CN105599915B - A kind of servo driving flexible cable is driven two axle The Cloud Terraces structure - Google Patents
A kind of servo driving flexible cable is driven two axle The Cloud Terraces structure Download PDFInfo
- Publication number
- CN105599915B CN105599915B CN201610028386.6A CN201610028386A CN105599915B CN 105599915 B CN105599915 B CN 105599915B CN 201610028386 A CN201610028386 A CN 201610028386A CN 105599915 B CN105599915 B CN 105599915B
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- Prior art keywords
- steering wheel
- installing plate
- orientation
- pitch
- wire rope
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Abstract
The present invention proposes a kind of servo driving flexible cable transmission two axle The Cloud Terraces structure, the head includes orientation steering wheel flexible cable transmission component, the direct-connected drive component of pitch-control motor and load camera, the load camera is directly driven in component installed in pitch-control motor, load camera elevating movement is realized by pitch-control motor driving, steering wheel motion in orientation is delivered to azimuth axle by orientation steering wheel flexible cable transmission component driving using the flexible cable kind of drive, and driving pitch-control motor directly drives component and load head realizes azimuth motion.The present invention is used as azimuth motion transmission mechanism using the transmission of accurate flexible cable, realizes that cramped construction is laid out, while realizes accurately motion transmission, improves control accuracy.The design of shock-damping structure, greatly reduce vibrations of the fuselage to head.
Description
Technical field
It is especially a kind of to use with high-precision servo driving the present invention relates to unmanned plane mission payload systems technology field
Two axle micro photo electric heads.
Background technology
Unmanned plane plays more and more important effect in modern age battlefield.Perform the pole that aerial reconnaissance is unmanned plane
Its important task, photoelectric nacelle are effective workpieces that unmanned plane performs monitoring, scouting and target acquisition task, typically
Photoelectric nacelle refers to that carrying the tasks such as electro-optical camera, infreared imaging device, television camera or FLIR (thermal imagers) has
Load is imitated, being accurately directed to of payload, stable and following function are realized by stabilized platform mode, obtain enemy's ground image
Information is for commanding troops.
Precision can be realized as the usual way that driving part is photoelectric nacelle, this method is moved using servomotor
Two-freedom motion control, but need to design special driving and controller for servomotor, increase system complexity and
Cost.Motion of rudder executing agency of the steering wheel as unmanned plane, can be special without designing directly in response to the control instruction of autopilot
The driving plate and control panel of door.Photoelectric nacelle based on servo driving can directly control the two-freedom of gondola by autopilot
Motion, can effectively simplify the control process of photoelectric nacelle, reduce design and use cost.
The content of the invention
In order to the miniature head of unmanned plane and simplify the structure and control simplification, the invention provides a kind of servo driving
Flexible cable is driven two axle The Cloud Terraces structure, and its is simple in construction, light, reliable, and control is simple, can be achieved with the fast integration of unmanned plane with
Collaborative Control.
The technical scheme is that：
A kind of servo driving flexible cable is driven two axle The Cloud Terraces structure, and the head includes orientation steering wheel flexible cable transmission component, pitching
The direct-connected drive component of steering wheel and load camera, the load camera is directly driven in component installed in pitch-control motor, by pitch-control motor
Load camera elevating movement is realized in driving, and steering wheel flexible cable transmission component driving in orientation is transported orientation steering wheel using the flexible cable kind of drive
Dynamic to be delivered to azimuth axle, driving pitch-control motor directly drives component and load head realizes azimuth motion.
Further, steering wheel flexible cable transmission component in orientation of the present invention includes orientation steering wheel, bearing, active steel wire
Rope sheave, driven wire rope pulley, orientation steering wheel is reverse mounted on orientation steering wheel installing plate, and bearing is pacified installed in orientation steering wheel
In the bearing hole opened up in loading board, the driven wire rope pulley is fixed on the underface of bearing, bearing cover general side
Position bearing and driven wire rope pulley fasten, and are connected with steering wheel on the output shaft of orientation steering wheel, active wire rope pulley is arranged on rudder
On disk and with steering wheel synchronous axial system, connected between active wire rope pulley and driven wire rope pulley by wire rope gearing, active steel
Cord wheel drives driven wire rope pulley to rotate by steel wire rope.
Further, the direct-connected drive component of pitch-control motor of the present invention is fixed including the support of bearing, pitch bearing, camera
Part, pitch-control motor support, pitch-control motor, steering wheel and camera installing plate, the side of being installed with below the driven wire rope pulley
Position installing plate, the support of bearing and pitch-control motor support, the lower end installation of the support of bearing are installed below orientation installing plate
There is pitch bearing, the lower end of the pitch-control motor support is provided with pitch-control motor, and the camera installing plate is overall U-shaped peace
Loading board, the load camera are located between two side plates being oppositely arranged of camera installing plate.
Further, load camera of the present invention is connected solid by former and later two camera fixtures with camera installing plate
Fixed, the downward 45 degree of settings of camera installing plate pitching, the side plate of camera installing plate and the steering wheel of pitch-control motor connect, camera
Another side plate of installing plate is provided with camera installing plate axle, and camera installing plate axle sleeve is entered in pitch bearing.
Further, the steering wheel of active wire rope pulley of the present invention and orientation steering wheel is fixed by steering wheel fixing screws.
Further, steering wheel installing plate in orientation of the present invention is fixedly mounted on fuselage fixture by shock-damping structure, described
Fuselage fixture is fixedly mounted on before fuselage on fire-proof plate by shock-damping structure, and the shock-damping structure includes beam, and fuselage is solid
Determining part includes two triangular supports being oppositely arranged, and two screw holes up and down are offered on the vertical short side of triangular supports
And the beam with through hole is provided with screw hole location, the through hole on beam is to communicate with the screw hole on vertical short side
, the relevant position of fire-proof plate offers the screw hole for installing triangular supports before fuselage, and two triangle support passes through
Screw is fixed on before fuselage on fire-proof plate.The orientation steering wheel installing plate is fixedly connected with fuselage fixture, the orientation steering wheel
The both sides of installing plate are respectively equipped with two screw holes and the beam with through hole are provided with screw hole location, logical on beam
Hole communicates with the screw hole on orientation steering wheel installing plate, the phase in the vertical long side of two triangular supports being oppositely arranged
Position is answered to offer the screw hole for installation position steering wheel installing plate, screw sequentially passes through orientation steering wheel installing plate, beam
And orientation steering wheel installing plate and fuselage fixture are fixedly installed togather by the screw hole on fuselage fixture.
Further, the screw of installation position installing plate, the orientation are provided with driven wire rope pulley of the present invention
Relevant position on installing plate also is provided with screw, driven wire rope pulley and orientation installing plate and is spirally connected fixation by screw.
Further, the direct-connected drive component of pitch-control motor of the present invention is integrally provided in a shell, and the shell is
Carbon fiber skin, on orientation installing plate, shell corresponding to the load camera is provided with reserved shell for the upper end use of shell
Optical window, reserved shell optical window make load camera have enough visual field normal observations, and reserved shell optical window uses replaceable optical lens
Piece is closed.
Further, the present invention is and each in orientation steering wheel flexible cable transmission component and the direct-connected drive component of pitch-control motor
The axle of bearing connection is hollow shaft.
Further, active wire rope pulley of the present invention is provided with the pre-loading screw of regulation steel wire rope preload and pre-
Tight sliding block, the side of the active wire rope pulley are provided with a fixed block with screw, and pre-loading screw passes through the screw of fixed block, in advance
The other end of tight screw is fastened with a pretension sliding block, and pretension sliding block can be slided in the traction lower slider of pre-loading screw, the pretension
Block is provided with a bayonet socket, and a termination of steel wire rope is installed in the bayonet socket, and the cunning of pretension sliding block is realized by rotating pre-loading screw
Move and then realize the regulation of steel wire rope preload..
Beneficial effects of the present invention：
In order to realize compact layout, it is being difficult to the shafting using steering wheel direct drive, it is necessary to using transmission device, is being applied to
The kind of drive of Miniature photoelectric hanging cabin mainly has gear drive, toothed belt transmission etc., but above-mentioned transmission device has movement clearance,
The problems such as transmission stiffness deficiency, influence the raising of motion control accuracy.The present invention uses the flexible cable kind of drive of accurate steel wire rope
Can effectively it solve the above problems.Present invention use is simple and reliable, is conveniently replaceable, cost is relatively low.Mission requirements can be matched somebody with somebody
Standby corresponding load camera, meet observation requirementses under different scouting environment.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Connection structure diagrams of the Fig. 2 between fuselage fixture and fuselage fire-proof plate.
Fig. 3 is the structural representation of orientation steering wheel flexible cable transmission component.
Fig. 4 is the structural representation of the direct-connected drive component of pitch-control motor.
Fig. 5 is the schematic structural view of the invention with shell.
Fig. 6 is the structural representation of active wire rope pulley.
In figure：
1. orientation steering wheel；2nd, beam；3rd, orientation installing plate；4th, active wire rope pulley；5th, the support of bearing；6th, pitch axis
Hold；7th, load camera；8th, camera fixture；9th, fuselage fixture；10th, orientation steering wheel installing plate；11st, driven wire rope pulley；12、
Pitch-control motor support；13rd, pitch-control motor；14th, steering wheel；15th, camera installing plate；16th, shell；17th, shell optical window is reserved；18th, it is pre-
Tight screw；19th, pretension sliding block；20th, fuselage fire-proof plate；21st, bearing；22nd, bearing cover.
Embodiment
Below in conjunction with drawings and examples, the present invention is described further.
Reference picture 1, for the structural representation of the present invention, a kind of servo driving flexible cable is driven two axle The Cloud Terraces structure, the head
Including orientation steering wheel flexible cable transmission component, the direct-connected drive component of pitch-control motor and load camera 7, the orientation steering wheel flexible cable passes
Dynamic component includes orientation steering wheel 1, bearing 21, active wire rope pulley 4, driven wire rope pulley 11.The pitch-control motor is direct-connected
Drive component includes the support of bearing 5, pitch bearing 6, camera fixture 8, pitch-control motor support 12, pitch-control motor 13, steering wheel 14
With camera installing plate 15.Orientation steering wheel installing plate 10 is fixedly mounted on fuselage fixture 9 by shock-damping structure, and the fuselage is consolidated
Determine part 9 to be fixedly mounted on before fuselage on fire-proof plate 20 by shock-damping structure.
The lower section of driven wire rope pulley 11 is installed with orientation installing plate 3, specifically, is set on driven wire rope pulley 11
There is a screw of installation position installing plate 3, the relevant position on the orientation installing plate 3 also is provided with screw, driven wire rope pulley 11
It is spirally connected fixation by screw with orientation installing plate 3.
Reference picture 2, the shock-damping structure include beam, and fuselage fixture 9 includes two triangle branch being oppositely arranged
Frame, upper and lower two screw holes are offered on the vertical short side of triangular supports and subtracting with through hole is provided with screw hole location
Shake is padded, and the through hole on beam communicates with the screw hole on vertical short side, and the relevant position of fire-proof plate 20 opens up before fuselage
There is a screw hole for installing triangular supports, two triangle support is fixed by screws in before fuselage on fire-proof plate 20.
Equally, the orientation steering wheel installing plate 10 is fixedly connected with fuselage fixture 9, the orientation steering wheel installing plate 10
Both sides are respectively equipped with two screw holes and the beam 2 with through hole are provided with screw hole location, through hole and side on beam 2
Screw hole on position steering wheel installing plate 10 communicates, the corresponding positions in the vertical long side of two triangular supports being oppositely arranged
The screw hole offered for installation position steering wheel installing plate 10 is put, screw sequentially passes through orientation steering wheel installing plate 10, beam 2
And orientation steering wheel installing plate 10 and fuselage fixture 9 are fixedly installed togather by the screw hole on fuselage fixture 9.
Fig. 3 is the structural representation of orientation steering wheel flexible cable transmission component, and orientation steering wheel 1 is reverse mounted to be installed in orientation steering wheel
On plate 10, bearing 21 is arranged in the bearing hole opened up on orientation steering wheel installing plate, and the driven wire rope pulley 11 is installed
The underface of bearing 21 is fixed on, bearing cover 22 fastens bearing 21 and driven wire rope pulley 11, orientation rudder
Steering wheel is connected with the output shaft of machine, active wire rope pulley 4 is arranged on steering wheel and with steering wheel synchronous axial system, active wire rope pulley
Connected between driven wire rope pulley by wire rope gearing, active wire rope pulley 4 drives driven wire rope pulley by steel wire rope
11 rotate, and head is reached orientation rotating function.
Fig. 4 is the structural representation of the direct-connected drive component of pitch-control motor, and the lower section of orientation installing plate 3 is provided with the support of bearing
5 and pitch-control motor support 12, the lower end of the support of bearing 5 pitch bearing 6, the lower end of the pitch-control motor support 12 are installed
Pitch-control motor 13 is installed, the camera installing plate 15 is overall U-shaped installing plate, and the load camera 7 is located at camera peace
Between the side plate that the two of loading board 15 are oppositely arranged, load camera 7 is connected by former and later two camera fixtures 8 with camera installing plate 15
Connect fixation, the downward 45 degree of settings of the pitching of camera installing plate 15, the side plate of camera installing plate 15 and the rudder of pitch-control motor 13
Disk 14 connects, and another side plate of camera installing plate 15 is provided with camera installing plate axle, and camera installing plate axle sleeve is entered into pitch bearing 6
It is interior.
Fig. 5 is the schematic structural view of the invention with shell, and the direct-connected drive component of pitch-control motor is integrally provided in outside one
In shell 16, the shell 16 is carbon fiber skin, and the upper end of shell 16 is cementing on orientation installing plate 3, and the load camera 7 is right
The shell 16 answered is provided with reserved shell optical window 17, and reserved shell optical window 17 makes load camera 7 have enough visual field normal observations, in advance
Shell optical window 17 is stayed to be closed using replaceable optical lens piece, to protect internal load camera.
In the present invention, in orientation steering wheel flexible cable transmission component and the direct-connected drive component of pitch-control motor, with each bearing
The axle of connection is hollow shaft.Orientation steering wheel flexible cable transmission component and the shafting of the direct-connected drive component of pitch-control motor use one
Individual high intensity bearing and quill shaft coordinate, and electric wiring can pass through rotation portion using quill shaft.
Fig. 6 is the structural representation of active wire rope pulley, and the active wire rope pulley 4 is provided with regulation steel wire rope preload
Pre-loading screw 18 and pretension sliding block 19, the side of the active wire rope pulley 4 is provided with a fixed block with screw, pretension spiral shell
The screw through fixed block is followed closely, the other end of pre-loading screw is fastened with a pretension sliding block 19, and pretension sliding block can be in pre-loading screw
Traction lower slider, the pretension sliding block is provided with a bayonet socket, and a termination of steel wire rope is installed in the bayonet socket, pre- by rotating
Tight screw realizes the slip of pretension sliding block and then realizes the regulation of steel wire rope preload.
The structure design can provide a kind of lightweight, cradle head structure compact-sized, kinematic accuracy is high.With based on servo
The photoelectric nacelle of motor is compared, and the two axle photoelectric nacelles that the present invention designs can be docked directly with flight control autopilot, without
Design special driver and controller, simple system, design cost is low.The present invention is transported using the transmission of accurate flexible cable as orientation
It dynamic transmission mechanism, can preferably realize that cramped construction is laid out, while realize accurately motion transmission, improve control accuracy.Together
When, damping device is both increased in mounting structure both direction, vibration of the fuselage to head is greatly reduced, simplifies head
Dismount work.Shell uses high strength composite, and structural strength is high, in light weight.
Claims (7)
1. a kind of servo driving flexible cable is driven two axle The Cloud Terraces structure, it is characterised in that：The head is driven including orientation steering wheel flexible cable
The direct-connected drive component of component, pitch-control motor and load camera, the load camera are directly driven in component installed in pitch-control motor, by
Load camera elevating movement is realized in pitch-control motor driving, and steering wheel flexible cable transmission component driving in orientation uses flexible cable kind of drive general side
Position steering wheel motion is delivered to azimuth axle, and driving pitch-control motor directly drives component and load head realizes azimuth motion；
The orientation steering wheel flexible cable transmission component includes orientation steering wheel, bearing, active wire rope pulley, driven wire rope pulley,
Orientation steering wheel is reverse mounted on orientation steering wheel installing plate, and bearing is arranged on the bearing hole opened up on orientation steering wheel installing plate
Interior, the driven wire rope pulley is fixed on the underface of bearing, and bearing cover is by bearing and driven steel wire
Rope sheave is fastened, and steering wheel is connected with the output shaft of orientation steering wheel, and active wire rope pulley is arranged on steering wheel and synchronously turned with steering wheel
It is dynamic, connected between active wire rope pulley and driven wire rope pulley by wire rope gearing, active wire rope pulley passes through rope belt
Dynamic driven wire rope pulley rotates；The steering wheel of the active wire rope pulley and orientation steering wheel is fixed by steering wheel fixing screws；Orientation
Steering wheel installing plate is fixedly mounted on fuselage fixture by shock-damping structure, and the fuselage fixture is fixed by shock-damping structure pacifies
On fire-proof plate before fuselage, the shock-damping structure includes beam, and fuselage fixture includes two triangles being oppositely arranged
Support, upper and lower two screw holes are offered on the vertical short side of triangular supports and are provided with screw hole location with through hole
Beam, the through hole on beam communicate with the screw hole on vertical short side, and the relevant position of fire-proof plate opens up before fuselage
There is a screw hole for installing triangular supports, two triangle support is fixed by screws in before fuselage on fire-proof plate；It is described
Orientation steering wheel installing plate is fixedly connected with fuselage fixture, and the both sides of the orientation steering wheel installing plate are respectively equipped with two screw holes
And the beam with through hole is provided with screw hole location, the through hole on beam is with the screw hole on orientation steering wheel installing plate
Communicate, the relevant position in the vertical long side of two triangular supports being oppositely arranged offers pacifies for installation position steering wheel
The screw hole of loading board, screw sequentially pass through screw hole on orientation steering wheel installing plate, beam and fuselage fixture by orientation
Steering wheel installing plate and fuselage fixture are fixedly installed togather.
2. servo driving flexible cable according to claim 1 is driven two axle The Cloud Terraces structure, it is characterised in that：The pitch-control motor
Direct-connected drive component includes the support of bearing, pitch bearing, camera fixture, pitch-control motor support, pitch-control motor, steering wheel and camera
Installing plate, orientation installing plate is installed with below the driven wire rope pulley, bearing is installed below orientation installing plate
Support and pitch-control motor support, the lower end of the support of bearing are provided with pitch bearing, the lower end peace of the pitch-control motor support
Equipped with pitch-control motor, the camera installing plate is overall U-shaped installing plate, and the load camera is located at the two of camera installing plate
Between the side plate being oppositely arranged.
3. servo driving flexible cable according to claim 2 is driven two axle The Cloud Terraces structure, it is characterised in that：The load camera
It is connected by former and later two camera fixtures with camera installing plate, the downward 45 degree of settings of camera installing plate pitching, phase
The side plate of machine installing plate and the steering wheel of pitch-control motor connect, and another side plate of camera installing plate is provided with camera installing plate axle,
Camera installing plate axle sleeve is entered in pitch bearing.
4. servo driving flexible cable according to claim 3 is driven two axle The Cloud Terraces structure, it is characterised in that：The driven steel wire
It is provided with the screw of installation position installing plate on rope sheave, the relevant position on the orientation installing plate also is provided with screw, driven steel
Cord wheel and orientation installing plate are spirally connected fixation by screw.
5. servo driving flexible cable according to claim 4 is driven two axle The Cloud Terraces structure, it is characterised in that：The pitch-control motor
Direct-connected drive component is integrally provided in a shell, and the shell is carbon fiber skin, and the upper end use of shell is installed in orientation
On plate, shell corresponding to the load camera is provided with reserved shell optical window, and reserved shell optical window has load camera to regard enough
Field normal observation, reserve shell optical window and closed using replaceable optical lens piece.
6. servo driving flexible cable according to claim 5 is driven two axle The Cloud Terraces structure, it is characterised in that：In orientation, steering wheel is soft
In rope transmission component and the direct-connected drive component of pitch-control motor, the axle being connected with each bearing is hollow shaft.
7. servo driving flexible cable according to claim 6 is driven two axle The Cloud Terraces structure, it is characterised in that：The active steel wire
Rope sheave is provided with the pre-loading screw and pretension sliding block of regulation steel wire rope preload, and the side of the active wire rope pulley is provided with one
Fixed block with screw, pre-loading screw pass through the screw of fixed block, and the other end of pre-loading screw is fastened with a pretension sliding block, pretension
Sliding block can be provided with a bayonet socket in the traction lower slider of pre-loading screw, the pretension sliding block, and a termination of steel wire rope is installed on
In the bayonet socket, the slip of pretension sliding block is realized to realize the regulation of steel wire rope preload by rotating pre-loading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028386.6A CN105599915B (en) | 2016-01-15 | 2016-01-15 | A kind of servo driving flexible cable is driven two axle The Cloud Terraces structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028386.6A CN105599915B (en) | 2016-01-15 | 2016-01-15 | A kind of servo driving flexible cable is driven two axle The Cloud Terraces structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105599915A CN105599915A (en) | 2016-05-25 |
| CN105599915B true CN105599915B (en) | 2018-02-16 |
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ID=55980388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610028386.6A Active CN105599915B (en) | 2016-01-15 | 2016-01-15 | A kind of servo driving flexible cable is driven two axle The Cloud Terraces structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106628118A (en) * | 2016-11-08 | 2017-05-10 | 芜湖万户航空航天科技有限公司 | Steering engine bracket mechanism |
| CN106742005A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of power-line patrolling photoelectric nacelle and depopulated helicopter |
| CN107246870B (en) * | 2017-06-01 | 2019-10-15 | 中国人民解放军国防科学技术大学 | A kind of difference structure stabilized platform based on flexible cable transmission |
| CN108144217B (en) * | 2017-12-15 | 2023-04-07 | 长安大学 | Unmanned aerial vehicle cloud platform for fire control |
| CN109955219A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Robot head revolution, pitching movement platform |
| CN109139828B (en) * | 2018-10-16 | 2021-08-06 | 天津津航技术物理研究所 | Wire rope transmission mechanism of photoelectric pod |
| CN109029436B (en) * | 2018-10-19 | 2021-02-12 | 中国科学院长春光学精密机械与物理研究所 | Triaxial inertially stabilized platform |
| CN110939842B (en) * | 2019-09-18 | 2021-07-13 | 西安应用光学研究所 | Two-shaft two-frame photoelectric stabilized platform based on steel wire rope transmission |
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| US7000883B2 (en) * | 2003-01-17 | 2006-02-21 | The Insitu Group, Inc. | Method and apparatus for stabilizing payloads, including airborne cameras |
| EP1887274A1 (en) * | 2005-06-03 | 2008-02-13 | Andrés Vallés Navarro | Film camera head |
| CN100590748C (en) * | 2007-07-05 | 2010-02-17 | 浙江大学 | Cradle head for aerial photograph with two degrees of freedom by using aeromodelling helicopter as carrier |
| US8016254B2 (en) * | 2008-04-02 | 2011-09-13 | Battelle Energy Alliance, Llc | Piezoelectric actuated gimbal |
| CN101758929A (en) * | 2010-01-22 | 2010-06-30 | 清华大学 | Unmanned frame style cradle head of two degrees of freedom |
| CN101915341B (en) * | 2010-07-20 | 2013-02-13 | 周惠兴 | Two -degree-of-freedom cradle head mechanism |
| CN102849220B (en) * | 2012-09-04 | 2014-12-17 | 北京航空航天大学 | Orientation driving/locking device for inertially-stabilized platform |
| CN203189977U (en) * | 2013-04-27 | 2013-09-11 | 焦浩 | Novel intelligent cradle head with multiple degrees of freedom |
| CN204056311U (en) * | 2014-10-11 | 2014-12-31 | 佛山市安尔康姆航空科技有限公司 | The steady cradle head structure of a kind of increasing |
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