CN109606716A - Unmanned aerial vehicle airborne stability augmentation holder system suitable for directional communication antenna - Google Patents
Unmanned aerial vehicle airborne stability augmentation holder system suitable for directional communication antenna Download PDFInfo
- Publication number
- CN109606716A CN109606716A CN201811471512.0A CN201811471512A CN109606716A CN 109606716 A CN109606716 A CN 109606716A CN 201811471512 A CN201811471512 A CN 201811471512A CN 109606716 A CN109606716 A CN 109606716A
- Authority
- CN
- China
- Prior art keywords
- motor
- rolling
- pitching
- yaw
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/18—Means for stabilising antennas on an unstable platform
-
- 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
Abstract
The invention provides an unmanned aerial vehicle airborne stability-increasing pan-tilt system suitable for a directional communication antenna, which comprises an installation frame, a pitching mechanism, a yawing mechanism and a rolling mechanism, wherein the pitching mechanism is formed by a pitching piece and a pitching motor, the rolling mechanism is formed on the pitching piece by a rolling piece and a rolling motor, and the yawing mechanism is formed on the rolling piece by the yawing piece and the yawing motor. The antenna load is installed in a hoisting mode, interference cannot be caused in the moving process, and directional communication with the ground station in any direction can be realized; the universality of the holder system can be enhanced by the installation in the hoisting mode, and the holder system is suitable for communication antennas with different sizes; pitching, yawing and rolling of the communication antenna are realized through three same power assemblies, a rapid assembly design is realized, and flexible replacement can be realized when a certain power assembly fails; the power assembly adopts a mode of combining the motor and the gear set, so that accurate, rapid orientation and stability augmentation of the large-mass communication antenna are achieved. The invention is applied to the field of holder communication.
Description
Technical field
The present invention relates to clouds terrace systems more particularly to a kind of unmanned aerial vehicle onboard suitable for beam communication antenna to increase steady holder
System.
Background technique
The existing airborne steady tripod head equipment of increasing is mostly camera design, due to camera feature itself, " the buddhist of for example big boundary of this kind of holder
Think " holder, be to carry out support loads using bottom bracket, load is limited by holder model, can not arbitrarily replace, versatility compared with
Difference.It traditional camera is directly increased into steady holder applies and increase surely in beam communication relaying platform with above there is such Railway Project: 1, leading to
Believe that antenna size is bigger compared with camera, the existing steady holder of increasing can not be installed, and the holder overall dimensions that can install antenna are larger,
It is not suitable for for small-sized fixed-wing unmanned plane；2, antenna needs are replaced according to practical application scene, and existing camera head is more
It is specially designed for some models camera, versatility is insufficient；3, existing holder shaft junction is connected using metal slip, works as high frequency
Communication line will cause serious spectral leakage when passing through slip ring, influence communication quality.
Summary of the invention
For increase in the prior art steady holder can not be suitable for small-sized fixed-wing unmanned plane on big quality communications antenna this
One problem, the object of the present invention is to provide a kind of unmanned aerial vehicle onboards suitable for beam communication antenna to increase steady clouds terrace system, quickly
Realization and any direction earth station beam communication, and increase to the steady effect of increasing of big quality communications antenna, in unmanned plane
When movement, guarantee the stability that antenna is directed toward.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is that:
A kind of steady clouds terrace system of unmanned aerial vehicle onboard increasing suitable for beam communication antenna, including mounting rack, Yawing mechanism, rolling
Rotation mechanism and luffing mechanism；
The Yawing mechanism includes yawing part and the yaw motor for being fixedly connected on mounting rack bottom, and the one of the yaw part
End is connected with the output end of yaw motor, and the rotation mechanism for wind is fixedly connected on the other end of yaw part；
The rotation mechanism for wind includes rolling part and the rolling motor that is fixedly connected on yaw part, one end of the rolling part
It is connected with the output end of rolling motor, the luffing mechanism is fixedly connected on the other end of rolling part；
The luffing mechanism includes pitching part and the pitching motor that is fixedly connected on rolling part, one end of the pitching part
It is connected with the output end of pitching motor, the other end of the pitching part is equipped with the mounting portion that can install communication antenna；
The output end of the yaw motor and the output end of rolling motor are mutually perpendicular to, the output end of the rolling motor with
The output end of pitching motor is mutually perpendicular to.
As a further improvement of the above technical scheme, on the output end of the yaw motor, the output end of rolling motor
More step reduction mechanism is equipped on upper, pitching motor output end.
As a further improvement of the above technical scheme, the more step reduction mechanism include intermeshing first gear with
Second gear and intermeshing third gear and the 4th gear, the second gear and third gear are coaxial, described in three
First gear is respectively fixedly connected on the output end of yaw motor, on the output end of rolling motor or the output end of pitching motor
On, the connector that can connect yaw part, rolling part or pitching part is respectively equipped on the gear shaft of three the 4th gears.
As a further improvement of the above technical scheme, the transmission ratio of the first gear and second gear is 1: 2~1:
2.5, the transmission ratio of the third gear and the 4th gear is 1: 4~1: 4.5.
As a further improvement of the above technical scheme, the yaw part includes yaw portion and interconnecting piece, the yaw portion
It is connected with the output end of yaw motor, one end of the interconnecting piece is connected with yaw portion, and the other end is connected with rolling motor, described
More step reduction mechanism on rolling motor is between yaw portion and rolling motor.
As a further improvement of the above technical scheme, the rolling part includes rolling portion and support portion, the rolling portion
It is connected with the output end of rolling motor, the quantity of the support portion is two and is symmetrically connected to the both ends in rolling portion, described to bow
It faces upward motor to be fixedly connected on two support portions, the more step reduction mechanism on the pitching motor is located between two support portions.
As a further improvement of the above technical scheme, the pitching part includes pitching portion and connecting plate, the pitching portion
It is connected with the output end of pitching motor, one end of the connecting plate is connected with pitching portion, and the mounting portion is located at the another of connecting plate
One end, the length of the connecting plate be greater than rolling motor and rolling part length and.
As a further improvement of the above technical scheme, the mounting rack includes mounting plate, and the yaw motor is fixed to be connected
It connects and is equipped at intervals with several outwardly extending fixed plates on the bottom of mounting plate, the edge of the mounting plate, the fixed plate
One end is fixedly connected with a mounting plate, and the other end is equipped with the lifting plate upwardly extended.
As a further improvement of the above technical scheme, the lifting plate includes fixed part and lifting portion, the fixed part
It is connected to the bottom of corresponding fixed plate, the one end in the lifting portion is connected with fixed part, and the other end extends upwardly to corresponding fixation
The top of plate.
As a further improvement of the above technical scheme, the fixed part passes through several shock-absorbing ball phases with corresponding fixed plate
Even.
Advantageous effects of the invention:
The present invention forms Yawing mechanism by yaw part and yaw motor on mounting rack, then passes through rolling on yaw part
Turn part and rolling motor form rotation mechanism for wind, luffing mechanism is finally formed by pitching part and pitching motor on rolling part, and
And using the mode of lifting, the plane normal of the communication antenna on pitching part is allowed to be directed toward hemisphere below the plane of mounting rack
Any direction in face had both been able to achieve the beam communication with the earth station of any direction, not will receive interference during rotation,
It can be suitably used for various sizes of communication antenna, promote the versatility for increasing steady clouds terrace system, realize communication day by three motors
Pitching, yaw and the rolling of line are realized rapid assembly design, can flexibly be replaced when a certain motor breaks down, together
Tri- motors of Shi Caiyong drive jointly, can effectively realize the accurate slewing to big quality communications antenna and increase steady.
Detailed description of the invention
Fig. 1 is the positive shaft side figure of the present embodiment；
Fig. 2 is the oblique shaft side figure of the present embodiment；
Fig. 3 is the reversed shaft side figure of the present embodiment；
Fig. 4 is the structural schematic diagram of more step reduction mechanism.
Specific embodiment
For the ease of implementation of the invention, it is further described below with reference to specific example.
A kind of unmanned aerial vehicle onboard suitable for beam communication antenna as shown in Figs 1-4 increases steady clouds terrace system, including installation
Frame, Yawing mechanism, rotation mechanism for wind and luffing mechanism, Yawing mechanism, rotation mechanism for wind and luffing mechanism are respectively positioned on the lower section of mounting rack.
Yawing mechanism includes yawing part and being fixedly connected on the yaw motor 11 of mounting rack bottom, yaws one end and partially of part
The output end of avionics machine 11 is connected, and rotation mechanism for wind is fixedly connected on the other end of yaw part.
Specifically, rotation mechanism for wind includes rolling part and the rolling motor 21 that is fixedly connected on yaw part, the one of rolling part
End is connected with the output end of rolling motor 21, and luffing mechanism is fixedly connected on the other end of rolling part.
Specifically, luffing mechanism includes pitching part and the pitching motor 31 that is fixedly connected on rolling part, the one of pitching part
End is connected with the output end of pitching motor 31, and the other end of pitching part is equipped with the mounting portion that can install communication antenna 6.
Wherein, the output end of yaw motor 11 and the output end of rolling motor 21 are mutually perpendicular to, the output of rolling motor 21
It holds and is mutually perpendicular to the output end of pitching motor 31, enable communication antenna in yaw motor 11, yaw motor 21 and pitching
The beam communication with the earth station of any direction is realized under the drive of motor 31.
The present embodiment forms Yawing mechanism by yaw part and yaw motor 11 on mounting rack, then leads on yaw part
It crosses rolling part and rolling motor 21 forms rotation mechanism for wind, pitching is finally formed by pitching part and pitching motor 31 on rolling part
Mechanism, and using the mode of lifting, allow the plane normal of the communication antenna 6 on pitching part to be directed toward the plane of mounting rack
Any direction in the hemisphere face of lower section had both been able to achieve the beam communication with the earth station of any direction, and during rotation not
It will receive interference, also can be suitably used for various sizes of communication antenna 6, promote the versatility for increasing steady clouds terrace system, pass through three electricity
Machine realizes the pitching, yaw and rolling of communication antenna, using rapid assembly design, can when a certain motor breaks down energy
Enough flexibly replacements, while being driven jointly using three motors, realize the accurate slewing and increasing to big quality communications antenna 6
Surely.
It is further preferred that on the output end of yaw motor 11, on the output end of rolling motor 21, pitching motor 31 it is defeated
More step reduction mechanism is equipped in outlet.
Specifically, more step reduction mechanism includes intermeshing first gear 41 and second gear 42 and phase with reference to Fig. 4
The third gear 43 and the 4th gear 44 mutually engaged, second gear 42 and third gear 43 are coaxial, and three first gears 41 are distinguished
It is fixedly connected on the output end of yaw motor 11, on the output end of rolling motor 21 or on the output end of pitching motor 31, three
The connector 45 that can connect yaw part, rolling part or pitching part is respectively equipped on the gear shaft of a 4th gear 44.So that partially
The Power Component of motor Yu gear set binding pattern can be formed on plane structure, rotation mechanism for wind and luffing mechanism, it is further real
It is now steady to the accurate slewing of big quality communications antenna and increasing.
Wherein, more step reduction mechanism further includes having gear-box 46, and the both ends of gear-box 46 are respectively equipped with input shaft and output
Axis, gear-box 46 is interior to be equipped with transmission shaft, and first gear 41 is located on input shaft, and second gear 42, third gear 43 are located at transmission
On axis, the 4th gear 44 is located on output shaft.The input shaft output with yaw motor 11 respectively on three more step reduction mechanisms
The output end at end, the output end of rolling motor 21 or pitching motor 31 is connected, the output shaft difference on three more step reduction mechanisms
It is connected with corresponding connector 45.First gear 41, second gear 42, third gear 43 and the 4th gear 44 are respectively positioned on gear-box
In 46, high control precision is mentioned to reduce gear running clearance filled with lubricating grease in gear-box 46.
The output end of pitching motor 31 is equipped with cloud platform rotation and measures code-disc, i.e. sensor, for measuring communication antenna 6
Rotational angle.
It is further preferred that the transmission ratio of first gear 41 and second gear 42 is 1: 2~1: 2.5, third gear 43 with
The transmission ratio of 4th gear 44 is 1: 4~1: 4.5.In the present embodiment, the transmission ratio of first gear 41 and second gear 42 is 1:
2.34；The transmission ratio of third gear 43 and the 4th gear 44 is 1: 4.09.Slowed down by magnitude and realizes larger weight communication antenna 6
Increasing it is steady.It wherein, is steel and two kinds of unlike materials of copper between the gear being meshed, to avoid the tooth in high-speed overload
Adhesion between wheel, specifically, first gear 41 is made of copper with third gear 43, second gear 42 and the 4th gear 44 are by steel
It is made.
Yawing part includes yaw portion 121 and interconnecting piece 122, and yaw portion 121 is connected with the output end of yaw motor 11, connection
The one end in portion 122 is connected with yaw portion 121, and the other end is connected with rolling motor 21, the more step reduction mechanism on rolling motor 21
Between yaw portion 121 and rolling motor 21.Rolling part includes rolling portion 221 and support portion 222, rolling portion 221 and rolling
The output end of motor 21 is connected, and the quantity of support portion 222 is two and is symmetrically connected to the both ends in rolling portion 221, pitching motor
31 are fixedly connected on two support portions 222, and the more step reduction mechanism on pitching motor 31 is located between two support portions 222.
Pitching part includes pitching portion 321 and connecting plate 322, and pitching portion 321 is connected with the output end of pitching motor 31, connecting plate 322
One end is connected with pitching portion 321, and mounting portion is located at the other end of connecting plate 322, and the length of connecting plate 322 is greater than rolling motor 21
With rolling part length and.
It is further preferred that mounting rack includes mounting plate 51, yaw motor 11 is fixedly connected on the bottom of mounting plate 51, peace
Several outwardly extending fixed plates 52, one end of fixed plate 52 and 51 stationary phase of mounting plate are equipped at intervals on the edge of loading board 51
Even, the other end is equipped with the lifting plate upwardly extended.In this implementation, the quantity of fixed plate 52 is four, and four fixed plates 52 form
Clouds terrace system around mounting plate 51, is fixed on by cross-shaped structure by four fixed plates 52 for being in cross-shaped structure respectively
On unmanned plane, so that unmanned plane is more uniformly stressed, to promote the increasing stability energy of clouds terrace system.
It is further preferred that lifting plate includes fixed part 531 and lifting portion 532, fixed part 531 is connected to corresponding fixed plate
One end of the bottom of corresponding end on 52, lifting portion 532 is connected with fixed part 531, and the other end extends upwardly to corresponding fixed plate 52
Top.Clouds terrace system is lifted on to the bottom of unmanned plane by four lifting portions 532, technical ability guarantee unmanned plane uniformly by
Power also can prevent the body of unmanned plane from causing to interfere to the rotation of communication antenna.
It is further preferred that fixed part 531 is connected with corresponding fixed plate 52 by several shock-absorbing balls 54.Specifically, fixed
The first through hole there are three distribution triangular in shape is set in portion 531, sets that there are three domain first through hole corresponding second in fixed plate 52
Through-hole, first through hole are connected with corresponding second through-hole by shock-absorbing ball 54, and shock-absorbing ball 54 is including sphere and is connected to sphere
The embedded division of upper and lower ends, sphere and embedded division are integrally formed, and shock-absorbing ball 54, which is equipped with, extends vertically through sphere and two insertions
The through hole in portion, during the installation process, by passing through with corresponding second, sphere is located at solid for two embedded division distribution insertions first
Determine to play buffer function between portion 531 and fixed plate 52, and through hole is passed through by bolt, to play fixed fixed part
531 with the effect of fixed plate 52.Wherein, it is laid out using trigonometric expression, has effectively taken into account pressure-bearing and damping effect.
Contain the explanation of the preferred embodiment of the present invention above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to for summary of the invention being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (10)
1. a kind of unmanned aerial vehicle onboard suitable for beam communication antenna increases steady clouds terrace system, which is characterized in that including mounting rack, partially
Plane structure, rotation mechanism for wind and luffing mechanism；
The Yawing mechanism includes yawing part and being fixedly connected on the yaw motor of mounting rack bottom, one end of the yaw part with
The output end of yaw motor is connected, and the Yawing mechanism is fixedly connected on the other end of yaw part；
The rotation mechanism for wind includes rolling part and the rolling motor that is fixedly connected on yaw part, one end of the rolling part and rolling
The output end of rotating motor is connected, and the luffing mechanism is fixedly connected on the other end of rolling part；
The luffing mechanism includes pitching part and the pitching motor that is fixedly connected on rolling part, one end of the pitching part with bow
The output end for facing upward motor is connected, and the other end of the pitching part is equipped with the mounting portion that can install communication antenna；
The output end of the yaw motor and the output end of rolling motor are mutually perpendicular to, the output end of the rolling motor and pitching
The output end of motor is mutually perpendicular to.
2. increasing steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to claim 1, which is characterized in that
Multistage speed reducer is equipped on the output end of the yaw motor, on the output end of rolling motor, on the output end of pitching motor
Structure.
3. increasing steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to claim 2, which is characterized in that
The more step reduction mechanism includes intermeshing first gear and second gear and intermeshing third gear and the 4th
Gear, the second gear and third gear are coaxial, and three first gears are respectively fixedly connected with the output in yaw motor
On end, on the output end of rolling motor or on the output end of pitching motor, set respectively on the gear shaft of three the 4th gears
There is the connector that can connect yaw part, rolling part or pitching part.
4. increasing steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to claim 3, which is characterized in that
The transmission ratio of the first gear and second gear is 1: 2~1: 2.5, and the transmission ratio of the third gear and the 4th gear is 1:
4~1: 4.5.
5. increase steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to any one of claim 2 to 4,
It is characterized in that, the yaw part includes yaw portion and interconnecting piece, and the yaw portion is connected with the output end of yaw motor, the company
One end of socket part is connected with yaw portion, and the other end is connected with rolling motor, and the more step reduction mechanism on the rolling motor is located at
Between yaw portion and rolling motor.
6. increase steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to any one of claim 2 to 4,
It is characterized in that, the rolling part includes rolling portion and support portion, and the rolling portion is connected with the output end of rolling motor, the branch
The quantity of support part is two and is symmetrically connected to the both ends in rolling portion, and the pitching motor is fixedly connected on two support portions,
More step reduction mechanism on the pitching motor is located between two support portions.
7. increase steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to any one of claim 2 to 4,
It is characterized in that, the pitching part includes pitching portion and connecting plate, and the pitching portion is connected with the output end of pitching motor, the company
One end of fishplate bar is connected with pitching portion, and the mounting portion is located at the other end of connecting plate, and the length of the connecting plate is greater than rolling
Motor and rolling part length and.
8. increase steady clouds terrace system to the unmanned aerial vehicle onboard for being suitable for beam communication antenna described in 4 any one according to claim 1,
It is characterized in that, the mounting rack includes mounting plate, and the yaw motor is fixedly connected on the bottom of mounting plate, the mounting plate
Several outwardly extending fixed plates are equipped at intervals on edge, one end of the fixed plate is fixedly connected with a mounting plate, and the other end is set
There is the lifting plate upwardly extended.
9. increasing steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to claim 8, which is characterized in that
The lifting plate includes fixed part and lifting portion, and the fixed part is connected to the bottom of corresponding fixed plate, and the one of the lifting portion
End is connected with fixed part, and the other end extends upwardly to the top of corresponding fixed plate.
10. increasing steady clouds terrace system suitable for the unmanned aerial vehicle onboard of beam communication antenna according to claim 9, feature exists
In the fixed part is connected with corresponding fixed plate by several shock-absorbing balls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811471512.0A CN109606716A (en) | 2018-12-04 | 2018-12-04 | Unmanned aerial vehicle airborne stability augmentation holder system suitable for directional communication antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811471512.0A CN109606716A (en) | 2018-12-04 | 2018-12-04 | Unmanned aerial vehicle airborne stability augmentation holder system suitable for directional communication antenna |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109606716A true CN109606716A (en) | 2019-04-12 |
Family
ID=66005836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811471512.0A Pending CN109606716A (en) | 2018-12-04 | 2018-12-04 | Unmanned aerial vehicle airborne stability augmentation holder system suitable for directional communication antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606716A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110631418A (en) * | 2019-08-29 | 2019-12-31 | 北京宏大和创防务技术研究院有限公司 | Unmanned aerial vehicle micro weapon system with intelligent observing and hitting integrated function |
| WO2022094744A1 (en) * | 2020-11-03 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Gimbal system and mobile platform |
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Application publication date: 20190412 |