectively and fixedly connected with camera head.
3. unmanned vehicle airborne tripod head according to claim 1 and 2, it is characterised in that：Between fixed seat and Z axis drive
Controller is installed, controller includes master control borad (20).
4. unmanned vehicle airborne tripod head according to claim 1 and 2, it is characterised in that：Camera head includes protective cover
And camera in protective cover, power supply and inertial measuring unit.
5. unmanned vehicle airborne tripod head according to claim 1 and 2, it is characterised in that：Fixed seat includes top surface and bottom
Face, top surface includes at least one gusset, and top surface is provided with lightening hole or groove；Four angles of fixed seat have a fixation respectively
End.
6. unmanned vehicle airborne tripod head according to claim 2, it is characterised in that：Z axis drive also includes course axle axle
Hold (302), course axle is connected through course axle bearing and with course axle bearing.
7. the unmanned vehicle airborne tripod head according to claim 2 or 6, it is characterised in that：Course next to axis is provided with course axle
Hide line device (301).
8. the unmanned vehicle airborne tripod head according to claim 2 or 6, it is characterised in that：The y-axis motor back side is provided with motor
Driving plate (52).
9. unmanned vehicle airborne tripod head according to claim 2, it is characterised in that：YX linking arms take the shape of the letter U, including two
Cantilever arm and a transverse arm, transverse arm drive with Y-axis and are fixedly connected, and a cantilever arm is used to connect X-axis driving, another cantilever arm
Connection camera head；Camera head is between two cantilever arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510295562.8A CN105042299B (en) | 2015-04-22 | 2015-06-02 | Unmanned vehicle airborne tripod head |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015101948364 | 2015-04-22 | ||
| CN201510194836 | 2015-04-22 | ||
| CN201510295562.8A CN105042299B (en) | 2015-04-22 | 2015-06-02 | Unmanned vehicle airborne tripod head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105042299A CN105042299A (en) | 2015-11-11 |
| CN105042299B true CN105042299B (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510295562.8A Active CN105042299B (en) | 2015-04-22 | 2015-06-02 | Unmanned vehicle airborne tripod head |
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| Country | Link |
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| CN (1) | CN105042299B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205076056U (en) | 2015-10-28 | 2016-03-09 | 深圳市道通智能航空技术有限公司 | Cloud platform is installed and removed device fast and is had its unmanned aerial vehicle |
| CN205244760U (en) * | 2015-11-20 | 2016-05-18 | 深圳市道通智能航空技术有限公司 | Both arms cloud platform |
| CN206532177U (en) * | 2017-03-02 | 2017-09-29 | 深圳市大疆创新科技有限公司 | A kind of thumb wheel governor motion, remote control and unmanned plane |
| CN107102653B (en) * | 2017-06-07 | 2020-11-27 | 歌尔股份有限公司 | Device and method for controlling ground angle of mounting equipment of unmanned aerial vehicle |
| CN107933940B (en) * | 2017-10-26 | 2019-07-30 | 北京遥感设备研究所 | A kind of cantilevered support structure suitable for airborne photoelectric servo platform |
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| JP2022066921A (en) * | 2020-10-19 | 2022-05-02 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Supporting mechanism and imaging system |
| CN113653925B (en) * | 2021-08-16 | 2023-09-26 | 珠海格力电器股份有限公司 | Scanning device |
| CN113965683A (en) * | 2021-11-02 | 2022-01-21 | 郑州航空工业管理学院 | Suspension-moving type large-scale project archive image acquisition equipment |
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| DE102008039468A1 (en) * | 2008-08-25 | 2010-03-04 | Stefan Reich | Device and method for stabilizing the position of cameras |
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| Publication number | Publication date |
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| CN105042299A (en) | 2015-11-11 |
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Address after: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee after: Hebei xiong'an Yuandu Technology Co.,Ltd. Address before: 100193 2, District 9, building 8, northeast Wang West Road, Haidian District, Beijing 205 Patentee before: Tianjin Yuandu Technology Co.,Ltd. |
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Effective date of registration: 20210224 Address after: 102100 1916, building 27, yard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing Patentee after: Beijing Yuandu Internet Technology Co.,Ltd. Address before: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee before: Hebei xiong'an Yuandu Technology Co.,Ltd. |