CN106347695B - Unmanned plane with angle adjustable gondola - Google Patents
Unmanned plane with angle adjustable gondola Download PDFInfo
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- CN106347695B CN106347695B CN201610790323.4A CN201610790323A CN106347695B CN 106347695 B CN106347695 B CN 106347695B CN 201610790323 A CN201610790323 A CN 201610790323A CN 106347695 B CN106347695 B CN 106347695B
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- 238000003384 imaging method Methods 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims description 28
- 229910000838 Al alloy Inorganic materials 0.000 claims description 15
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- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000000694 effects Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The present invention relates to the unmanned planes with angle adjustable gondola to include：The angle adjustable gondola being detachably connected with mounting bracket；The angle adjustable gondola includes：Main supporting plate, secondary support plate, course angle motor, swivel mount, the first attitude transducer, pitch angle motor, imaging device, the second attitude transducer and control unit.Main supporting plate is fixedly connected with mounting bracket；Secondary support plate is fixedly connected with main supporting plate；Course angle motor is fixedly connected with secondary support plate；The output end in course angle motor is arranged in swivel mount；The output end in course angle motor is arranged in first attitude transducer；Pitch angle motor is fixed on one end of swivel mount；The output end in pitch angle motor is arranged in imaging device；The output end in pitch angle motor is arranged in second attitude transducer；Control unit is connect with course angle motor and pitch angle motor.The unmanned function with angle adjustable gondola accurately controls shooting angle, improves imaging image quality.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to the unmanned plane with angle adjustable gondola.
Background technology
Gondola is typically mounted on unmanned plane, aerospace vehicle, vehicle, naval vessel or fixed building, for realizing imager
The adjusting in alignment lens orientation.As unmanned plane is in the continuous expansion of the fields purposes such as military, civilian and scientific research, to nobody
Gondola on machine proposes the requirements such as weight is lighter, structure is more firm, lasting accuracy higher, operating distance are farther.
Gondola lacks accurately controlling for angle in the prior art, cannot be satisfied the shooting work requirements of high quality.
Invention content
Unmanned plane provided by the present application with angle adjustable gondola, solves or part solves and hangs in the prior art
Cabin lacks the technical issues of accurately controlling, cannot be satisfied the shooting work requirements of high quality of angle, and realizing can accurately control
Shooting angle improves the technique effect of imaging image quality.
This application provides the unmanned plane with angle adjustable gondola, the organism bottom setting installation of the unmanned plane
Frame；The unmanned plane with angle adjustable gondola includes：
Angle adjustable gondola is detachably connected with the mounting bracket；The angle adjustable gondola includes：
Main supporting plate is fixedly connected with the mounting bracket；
Secondary support plate is fixedly connected with the main supporting plate；
Course angle motor is fixedly connected with the secondary support plate；
The output end in the course angle motor is arranged in swivel mount；The course angle motor drives the swivel mount around perpendicular
D-axis rotates；
First attitude transducer is arranged on the course angle motor, to detect the output shaft of the course angle motor
Rotational angle obtains course angle information；
Pitch angle motor is fixed on one end of the swivel mount；
The output end in the pitch angle motor is arranged in imaging device；The pitch angle motor drives the imaging device
It is rotated around trunnion axis；
Second attitude transducer is arranged on the pitch angle motor, to detect the output shaft of the pitch angle motor
Rotational angle obtains pitching angle information；
Control unit, described control unit are connect with the course angle motor and the pitch angle motor；The control is single
Member controls the work or stopping of the course angle motor according to the course angle information；Described control unit is according to the pitch angle
Information controls the work or stopping of the pitch angle motor.
Preferably, the main supporting plate is fixedly connected by more pillars with the mounting bracket；
The main supporting plate is horizontally disposed；
The pillar is vertical with the main supporting plate to be fixedly connected.
Preferably, the pillar is cylinder type hollow pipe；
The both ends of the pillar open up internal thread, and one end is fixed by screws on the mounting bracket, and the other end passes through spiral shell
Nail is fixedly connected with the main supporting plate.
Preferably, the pair support plate is connect by multiple balls with the main supporting plate；
The main supporting plate is fixedly connected by more pillars with the mounting bracket；
The both ends of the pillar open up internal thread, and top is fixedly connected by screw with the mounting bracket, and bottom end passes through spiral shell
Nail is fixedly connected with the main supporting plate；
The multiple ball is respectively sleeved on the corresponding pillar；
The pair support plate corresponds to the more pillar trepannings；
The pair support plate is pressed on across the more pillars in the multiple ball；
The pair support plate is arranged in parallel with the main supporting plate.
Preferably, output axis connection of the swivel mount by the first connecting shaft and the course angle motor；
One end of first connecting shaft is fixedly connected by shaft coupling with the output shaft of the course angle motor, the other end
It is fixedly connected with the swivel mount；
First connecting shaft is vertically arranged；
The course angle motor drives the swivel mount to be rotated around first connecting shaft.
Preferably, first connecting shaft fixes the first spacing lever；
First connecting shaft is arranged the first ring set, and first ring set fixes two the first blocks；
First spacing lever resists first block after following the first connecting shaft rotation set angle, makes institute
The stopping of the first connecting shaft is stated to be rotated further；
The course angle motor is the decelerating motor of Double-directional rotary.
Preferably, the swivel mount includes：Two symmetrically set U-shaped aluminium alloy rod, more fixed links and link block；
The link block is fixedly connected with first connecting shaft by screw；
The both sides of the link block are fixedly connected in the middle part of the U-shaped aluminium alloy rod respectively by screw；
The both ends of the fixed link are fixedly connected by screw with the U-shaped aluminium alloy rod respectively；
The pitch angle motor outer sets fixed seat, and the fixed seat is fixed by screws in the U-shaped aluminium alloy rod
One end.
Preferably, the output shaft of the pitch angle motor is fixedly connected by shaft coupling with one end of the second connecting shaft；
The other end of second connecting shaft is fixed on the other end of the swivel mount by bearing；
The imaging device is arranged in fixed frame；
The fixed frame is fixedly connected with second connecting shaft；
Second connecting shaft is horizontally disposed；
The pitch angle motor drives the second connecting shaft rotation, the fixed frame and the imaging device to follow described
Second connecting shaft rotates.
Preferably, second connecting shaft fixes the second spacing lever；
Second connecting shaft is arranged the second ring set, and second ring set fixes two the second blocks；
Second spacing lever resists second block after following the second connecting shaft rotation set angle, makes institute
The stopping of the second connecting shaft is stated to be rotated further；
The pitch angle motor is the decelerating motor of Double-directional rotary.
Preferably, first attitude transducer is Magnetic Sensor；
Second attitude transducer is gyroscope；
The unmanned plane with angle adjustable gondola further includes：Communication unit；
The communication unit is connect with first attitude transducer, to receive the boat that first attitude transducer obtains
To angle information；
The communication unit is connect with second attitude transducer, to receive bowing for the second attitude transducer acquisition
Elevation information；
The communication unit can carry out information exchange with ambient controller；
The course angle information and the pitching angle information are sent to the ambient controller by the communication unit, described
Ambient controller generates control information according to the course angle information and the pitching angle information and sends the control information
To the communication unit；
The communication unit is connect with described control unit；
Described control unit receives the control information that the communication unit is sent, and is controlled according to the control information
The work or stopping of the course angle motor and the pitch angle motor.
One or more technical solutions provided herein, have at least the following technical effects or advantages：
The first attitude transducer is set as a result of the output end in course angle motor, to detect the defeated of course angle motor
The rotational angle of shaft obtains course angle information, and the second attitude transducer is arranged in the output end of pitch angle motor, is bowed with detection
The rotational angle of the output shaft of elevation angle motor obtains pitching angle information, and control unit is according to course angle information and pitching angle information
The rotation or stopping for controlling course angle motor and pitch angle motor, ensure the course angle of imaging device and the accurate tune of pitch angle
Section.In this way, efficiently solving gondola in the prior art lacks accurately controlling for angle, cannot be satisfied the shooting work of high quality needs
The technical issues of asking, shooting angle can be accurately controlled by realizing, and improve the technique effect of imaging image quality.
Description of the drawings
Fig. 1 is the explosive view of angle adjustable gondola provided in an embodiment of the present invention；
Fig. 2 be the pitch angle motor of angle adjustable gondola in Fig. 1, the second connecting shaft and bearing installation diagram；
Fig. 3 is the structural representation of the first ring set, the first block and the first spacing lever of angle adjustable gondola in Fig. 1
Figure；
Fig. 4 is the structural representation of the second ring set, the second block and the second spacing lever of angle adjustable gondola in Fig. 1
Figure；
Fig. 5 is the schematic enlarged-scale view of the swivel mount of angle adjustable gondola in Fig. 1.
(component that each label represents in diagram is followed successively by：1 first shell, 2 control units, 3 pillars, 4 course angle motors, 5
Secondary support plate, 6 first connecting shafts, 7 main supporting plates, 8 third shells, 9 pitch angle motors, 10 fixed seats, 11 fixed frames, 12 imagings
Equipment, 13 second attitude transducers, 14 bearings, 15 bearing blocks, 16 second shells, 17 swivel mounts, 18 first attitude transducers, 19
Communication unit, 20 second connecting shafts, 21 first blocks, 22 first ring sets, 23 first spacing levers, 24 second ring sets, 25 second
Block, 26 second spacing levers, 27U shapes aluminium alloy rod, 28 fixed links, 29 link blocks)
Specific implementation mode
Unmanned plane provided by the embodiments of the present application with angle adjustable gondola, solves or part solves existing skill
The shell of gondola is inconvenient to decouple with internal structure composition overall structure in art, causes manufacture, assembling and maintenance difficulty larger
Technical problem, by the way that first shell and main supporting plate to be detachably connected, and main supporting plate, secondary support plate and course angle motor are set
It sets inside first shell；Second shell and swivel mount are detachably connected, and swivel mount and pitch angle motor are arranged second
Enclosure interior；Third shell is detachably connected with imaging device, and imaging device is arranged in third shell, realizes gondola
Shell and the removable design of internal component, reduce the damage probability of shell, the technique effect for keeping shell easy to disassemble and replacing.
Referring to attached drawing 1, this application provides the unmanned plane with angle adjustable gondola, the organism bottom of unmanned plane is arranged
Mounting bracket；The unmanned plane with angle adjustable gondola includes：Angle adjustable gondola, is detachably connected with mounting bracket；It should
Angle adjustable gondola includes：Main supporting plate 7, secondary support plate 5, course angle motor 4, swivel mount 17, the first attitude transducer 18,
Pitch angle motor 9, imaging device 12, the second attitude transducer 13 and control unit 2.
Main supporting plate 7 is fixedly connected with mounting bracket；Secondary support plate 5 is fixedly connected with main supporting plate 7；Course angle motor 4 with
Secondary support plate 5 is fixedly connected；The output end in course angle motor 4 is arranged in swivel mount 17；Course angle motor 4 drive swivel mount 17 around
Vertical axes rotate；First attitude transducer 18 is arranged on course angle motor 4, to detect turn of the output shaft of course angle motor 4
Dynamic angle, obtains course angle information；Pitch angle motor 9 is fixed on one end of swivel mount 17；Imaging device 12 is arranged in pitch angle
The output end of motor 9；Pitch angle motor 9 drives imaging device 12 to be rotated around trunnion axis；The setting of second attitude transducer 13 is being bowed
On elevation angle motor 9, to detect the rotational angle of the output shaft of pitch angle motor 9, pitching angle information is obtained；Control unit 2 is arranged
On main supporting plate 7, it is connect with course angle motor 4 and pitch angle motor 9；Control unit 2 controls course according to course angle information
The work or stopping of angle motor 4 control the work or stopping of pitch angle motor 9 according to pitching angle information.
Wherein, the output end in pitch angle motor 9 is arranged in imaging device 12 and with rotating with it, realizes imaging device 12
Pitch angle adjust, and pitch angle motor 9 is fixed on the end of swivel mount 17, drives swivel mount 17 around perpendicular by course angle motor 4
D-axis rotates, and realizes that the course angle of imaging device 12 is adjusted；Course angle motor 4 is fixed on by secondary support plate 5 and main supporting plate 7
Under the mounting bracket of uav bottom, 12 multi-angle regulation of imaging device is realized, expands coverage；Light structure and securely steady
It is fixed, ensure that unmanned plane has higher working performance.In the output end of course angle motor 4, the first attitude transducer 18 is set, with
The rotational angle of the output shaft of course angle motor 4 is detected, course angle information is obtained, in the output end setting the of pitch angle motor 9
Two attitude transducers 13 obtain pitching angle information, control unit 2 to detect the rotational angle of the output shaft of pitch angle motor 9
According to the rotation or stopping of course angle information and pitching angle information control course angle motor 4 and pitch angle motor 9, ensure imaging device
12 course angle and the accurate adjusting of pitch angle.
Further, main supporting plate 7 is fixedly connected by more pillars 3 with mounting bracket；Main supporting plate 7 is horizontally disposed；Branch
Column 3 is vertical with main supporting plate 7 to be fixedly connected.As a kind of embodiment, pillar 3 is cylinder type hollow pipe；The both ends of pillar 3 open up
Internal thread, one end are fixed by screws on mounting bracket, and the other end is fixedly connected by screw with main supporting plate 7, is screwed
Mode, connection is firm, and easy disassembly.As another embodiment, mounting bracket is provided with a pair of parallel sliding slot；Pillar 3
For cylinder type hollow pipe；The both ends of pillar 3 open up internal thread, and one end is fixedly connected by screw with connecting plate, and the other end passes through
Screw is fixedly connected with main supporting plate 7；The two sides of connecting plate are respectively protruding into sliding slot, make pillar 3 and main supporting plate 7 and mounting bracket
It is fixedly connected, connecting plate, which is inserted into sliding slot, realizes tight fit, and convenient for disassembly and assembly, the stable connection of gondola and unmanned plane is firm.
Further, secondary support plate 5 is connect by multiple balls with main supporting plate 7；Main supporting plate 7 passes through more pillars
3 are fixedly connected with mounting bracket；The both ends of pillar 3 open up internal thread, and top is fixedly connected by screw with mounting bracket, and bottom end passes through
Screw is fixedly connected with main supporting plate 7；Multiple balls are respectively sleeved on corresponding pillar 3；Secondary support plate 5 corresponds to more branch
3 trepanning of column；Secondary support plate 5 is pressed on across more pillars 3 in multiple balls；Secondary support plate 5 is parallel with main supporting plate 7 to be set
It sets, realizes that main supporting plate 7, ball and secondary support plate 5 are pressed on the screw of 3 bottom end of pillar successively from the bottom to top respectively, pacify
Assembly and disassembly are very convenient, and ball plays good cushioning effect, ensure the steady of secondary support plate 5, and ball is easy to make
It makes and installs.Embodiment as one preferred, multiple balls are uniformly distributed around the center of circle of round main supporting plate 7, on the one hand ensure
On the other hand the horizontal position of secondary support plate 5 ensures the comfort cushioning effect to secondary support plate 5.Unmanned plane in flight course,
The shake that wind-force in vibration and environment that body itself generates be easy to cause main supporting plate 7 is more serious, is unfavorable for imaging device
12 detection stability；The uniformly distributed multiple balls of main supporting plate 7 can effectively slow down the jitter amplitude of secondary support plate 5, ensure to hang
The spatial position of the swivel mount 17 and imaging device 12 that hang over 5 lower section of secondary support plate is stablized, and the quality of detection image is improved.
Further, swivel mount 17 is fixedly connected by the first connecting shaft 6 with the output shaft of course angle motor 4；First connects
One end of spindle 6 is fixedly connected by shaft coupling with the output shaft of course angle motor 4, and the other end is fixedly connected with swivel mount 17；
First connecting shaft 6 is vertically arranged；Course angle motor 4 drives the rotation of the first connecting shaft 6, swivel mount 17 to follow 6 turns of the first connecting shaft
It is dynamic, realize that the course angle of imaging device 12 is adjusted.Referring to attached drawing 3, the first connecting shaft 6 fixes the first spacing lever 23；First connects
Spindle 6 is arranged the first ring set 22, and the first ring set 22 fixes two the first blocks 21；First spacing lever 23 follows the first connecting shaft
The first block 21 is resisted after 6 rotation set angles, the stopping of the first connecting shaft 6 is made to be rotated further.Course angle motor 4 is Double-directional rotary
Decelerating motor；Course angle motor 4 is arranged vertically；The angle range of first connecting shaft 6 is 0~270 °.
Further, referring to attached drawing 5, swivel mount 17 includes：Two symmetrically set U-shaped aluminium alloy rod 27, more fixations
Bar 28 and link block 29；Link block 29 is fixedly connected with the first connecting shaft 6 by screw；The both sides of link block 29 pass through screw point
It is not fixedly connected with the middle part of U-shaped aluminium alloy rod 27；The both ends of fixed link 28 are fixed by screw and U-shaped aluminium alloy rod 27 respectively
Connection.
Referring to attached drawing 2, the output end of pitch angle motor 9 is fixedly connected by shaft coupling with one end of the second connecting shaft 20；
The other end of second connecting shaft 20 is fixed on the other end of swivel mount 17 by bearing 14；Bearing 14 and the cooperation of bearing block 15 are solid
Fixed, bearing block 15 is fixed by screws in one end of U-shaped aluminium alloy rod 27；It is arranged fixed seat 10, fixed seat outside pitch angle motor 9
10 are fixed by screws in one end connection of U-shaped aluminium alloy rod 27.Imaging device 12 is arranged in fixed frame 11；Fixed frame 11 with
Second connecting shaft 20 is fixedly connected；Pitch angle motor 9 drives the rotation of the second connecting shaft 20, and fixed frame 11 and imaging device 12 follow
Second connecting shaft rotates, and realizes that the pitch angle of imaging device 12 is adjusted.Referring to attached drawing 4, the second connecting shaft 20 fixes the second limit
Lever 26；Second connecting shaft 20 is arranged the second ring set 24, and the second ring set 24 fixes two the second blocks 25；Second spacing lever 26
The second block 25 is resisted after following the second connecting shaft 20 to rotate set angle, the stopping of the second connecting shaft 20 is made to be rotated further.Pitching
Angle motor 9 is the decelerating motor of Double-directional rotary；Second connecting shaft 20 is horizontally disposed；The angle range of second connecting shaft 20 be 0~
120°。
Further, should further include with the unmanned plane of angle adjustable gondola：Communication unit 19 is arranged in main supporting plate
On 7；Communication unit 19 is connect with the first attitude transducer 18, to receive the course angle information that the first attitude transducer 18 obtains；
Communication unit 19 is connect with the second attitude transducer 13, to receive the pitching angle information that the second attitude transducer 13 obtains；Communication
Unit 19 can carry out information exchange with ambient controller；Course angle information and pitching angle information are sent to the external world by communication unit 19
Controller, ambient controller generate control information according to course angle information and pitching angle information and send control information to communication
Unit 19；Communication unit 19 is connect with control unit 2；The control information that the reception communication unit 19 of control unit 2 is sent, and according to
Control the work or stopping of information control course angle motor 4 and pitch angle motor 9.Embodiment as one preferred, the first appearance
State sensor 18 is Magnetic Sensor；Second attitude transducer 13 is gyroscope；Imaging device 12 is 30 times of optical lens cameras.
Further, which includes：First shell 1, second shell 16 and third shell 8；First shell
Body 1 is detachably connected with main supporting plate 7；Main supporting plate 7, secondary support plate 5 and course angle motor 4 are arranged inside first shell 1；
Second shell 16 is detachably connected with swivel mount 17；Swivel mount 17 and pitch angle motor 9 are arranged inside second shell 16；Third
Shell 8 is detachably connected with imaging device 12；Imaging device 12 is arranged in third shell 8.First shell 1, second shell 16
And third shell 8 can be decoupled quickly with gondola internal component, facilitate the manufacture, assembling and maintenance of gondola.First shell 1, second
The material of shell 16 and third shell 8 is wear-resistant plastic, while wrapping up gondola internal component, reduces the entirety weight of gondola
Amount.Main supporting plate 7 is to offer the round carbon fiber board of multiple lightening holes with secondary support plate 5；Fixed frame 11 is plastic material
Rectangular frame structure opens up multiple lightening holes.The rotation of the main supporting plate 7 of carbon fibre materials, secondary support plate 5 and aluminum alloy material
Frame 17, and multiple lightening holes are opened up in main supporting plate 7 and secondary support plate 5, ensure to reach weight loss effect while structural strength.
One or more technical solutions provided herein, have at least the following technical effects or advantages：
First attitude transducer 18 is set as a result of the output end in course angle motor 4, to detect course angle motor 4
Output shaft rotational angle, obtain course angle information, pitch angle motor 9 output end be arranged the second attitude transducer 13,
To detect the rotational angle of the output shaft of pitch angle motor 13, obtain pitching angle information, communication unit 19 by course angle information and
Pitching angle information is sent to ambient controller, and ambient controller generates control information simultaneously according to course angle information and pitching angle information
Send control information to communication unit 19；Control unit 2 receives the control information that communication unit 19 is sent, and is believed according to control
The work or stopping of breath control course angle motor 4 and pitch angle motor 9, ensure the essence of the course angle and pitch angle of imaging device 12
Really adjust.In this way, efficiently solving gondola in the prior art lacks accurately controlling for angle, the shooting work of high quality cannot be satisfied
The technical issues of making demand, shooting angle can be accurately controlled by realizing, and improve the technique effect of imaging image quality.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (7)
1. mounting bracket is arranged in the organism bottom of a kind of unmanned plane with angle adjustable gondola, the unmanned plane；Its feature exists
In the unmanned plane with angle adjustable gondola includes：
Angle adjustable gondola is detachably connected with the mounting bracket；The angle adjustable gondola includes：
Main supporting plate is fixedly connected with the mounting bracket；
Secondary support plate is fixedly connected with the main supporting plate；The pair support plate passes through multiple balls and the main supporting plate
Connection；The main supporting plate is fixedly connected by more pillars with the mounting bracket；The main supporting plate is horizontally disposed；The branch
Column is vertical with the main supporting plate to be fixedly connected；The pillar is cylinder type hollow pipe；The both ends of the pillar open up internal thread,
Top is fixedly connected by screw with the mounting bracket, and bottom end is fixedly connected by screw with the main supporting plate；It is the multiple
Ball is respectively sleeved on the corresponding pillar；The pair support plate corresponds to the more pillar trepannings；The secondary support
Plate is pressed on across the more pillars in the multiple ball；The pair support plate is arranged in parallel with the main supporting plate；
Course angle motor is fixedly connected with the secondary support plate；
The output end in the course angle motor is arranged in swivel mount；The course angle motor drives the swivel mount around vertical axes
Rotation；
First attitude transducer is arranged on the course angle motor, to detect the rotation of the output shaft of the course angle motor
Angle obtains course angle information；
Pitch angle motor is fixed on one end of the swivel mount；
The output end in the pitch angle motor is arranged in imaging device；The pitch angle motor drives the imaging device around water
Flat shaft rotation is dynamic；
Second attitude transducer is arranged on the pitch angle motor, to detect the rotation of the output shaft of the pitch angle motor
Angle obtains pitching angle information；
Control unit, described control unit are connect with the course angle motor and the pitch angle motor；Described control unit root
The work or stopping of the course angle motor are controlled according to the course angle information；Described control unit is according to the pitching angle information
Control the work or stopping of the pitch angle motor.
2. the unmanned plane with angle adjustable gondola as described in claim 1, which is characterized in that
The output axis connection that the swivel mount passes through the first connecting shaft and the course angle motor；
One end of first connecting shaft is fixedly connected by shaft coupling with the output shaft of the course angle motor, the other end and institute
Swivel mount is stated to be fixedly connected；
First connecting shaft is vertically arranged；
The course angle motor drives the first connecting shaft rotation, the swivel mount that first connecting shaft is followed to rotate.
3. the unmanned plane with angle adjustable gondola as claimed in claim 2, which is characterized in that
First connecting shaft fixes the first spacing lever；
First connecting shaft is arranged the first ring set, and first ring set fixes two the first blocks；
First spacing lever resists first block after following first connecting shaft rotation set angle, makes described the
The stopping of one connecting shaft is rotated further；
The course angle motor is the decelerating motor of Double-directional rotary.
4. the unmanned plane with angle adjustable gondola as claimed in claim 2, which is characterized in that
The swivel mount includes：Two symmetrically set U-shaped aluminium alloy rod, more fixed links and link block；
The link block is fixedly connected with first connecting shaft by screw；
The both sides of the link block are fixedly connected in the middle part of the U-shaped aluminium alloy rod respectively by screw；
The both ends of the fixed link are fixedly connected by screw with the U-shaped aluminium alloy rod respectively；
The pitch angle motor outer sets fixed seat, and the fixed seat is fixed by screws in one end of the U-shaped aluminium alloy rod.
5. the unmanned plane with angle adjustable gondola as described in claim 1, which is characterized in that
The output shaft of the pitch angle motor is fixedly connected by shaft coupling with one end of the second connecting shaft；
The other end of second connecting shaft is fixed on the other end of the swivel mount by bearing；
The imaging device is arranged in fixed frame；
The fixed frame is fixedly connected with second connecting shaft；
Second connecting shaft is horizontally disposed；
The pitch angle motor drives the second connecting shaft rotation, and the fixed frame and the imaging device follow described second
Connecting shaft rotates.
6. the unmanned plane with angle adjustable gondola as claimed in claim 5, which is characterized in that
Second connecting shaft fixes the second spacing lever；
Second connecting shaft is arranged the second ring set, and second ring set fixes two the second blocks；
Second spacing lever resists second block after following second connecting shaft rotation set angle, makes described the
The stopping of two connecting shafts is rotated further；
The pitch angle motor is the decelerating motor of Double-directional rotary.
7. the unmanned plane with angle adjustable gondola as described in claim 1, which is characterized in that
First attitude transducer is Magnetic Sensor；
Second attitude transducer is gyroscope；
The unmanned plane with angle adjustable gondola further includes：Communication unit；
The communication unit is connect with first attitude transducer, to receive the course angle that first attitude transducer obtains
Information；
The communication unit is connect with second attitude transducer, to receive the pitch angle that second attitude transducer obtains
Information；
The communication unit can carry out information exchange with ambient controller；
The course angle information and the pitching angle information are sent to the ambient controller, the external world by the communication unit
Controller generates control information according to the course angle information and the pitching angle information and the control information is sent to institute
State communication unit；
The communication unit is connect with described control unit；
Described control unit receives the control information that the communication unit is sent, and according to described in control information control
The work or stopping of course angle motor and the pitch angle motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790323.4A CN106347695B (en) | 2016-08-31 | 2016-08-31 | Unmanned plane with angle adjustable gondola |
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| CN201610790323.4A CN106347695B (en) | 2016-08-31 | 2016-08-31 | Unmanned plane with angle adjustable gondola |
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| CN106678216B (en) * | 2017-03-02 | 2018-10-26 | 于法周 | A kind of limiting device for activity swing arm on production line |
| CN113978746B (en) * | 2021-10-18 | 2023-04-25 | 东北石油大学 | Independently working photoelectric nacelle device for carrying helicopter |
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| US4752791A (en) * | 1987-07-28 | 1988-06-21 | Allred Charles N | Camera mount |
| JP2006264567A (en) * | 2005-03-25 | 2006-10-05 | Yamaha Motor Co Ltd | Helicopter |
| CN104668712A (en) * | 2013-11-27 | 2015-06-03 | 大连渤海起重机器股份有限公司 | Sliding rail locking structure of semiautomatic flame cutting machine |
| CN204141179U (en) * | 2014-10-22 | 2015-02-04 | 王军 | Three axle The Cloud Terrace capture apparatus |
| CN204836322U (en) * | 2015-06-30 | 2015-12-02 | 桂林飞宇电子科技有限公司 | Take moving camera of camera lens stabilization function |
| CN205480075U (en) * | 2015-12-31 | 2016-08-17 | 零度智控（北京）智能科技有限公司 | Cloud platform damping device and unmanned aerial vehicle |
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