CN105882992B - A kind of unmanned plane fixation holder - Google Patents
A kind of unmanned plane fixation holder Download PDFInfo
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- CN105882992B CN105882992B CN201610324150.7A CN201610324150A CN105882992B CN 105882992 B CN105882992 B CN 105882992B CN 201610324150 A CN201610324150 A CN 201610324150A CN 105882992 B CN105882992 B CN 105882992B
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- fixed station
- unmanned plane
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- welded
- round platform
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- 230000008878 coupling Effects 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 20
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 11
- 238000009434 installation Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The present invention relates to a kind of unmanned planes to fix holder, including fixed frame, the fixed frame includes fixed station, panel is supported there are four being symmetrically welded on the outside of the upper surface of fixed station, the upper end of four support panels is welded with annular round platform, support panel plays the role of the annular round platform of support, and circular open is provided in the middle part of annular round platform；L-type support there are four being symmetrically welded on the inside of the upper surface of the fixed station, the upper end of four L-type supports is equipped with erecting bed by screw, four L-type supports play the role of installation and platform are fixedly mounted, the lower face of erecting bed is equipped with driving motor by motor cabinet, the output end of driving motor is connected by shaft coupling with drive shaft, and the lower end of drive shaft is mounted on by bearing on fixed station.The present invention may be implemented stablizing for unmanned plane and lift aerial photography function, have many advantages, such as that simple in structure, own mechanical structural stability can is good and lifting shrinkage is good.
Description
Technical field
The present invention relates to unmanned plane field, specifically a kind of unmanned plane fixes holder.
Background technology
Holder is the support equipment for installing and fixing picture pick-up device in monitoring system, and indirect progress image connects
It receives, but controls the rotation direction of video camera or miscellaneous equipment by holder.And unmanned plane holder belong in holder one
Class, main application is in for construction plan, engineering investigation, the condition of a disaster prospecting, in terms of the practicabilities such as rescue and relief work are taken photo by plane.
In actual application, due to unmanned plane in flight course itself posture it is continuous change and ambient weather because
The influence of element, certain shake is brought to entire unmanned aerial vehicle body, to seriously affect the quality taken photo by plane；Therefore, it is used for
The stability for carrying the holder for aerial photographing itself of video camera and camera directly determines the quality of shooting quality.At present for taking photo by plane
The steady measure of increasing of holder realizes generally by electronic equipment detecting system, but electronic detection system have it is certain stagnant
Property afterwards, cannot the change of posture compensates timely to adjust the posture of holder for aerial photographing in flight course according to unmanned plane.
Therefore, it is badly in need of that a kind of own mechanical structural stability can is good, there is no the unmanned plane holders of hysteretic properties sum.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of unmanned plane fix holder, can solve it is existing nobody
Machine is during taking photo by plane since own mechanical structural stability can is poor, there are hysteresis quality, ambient weathers for electronic detection system adjustment
Factor, which generates shake, leads to the problem of aerial photographing effect difference, using parallel institution dynamic response is good, rigidity is high, large carrying capacity, surely
The advantages that qualitative good and kinematic accuracy is high stablizes lifting aerial photography function realize unmanned plane, with simple in structure, own mechanical
The advantages that structural stability can is good and lifting shrinkage is good.
To achieve the goals above, the present invention is realized using following technical scheme：A kind of unmanned plane fixation holder,
Including fixed frame, the fixed frame includes fixed station, is symmetrically welded on the outside of the upper surface of fixed station there are four support panel,
The upper end of four support panels is welded with annular round platform, and support panel plays the role of the annular round platform of support, in annular round platform
Portion is provided with circular open；Be symmetrically welded on the inside of the upper surface of the fixed station there are four L-type support, four L-type supports it is upper
End is equipped with erecting bed by screw, and four L-type supports play the role of installation and platform is fixedly mounted, and the lower face of erecting bed is logical
It crosses motor cabinet and driving motor is installed, the output end of driving motor is connected by shaft coupling with drive shaft, and the lower end of drive shaft is logical
Bearing is crossed on fixed station；The middle part of the drive shaft is equipped with driving gear by key, driving gear respectively with four
Lifting branch is meshed, and drives drive shaft turns, drive shaft to drive the rotation of sliding tooth wheel, driving gear band dynamic by driving motor
Four lifting branch chain movements, the lifting branch includes the transmission gear being meshed with driving gear, and transmission gear is pacified by key
On transmission shaft, the lower end of transmission shaft is mounted on by bearing on fixed station, and the upper end of transmission shaft is welded with leading screw, leading screw
Top is mounted on the lower face of annular round platform by bearing, and the middle part of leading screw is equipped with sliding block by screw thread, on the outer wall of sliding block
Line slide rail is installed, the outer wall of line slide rail is mounted on by screw on support panel, and line slide rail, which plays, limits sliding block fortune
The function in dynamic direction so that sliding block can be stablized moves in leading screw；Divide on each sliding block inner wall of four liftings branch
An Zhuan not be there are one branch in parallel, the top of branch in parallel is equipped with operation console；The parallel connection branch includes being welded in sliding block
No.1 ear mount on wall, is equipped with hydraulic cylinder in No.1 ear mount by axis pin, and the top of hydraulic cylinder is mounted on No. two by axis pin
In ear mount, No. two ear mounts are mounted on the lower face of operation console, shifting when revolute pair R when No.1 ear mount rotates, hydraulic cylinder extension
Revolute pair R when dynamic secondary P is rotated with No. two ear mounts forms the branch in parallel of RPR structures, fixed frame, four RPR structures
Branch and operation console in parallel form 4-RPR parallel institutions, and 4-RPR parallel institutions are with dynamic response is good, rigidity is high, bearing capacity
Greatly, stability is good and the advantages that kinematic accuracy is high；Photographic equipment on operation console for installing unmanned plane.
As a preferred technical solution of the present invention, the fixed station and operation console are circular configuration, and fixed station
Central axis and the central axis of operation console coincide, it is good etc. excellent by the rigidity height and stability of 4-RPR parallel institutions
Point can make fixed station and operation console keeping parallelism always, so that photographic equipment keeps flat during unmanned plane during flying
Surely.
When work, the present invention is mounted on unmanned plane first, then taking the photograph for unmanned plane is installed on operation console
Shadow equipment, when encountering the bad weathers such as strong wind during unmanned plane, photographic equipment is unsuitable relative to the height of unmanned plane
It is excessive, to reduce the gas-flow resistance suffered by unmanned plane, stability of unmanned plane during taking photo by plane is improved, driving motor is opened
Beginning work, driving motor drive drive shaft turns, drive shaft that the rotation of sliding tooth wheel, driving gear is driven to be driven by transmission gear
Four lifting branch chain movements, transmission gear first drive guide screw movement, the rotation band movable slider of leading screw to move, and sliding block is in line slide rail
Synkinesia under drive branch chain movement in parallel, four branches in parallel to drive the photographic equipment on operation consoles up to shrink, reduce
The airflow influence that ambient weather factor generates, and the branch and operation console in parallel of fixed frame, four RPR structures form 4-
RPR parallel institutions, by 4-RPR parallel institutions with dynamic response is good, rigidity is high, large carrying capacity, stability are good and movement
The advantages that precision is high can remain plateau during unmanned plane is entirely taken photo by plane, and eliminate existing unmanned plane itself
Mechanical structure stability is poor, the problem for leading to aerial photographing effect difference is shaken in electronic detection system adjustment there are generations such as hysteresis qualitys,
Realize the stabilization aerial photography function of unmanned plane.
The beneficial effects of the invention are as follows：
1, of the invention by driving gear band to move the planetary gear mechanism of four transmission gears movement, so that drive four is simultaneously
What connection branch was stablized on sliding block moves up and down, to realize the function that present invention lifting is shunk；
2, the fixed frame in the present invention, four RPR structures branch and operation console in parallel form 4-RPR parallel machines
Structure, has that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. is excellent by 4-RPR parallel institutions
Point is so that unmanned plane can remain plateau during entirely taking photo by plane；
3, the present invention solves existing unmanned plane during taking photo by plane since own mechanical structural stability can is poor, electronics inspection
Examining system adjustment is generated there are hysteresis quality, ambient weather factor shakes the problem for leading to aerial photographing effect difference, utilizes parallel institution
Advantage stablizes lifting aerial photography function realize unmanned plane, has simple in structure, own mechanical structural stability can good and lifts
The advantages that shrinkage is good.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the full sectional view of the present invention；
Fig. 3 is the sectional view along A-A of Fig. 2 of the present invention.
Specific embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1 to Figure 3, a kind of unmanned plane fixes holder, including fixed frame 1, the fixed frame 1 include
The upper surface outside of fixed station 11, fixed station 11 is symmetrically welded there are four panel 12 is supported, and four support the upper end of panels 12 to weld
It is connected to annular round platform 13, support panel 12 plays the role of the annular round platform 13 of support, and the middle part of annular round platform 13 is provided with circle
Opening；L-type support 14 there are four being symmetrically welded on the inside of the upper surface of the fixed station 11, the upper end of four L-type supports 14 passes through
Screw is equipped with erecting bed 15, and four L-type supports 14 play the role of installation and platform 15, the lower face of erecting bed 15 is fixedly mounted
Driving motor 16 is installed by motor cabinet, the output end of driving motor 16 is connected by shaft coupling with drive shaft 17, drive shaft
17 lower end is mounted on by bearing on fixed station 11；The middle part of the drive shaft 17 is equipped with driving gear 18 by key, drives
Moving gear 18 is meshed with four lifting branches 19 respectively, drives drive shaft 17 to rotate by driving motor 16,17 band of drive shaft
Dynamic driving gear 18 rotates, and driving gear 18 drives four lifting branches 19 to move, and the lifting branch 19 includes and sliding tooth
The transmission gear 191 that wheel 18 is meshed, transmission gear 191 are mounted on by key on transmission shaft 192, and the lower end of transmission shaft 192 is logical
Bearing is crossed on fixed station 11, the upper end of transmission shaft 192 is welded with leading screw 193, and the top of leading screw 193 is installed by bearing
In the lower face of annular round platform 13, the middle part of leading screw 193 is equipped with sliding block 194 by screw thread, is equipped on the outer wall of sliding block 194
The outer wall of line slide rail 195, line slide rail 195 is mounted on by screw on support panel 12, and line slide rail 195, which plays restriction, to be slided
The function of 194 direction of motion of block so that sliding block 194 can be stablized moves in leading screw 193；Described four lift the every of branch 19
A branch 2 in parallel is separately installed on 194 inner wall of a sliding block, the top of branch 2 in parallel is equipped with operation console 3；The parallel connection
Branch 2 includes being welded on No.1 ear mount 21 on 194 inner wall of sliding block, and hydraulic cylinder 22 is equipped with by axis pin in No.1 ear mount 21,
The top of hydraulic cylinder 22 is mounted on by axis pin in No. two ear mounts 23, and No. two ear mounts 23 are mounted on the lower face of operation console 3, No.1
Revolute pair R when prismatic pair P when revolute pair R, hydraulic cylinder 22 when ear mount 21 rotates stretch is rotated with No. two ear mounts 23 is formed
The branch in parallel 2 of RPR structures, the branch in parallel 2 and operation console 3 of 1, four RPR structure of fixed frame form 4-RPR parallel machines
Structure, 4-RPR parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high；
Photographic equipment on operation console 3 for installing unmanned plane.
The fixed station 11 and operation console 3 are circular configuration, and the center of the central axis of fixed station 11 and operation console 3
Axis coincides, it is good by the rigidity height and stability of 4-RPR parallel institutions the advantages that can make always fixed station 11 with behaviour
Make 3 keeping parallelism of platform, so that photographic equipment held stationary during unmanned plane during flying.
When work, the present invention is mounted on unmanned plane first, then taking the photograph for unmanned plane is installed on operation console 3
Shadow equipment, when encountering the bad weathers such as strong wind during unmanned plane, photographic equipment is unsuitable relative to the height of unmanned plane
It is excessive, to reduce the gas-flow resistance suffered by unmanned plane, improve stability of unmanned plane during taking photo by plane, driving motor 16
It starts to work, driving motor 16 drives drive shaft 17 to rotate, and drive shaft 17 drives driving gear 18 to rotate, and driving gear 18 passes through
Transmission gear 191 drives four lifting branches 19 to move, and transmission gear 191 first drives leading screw 193 to move, the rotation of leading screw 193
Band movable slider 194 moves, and sliding block 194 drives branch 2 in parallel to move under the synkinesia of line slide rail 195, four branch in parallel
Chain 2 drives the photographic equipment on operation console 3 up to shrink, and reduces the airflow influence of ambient weather factor generation, and fixed machine
The branch in parallel 2 and operation console 3 of 1, four RPR structure of frame form 4-RPR parallel institutions, have by 4-RPR parallel institutions
The advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high so that unmanned plane is entirely taken photo by plane process
In can remain plateau, eliminate that existing unmanned plane own mechanical structural stability can is poor, electronic detection system tune
Whole deposit leads to the problem of aerial photographing effect difference in the generations such as hysteresis quality shake, realizes the stabilization aerial photography function of unmanned plane, reaches
Purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of unmanned plane fixes holder, it is characterised in that：Including fixed frame (1), the fixed frame (1) includes solid
Determine platform (11), is symmetrically welded on the outside of the upper surface of fixed station (11) there are four support panel (12), four support panel (12)
Upper end is welded with annular round platform (13), and circular open is provided in the middle part of annular round platform (13)；The upper end of the fixed station (11)
L-type support (14) there are four being symmetrically welded on the inside of face, the upper end of four L-type supports (14) is equipped with erecting bed by screw
(15), the lower face of erecting bed (15) is equipped with driving motor (16) by motor cabinet, and the output end of driving motor (16) passes through
Shaft coupling is connected with drive shaft (17), and the lower end of drive shaft (17) is mounted on by bearing on fixed station (11)；The drive shaft
(17) middle part is equipped with driving gear (18) by key, and driving gear (18) is meshed with four lifting branches (19) respectively,
The lifting branch (19) includes the transmission gear (191) being meshed with driving gear (18), and transmission gear (191) is pacified by key
On transmission shaft (192), the lower end of transmission shaft (192) is mounted on by bearing on fixed station (11), transmission shaft (192) it is upper
End is welded with leading screw (193), and the top of leading screw (193) is mounted on the lower face of annular round platform (13), leading screw (193) by bearing
Middle part sliding block (194) is equipped with by screw thread, line slide rail (195), line slide rail are installed on the outer wall of sliding block (194)
(195) outer wall is mounted on by screw on support panel (12)；In each sliding block (194) of four lifting branches (19)
A branch (2) in parallel is separately installed on wall, the top of branch (2) in parallel is equipped with operation console (3)；
The parallel connection branch (2) includes the No.1 ear mount (21) being welded on sliding block (194) inner wall, and No.1 ear mount passes through on (21)
Axis pin is equipped with hydraulic cylinder (22), and the top of hydraulic cylinder (22) is mounted on by axis pin on No. two ear mounts (23), No. two ear mounts
(23) it is mounted on the lower face of operation console (3)；
The fixed station (11) and operation console (3) are circular configuration, and the central axis of fixed station (11) and operation console (3)
Central axis coincides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610324150.7A CN105882992B (en) | 2016-05-16 | 2016-05-16 | A kind of unmanned plane fixation holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610324150.7A CN105882992B (en) | 2016-05-16 | 2016-05-16 | A kind of unmanned plane fixation holder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105882992A CN105882992A (en) | 2016-08-24 |
| CN105882992B true CN105882992B (en) | 2018-10-23 |
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| CN201610324150.7A Active CN105882992B (en) | 2016-05-16 | 2016-05-16 | A kind of unmanned plane fixation holder |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609194A (en) * | 2017-05-03 | 2018-10-02 | 李秀荣 | A kind of unmanned plane |
| CN108891605B (en) * | 2018-08-21 | 2021-08-06 | 山东航拍网络科技有限公司 | Capacity-expandable article transport case for unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001235793A (en) * | 2000-02-22 | 2001-08-31 | Diamond Air Service Kk | Triaxial drive photographing device |
| CN202100903U (en) * | 2010-12-24 | 2012-01-04 | 汕头大学 | Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way |
| CN202056242U (en) * | 2011-04-28 | 2011-11-30 | 张云志 | Horizontal slip-type shake restraining device |
| CN103423558A (en) * | 2013-07-16 | 2013-12-04 | 燕山大学 | Coupled four-freedom-degree parallel connection vibration isolation platform |
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Effective date of registration: 20180910 Address after: 362300 No. 193, South Ring Road, Nanan, Quanzhou, Fujian Applicant after: Chen Yulan Address before: 246001, the first floor of Yang Jiashan C building, Yingjiang District, Anqing, Anhui, from west to East. Applicant before: Anqing Mirui Intelligent Technology Co., Ltd. |
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Effective date of registration: 20191211 Address after: Room 1602, B1 Floor, Lijinxiu Jiangnan (West District), east of Gouyun Road, north of Yinhe No. 2 Road, Suzhou City, Anhui Province Patentee after: Suzhou Huiteng Intellectual Property Consulting Co., Ltd. Address before: 362300, No. 193 South Road, Nanan, Fujian, Quanzhou Patentee before: Chen Yulan |
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