CN108725817A - A kind of four axis unmanned planes with stabilization function - Google Patents

Abstract

The invention discloses a four-axis unmanned aerial vehicle with an anti-shake function, which comprises a flight device, a control device, a mounting seat, a connecting seat and four machine shafts, and the bottom of the mounting seat is fixedly installed with a pan-tilt; the pan-tilt includes a bracket , the first universal joint, the second universal joint and the third universal joint, the camera is fixedly installed on the bracket; the upper end of the first universal joint is fixed on the bottom of the mounting base, and the lower end of the first universal The first rotating shaft is hinged to the upper end of the second universal joint, and the first rotating shaft is perpendicular to the vertical section of the bracket; the lower end of the second universal joint is hinged to the upper end of the third universal joint through the second rotating shaft, and the second rotating shaft is connected to the bracket The vertical section of the vertical section is parallel, the first rotation axis and the second rotation axis are perpendicular to each other; the lower end of the third universal joint is fixedly installed on the bracket; the center of gravity of the camera and the bracket is on the axis where the center of gravity of the third universal joint is located, The invention has the beneficial effect of preventing camera image shaking, thereby improving the clarity of photographed pictures.

Description

A four-axis drone with anti-shake function

technical field

The invention relates to an unmanned aerial vehicle, in particular to a four-axis unmanned aerial vehicle with an anti-shake function.

Background technique

Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. Since the four-axis UAV has the advantages of light weight, simple structure, superior flight performance, fixed-point takeoff, landing and hovering in the air, it has been widely used in high-altitude operations, mainly for high-altitude shooting operations.

The camera of a traditional four-axis UAV needs to be installed on the fuselage through the gimbal. However, the gimbal and the fuselage of the UAV are usually rigidly connected, so that during the flight of the UAV, the interference of the external airflow and the mechanical vibration of the fuselage will be transmitted to the camera through the rigid structure of the gimbal, causing the camera The screen shakes, which affects the clarity of the captured pictures.

Although existing drones are also designed with anti-shake structures. For example, the application number is CN201710807316.5 UAV photography camera system and its displacement compensation mechanism, which uses the gyroscope to detect the slight shake of the mobile device, and then acquires images at two moments, and detects the pixel difference between the images at these two moments To get the amount of compensation movement, so as to drive the displacement compensation mechanism set on the UAV to achieve the purpose of anti-shake. However, the cloud platform it adopts has a complex structure, a large volume, and a high mechanical failure rate.

Contents of the invention

The purpose of the present invention is to solve the problem that the gimbal and the body of the existing four-axis UAV are usually rigidly connected, so that during the flight of the UAV, the interference of the external air flow and the mechanical vibration of the fuselage will pass through the gimbal. The rigid structure of the camera is transmitted to the camera, causing the image of the camera to shake, thereby affecting the clarity of the captured pictures. Provided is a four-axis unmanned aerial vehicle with an anti-shake function, which is simple in structure, convenient in control and stable in flight.

The purpose of the present invention can adopt following technical scheme to reach:

A four-axis unmanned aerial vehicle with an anti-shake function, including a fuselage, a flying device and a control device, the flying devices are at least four, and the flying devices are evenly distributed on the outer circumference of the fuselage, the control device Installed on the fuselage, the control device is electrically connected to the flying device; the fuselage includes a mounting base, a connecting base and four machine shafts, one end of the four machine shafts is symmetrically installed on the mounting base, and The axes of the four machine shafts are on the same plane; the flying device is set to four, and the flying device is respectively fixedly installed on the other ends of the four machine shafts through the connecting seat; the control device is installed on the mounting seat ;

The bottom of the mounting seat is fixedly equipped with a cloud platform; the cloud platform includes a bracket, a first universal joint, a second universal joint and a third universal joint, the camera is fixedly installed on the bracket, and the camera It is electrically connected with the control device; the upper end of the first universal joint is fixedly installed on the bottom of the mounting base, and the lower end of the first universal joint is hinged with the upper end of the second universal joint through the first rotating shaft, and the first rotating shaft perpendicular to the vertical section of the bracket; the lower end of the second universal joint is hinged to the upper end of the third universal joint through a second rotating shaft, the second rotating shaft is parallel to the vertical section of the bracket, the first rotating shaft and The second rotating shaft is perpendicular to each other; the lower end of the third universal joint is fixedly installed on the support; the center of gravity of the camera and the support is on the axis where the center of gravity of the third universal joint is located, and the camera and the support are The center of gravity of is below the center of gravity of the third universal joint.

As a preferred solution, the lower part of the first universal joint and the upper part of the second universal joint are provided with a first through hole, and the first rotating shaft is inserted into the first through hole so that the first universal joint The joint and the second universal joint are hinged together; the lower part of the second universal joint and the upper part of the third universal joint are provided with a second through hole, and the second rotating shaft is inserted into the second through hole And the second universal joint and the third universal joint are hinged together.

As a preferred solution, a counterweight is provided on the bracket, and a first slot hole is opened on the bracket, and the counterweight is fixedly installed on the bracket through the first slot hole; by adjusting the counterweight The installation position of the block, the center of gravity of the camera, counterweight and bracket is on the axis where the center of gravity of the third universal joint is located, and the center of gravity of the camera, counterweight and bracket is on the axis of the third universal joint below the center of gravity.

As a preferred solution, damping fluid is provided at the joint of the first universal joint and the second universal joint, and at the joint of the second universal joint and the third universal joint. When the fuselage shakes, the damping fluid is used to prevent the bracket from also pendulum swinging.

As a preferred solution, the bracket is provided with a second slotted hole, and the third universal joint is fixedly installed on the bracket through the second slotted hole.

As a preferred solution, the counterweight includes a first counterweight and a second counterweight, the first counterweight is fixedly mounted on the bracket, and the second counterweight passes through the first long slot The hole is fixedly installed on the bracket.

As a preferred solution, the flying device includes a motor and a propeller, the motor is fixedly mounted on the connecting seat, and the propeller is fixedly mounted on the output end of the motor.

As a preferred solution, the first rotating shaft and the second rotating shaft are respectively installed in the first through hole and the second through hole through bearings.

As a preferred solution, the control device includes a single-chip microcomputer or PLC.

Implement the present invention, have following beneficial effect:

In the present invention, since the center of gravity of the camera and the bracket is on the axis where the center of gravity of the third universal joint is located, the bracket can maintain a relatively static state when the drone shakes at a low frequency, so that the camera installed on the bracket remains stable without jittering. Specifically, when the fuselage of the drone experiences low-frequency shaking in the front and rear directions, the connection between the second universal joint and the third universal joint remains in a locked state. At this moment, the first universal joint swings back and forth along with the fuselage around the joint with the second universal joint through the first rotating shaft. And the center of gravity of the camera and the bracket is always on the axis where the center of gravity of the third universal joint is located, and the center of gravity of the camera and the bracket is below the third universal joint, so that the second universal joint, the third universal joint, the bracket and the camera remain relatively still. Similarly, when the UAV shakes in the left and right directions, the connection between the first gimbal and the second gimbal remains in a locked state, and at this time the second gimbal revolves around the connection with the third gimbal , and the center of gravity of the camera and the bracket is on the axis where the center of gravity of the third universal joint is located, and the center of gravity of the camera and the bracket is always below the third universal joint, so that the third universal joint, bracket and camera are always Keep a relatively still state to ensure the clarity of the shooting picture. Modified based on your edits.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structural representation of the four-axis unmanned aerial vehicle with anti-shake function of the present invention;

Fig. 2 is the structural representation of the pan-tilt of the four-axis unmanned aerial vehicle with anti-shake function of the present invention;

Fig. 3 is the schematic structural view of the universal joint of the four-axis unmanned aerial vehicle with anti-shake function of the present invention;

Fig. 4 is a schematic structural view of the first universal joint of the four-axis drone with anti-shake function in the present invention;

Fig. 5 is the structural representation of the second universal joint of the gimbal of the four-axis unmanned aerial vehicle with anti-shake function of the present invention;

Fig. 6 is a schematic structural view of the third universal joint of the gimbal of the four-axis drone with anti-shake function according to the present invention.

Among the figure, 1-body; 11-mounting seat; 12-connecting seat; 13-shaft; 2-flying device; 3-control device; 5-cloud platform; 51-bracket; 512-the second slotted hole; 52-the first universal joint; 53-the second universal joint; 54-the third universal joint; 55-the first rotating shaft; 56-the second rotating shaft; 57-the first through hole ; 58-second through hole; 59-bearing; counterweight 6; 61-counterweight 1; 62-counterweight 2; 10-camera.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example

1 to 6, the present embodiment relates to a four-axis unmanned aerial vehicle, including a fuselage 1, a flying device 2 and a control device 3, and the flying device 2 and the control device 3 are installed on the fuselage 1, and the control device 3 is electrically connected with the flying device 2 . The control device 3 includes a single-chip microcomputer or PLC. The fuselage 1 includes a mounting base 11, a connecting base 12 and four crankshafts 13, one end of the four crankshafts is mounted symmetrically on the mounting base 11, and the axes of the four crankshafts 13 are at the same On the plane; the flying device 2 is provided with four, and the flying device 2 is respectively fixedly installed on the other ends of the four machine shafts 13 through the connecting seat 12; the control device 3 is installed on the mounting seat 11; the four connecting The base 12 is symmetrically connected to the mounting base 11 through the crankshaft 13 , so that the flying devices 2 can be symmetrically distributed on the outer circumference of the mounting base 11 .

The bottom of the mounting seat 11 is fixedly equipped with a pan-tilt 5; as shown in Figure 4 and Figure 5, the pan-tilt 5 includes a bracket 51, a first universal joint 52, a second universal joint 53 and a third universal joint Section 54, the camera head 10 is fixedly installed on the bracket 51, and the camera head 10 is electrically connected to the control device 3; the upper end of the first universal joint 52 is fixedly installed on the bottom of the mounting seat 11, and the first universal joint The lower end of the joint 52 is hinged with the upper end of the second universal joint 53 through the first rotating shaft 55, and the first rotating shaft 55 is perpendicular to the vertical section of the support 51; Hinged with the upper end of the third universal joint 54, the second rotating shaft 56 is parallel to the vertical section of the support 51, and the lower end of the third universal joint 54 is fixedly mounted on the support 51; the camera 10 and The center of gravity of the bracket 51 is on the axis where the center of gravity of the third universal joint 54 is located. The first rotating shaft 55 and the second rotating shaft 56 are perpendicular to each other. The lower part of the first universal joint 52 and the upper part of the second universal joint 53 have a first through hole 57, and the first rotating shaft 55 is inserted into the first through hole 57 so that the first universal joint 52 is hinged with the second universal joint 53; the lower part of the second universal joint 53 and the upper part of the third universal joint 54 have a second through hole 58, and the second rotating shaft 56 is inserted into the The second through hole 58 hinges the second universal joint 53 and the third universal joint 54 together. More preferably, the first rotating shaft 55 and the second rotating shaft 56 are respectively installed in the first through hole 57 and the second through hole 58 through bearings 59 .

Since the center of gravity of the camera 10 and the bracket 51 is on the axis where the center of gravity of the third universal joint 54 is located, the bracket 51 can maintain a relatively static state when the drone shakes at a low frequency, so that the camera mounted on the bracket 51 The camera 10 remains stable without shaking. Specifically, when the fuselage 1 of the drone experiences low-frequency shaking in the front and rear directions, the connection between the second universal joint 53 and the third universal joint 54 remains in a locked state. At this time, the first universal joint 52 swings back and forth along with the fuselage 1 around the joint with the second universal joint 53 through the first rotating shaft 55 . And the center of gravity of the camera 10 and the support 51 is always on the axis where the center of gravity of the third universal joint 54 is located, and the center of gravity of the camera 10 and the support 51 is below the third universal joint 54, so that the second universal joint 53, The third gimbal 54 , the support 51 and the camera 10 are always in a relatively static state. Similarly, when the UAV shakes in the left and right directions, the connection between the first universal joint 52 and the second universal joint 53 remains in a locked state. The junction of the joint 53 rotates, and the center of gravity of the camera 10 and the support 51 is on the axis where the center of gravity of the third universal joint 54 is located, and the center of gravity of the camera 10 and the support 51 is always below the third universal joint 54, so that The third gimbal 54 , the support 51 and the camera 10 are always in a relatively static state, thereby ensuring the clarity of the shooting picture.

The support 51 is provided with a counterweight 6, and the support 51 is provided with a first slot 511, and the counterweight 6 is fixedly mounted on the support 51 through the first slot 511; by adjusting the counterweight The installation position of the block 6, the center of gravity of the camera 10, the counterweight 6 and the bracket 51 is on the axis where the center of gravity of the third universal joint 54 is located, and the camera 10, the counterweight 6 and the bracket 51 The center of gravity is below the center of gravity of the third universal joint 54 . When adjusting, after adjusting the position of the counterweight 6 on the first long slot hole 511, the counterweight 6 is fixed on the bracket 51, so that the center of gravity positions of the counterweight 6, the camera 10 and the bracket 51 can be adjusted conveniently , so that the center of gravity of the three is on the axis where the center of gravity of the third universal joint 54 is located and the center of gravity of the camera 10, the counterweight 6 and the bracket 51 is below the third universal joint 54, which is easy to adjust and convenience advantages.

The bracket 51 is provided with a second slotted hole 512, and the third universal joint is fixedly mounted on the bracket through the second slotted hole. By adjusting the position of the third universal joint 54 on the second slotted hole 512 and fixing it on the support 51, the position of the third universal joint 54 on the support 51 can be adjusted conveniently, so that the center of gravity of the third universal joint 54 is in line with the The center of gravity of the counterweight 6 , the camera 10 and the bracket 51 are on the same axis, and the center of gravity of the third universal joint is above the center of gravity of the counterweight 6 , the camera 10 and the bracket 51 .

The counterweight 6 includes a first counterweight 61 and a second counterweight 62, the first counterweight 61 is fixedly mounted on the bracket 51, and the second counterweight 62 passes through the first slotted hole 511 is fixedly installed on the bracket 51. By adjusting the position of the second counterweight 62 on the first long slot hole 511 and then fixing it on the bracket 51, the position of the center of gravity of the first counterweight 61, the second counterweight 62, the camera 10 and the bracket 51 can be adjusted conveniently. , so that the center of gravity of the three is on the axis where the center of gravity of the third universal joint 54 is located, the adjustment is simple and convenient.

Damping fluid is provided at the joint between the first universal joint 52 and the second universal joint 53 and at the joint between the second universal joint 53 and the third universal joint 54 . When the fuselage 1 shakes, the damping fluid is used to prevent the bracket 51 from pendulum swinging.

The flying device 2 includes a motor 21 and a propeller 22 , the motor 21 is fixedly mounted on the connection base 12 , and the propeller 22 is fixedly mounted on the output end of the motor 21 . The control device 3 controls the motor 21 to work, and the motor 21 drives the propeller 22 to rotate to generate lift. This lift pulls the fuselage 1 up and/or moves horizontally.

The above disclosure is only a preferred embodiment of the present invention, which certainly cannot limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (9)

1. a kind of four axis unmanned planes with stabilization function, it is characterised in that：Including fuselage, flight instruments and control device, institute It states flight instruments and is at least set as four, and flight instruments are uniformly distributed on the excircle of fuselage, the control device is installed on On fuselage, the control device is electrically connected with the flight instruments；The fuselage includes mounting base, connecting seat and four arbors, One end of four arbors is symmetrically arranged in mounting base, and at the axis of four arbors in the same plane；It is described to fly It is four that luggage, which installs, and flight instruments are fixedly installed in by connecting seat on the other end of four arbors respectively；The control Device is installed in mounting base；

Bottom in the mounting base is installed with holder；The holder include holder, the first universal joint, the second universal joint and Third universal joint, camera are fixedly installed on the holder, and the camera is electrically connected with control device；Described 10000th The bottom of mounting base is fixedly installed in the upper end of section, and the lower end of the first universal joint passes through first rotating shaft and the second universal joint Upper end is hinged, and the first rotating shaft is vertical with the vertical section of holder；The lower end of second universal joint by the second shaft with The upper end of third universal joint is hinged, and second shaft is parallel with the vertical section of holder, the first rotating shaft and the second shaft It is mutually perpendicular to；The lower end of the third universal joint is fixedly installed on the holder；The center of gravity of the camera and holder is in On axis residing for the center of gravity of the third universal joint, and the center of gravity of camera and holder is in the center of gravity of the third universal joint Lower section.

2. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：It is set on the holder There is clump weight, the first long slot bore is provided on the holder, the clump weight is fixedly mounted on by the first long slot bore on holder；It is logical The installation site of clump weight is overregulated, the center of gravity of the camera, clump weight and holder is in the center of gravity of the third universal joint On residing axis, and the center of gravity of camera, clump weight and holder is in below the center of gravity of the third universal joint.

3. a kind of four axis unmanned planes with stabilization function according to claim 1 or 2, it is characterised in that：The holder On be provided with the second long slot bore, the third universal joint is fixedly installed in by the second long slot bore on holder.

4. a kind of four axis unmanned planes with stabilization function according to claim 2, it is characterised in that：Described first is universal The lower part of section and the top of the second universal joint offer first through hole, and the first rotating shaft inserts into the first through hole and by One universal joint is together with the second universal joint articulated；The lower part of second universal joint and the top of third universal joint offer Two through-holes, second shaft are inserted into second through-hole and by the second universal joint together with third universal joint articulated.

5. a kind of four axis unmanned planes with stabilization function according to claim 2, it is characterised in that：The clump weight packet The first clump weight and the second clump weight are included, first clump weight is fixedly installed on holder, and second clump weight passes through One long slot bore is fixedly installed on holder.

6. a kind of four axis unmanned planes with stabilization function according to claim 1 or 4, it is characterised in that：Described first The hinged place and second universal joint of universal joint and the second universal joint are equipped with damping fluid with the hinged place of third universal joint.

7. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：The flight instruments Including motor and propeller, the motor is fixedly installed on connecting seat, and propeller is fixedly installed on the output end of motor.

8. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：The first rotating shaft It is respectively arranged in first through hole and the second through-hole by bearing with the second shaft.

9. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：The control device Including microcontroller or PLC.