CN109606718A - A kind of three-axis stabilization holder and unmanned plane - Google Patents
A kind of three-axis stabilization holder and unmanned plane Download PDFInfo
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- CN109606718A CN109606718A CN201811629855.5A CN201811629855A CN109606718A CN 109606718 A CN109606718 A CN 109606718A CN 201811629855 A CN201811629855 A CN 201811629855A CN 109606718 A CN109606718 A CN 109606718A
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- yaw
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- outline border
- synchronous pulley
- inside casing
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- 230000006641 stabilisation Effects 0.000 title claims abstract description 43
- 238000011105 stabilization Methods 0.000 title claims abstract description 43
- 238000005096 rolling process Methods 0.000 claims abstract description 62
- 230000001360 synchronised effect Effects 0.000 claims description 80
- 238000010586 diagram Methods 0.000 description 8
- 238000004880 explosion Methods 0.000 description 6
- 201000009482 yaws Diseases 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a kind of three-axis stabilization holder and unmanned planes, are related to unmanned plane field.The three-axis stabilization holder includes fixed bracket, outline border, inside casing, pitching driving assembly, rolling driving assembly and yaw driving assembly.Fixed bracket is fixedly connected with the fuselage of fixed-wing unmanned plane；Outline border is fixedly connected with fixed bracket；Inside casing is set in outline border, and is connected with outline border；Pitching driving assembly is set to outline border, and for driving inside casing to complete the rotation of pitch orientation；Rolling driving assembly is set to outline border, and for driving outline border to complete the rotation in rolling direction；Yaw driving assembly is set to inside casing, and yaw driving assembly is equipped with equipment platform, and equipment platform is flexibly connected with inside casing, and for installing equipment, yaw driving assembly is for driving equipment platform in the rotation of yaw direction.The holder is suitable for small-sized fixed-wing unmanned plane, can shoot under the premise of not changing aircraft utilization mode and service performance and export image that is stable and not shaking with aspect.
Description
Technical field
The present invention relates to unmanned plane fields, in particular to a kind of three-axis stabilization holder and unmanned plane.
Background technique
Unmanned air vehicle technique is achieved in the fields such as mapping of taking photo by plane and is more and more widely used in recent years, is executing shooting task
When unmanned plane obtain picture quality just become very important mission requirements, in addition to image definition, image resolution ratio
It is also higher and higher to the stability requirement of output image other than there are certain requirements.However unmanned plane will necessarily go out in flight course
The now inclination of the body posture as caused by the deflection of course, furthermore the liter of aircraft or decline while also result in body come back or
It bows.This attitudes vibration in aircraft, be it is random, mostly along with the shake of body, amplitude and frequency are also prior
It is unpredictable.
In order to obtain better image effect, a kind of can provide for camera is installed on body and increases the steady as cloud of steady technology
Platform is common way.Current existing UAV system surely mostly uses greatly the stable holder of external hanging camera as holder, and holder is hung
It is loaded in below ventral.This carry scheme has been widely used for the flying platforms such as multi-rotor unmanned aerial vehicle, unmanned helicopter, part
Medium-and-large-sized fixed-wing unmanned plane also uses this scheme.
This image stabilization formula has preferable application effect under most of unmanned plane application background.But for small-sized fixation
Wing unmanned plane, the use that external hanging camera stablizes holder are greatly limited.On the one hand, it is restricted by using area, it is small-sized solid
Determine the wing and be often used the landing modes that ventral slides, this mode requires ventral directly to bottom out, can not plug-in holder；On the other hand,
This scheme is affected to the aerodynamic configuration of aircraft, can largely influence flying speed and boat by the resistance that holder generates
Journey.Therefore, for small-sized fixed-wing unmanned plane, a kind of stable holder of built-in camera is designed, can be risen and external hanging type holder phase
Same is steady as effect, and does not change the existing usage mode of unmanned plane, does not reduce the original technical performance index of aircraft, very must
It wants.
Based on this, present application is made.
Summary of the invention
The purpose of the present invention is to provide a kind of three-axis stabilization holder, the three-axis stabilization holder be suitable for small-sized fixed-wing without
It is man-machine, it can shoot under the premise of not changing aircraft utilization mode and service performance and export stable and do not trembled with aspect
Dynamic image.
Another object of the present invention is to provide a kind of unmanned plane, which includes above-mentioned three-axis stabilization holder.Cause
This, which can be under the premise of changing aircraft utilization mode and service performance, and shooting output is stable and not with aircraft
The image of attitude jitter.
The embodiment of the present invention is achieved in that
A kind of three-axis stabilization holder is used for small-sized fixed-wing unmanned plane, comprising:
Fixed bracket, fixed bracket are fixedly connected with the fuselage of fixed-wing unmanned plane；
Outline border, outline border are fixedly connected with fixed bracket；
Inside casing is set in outline border, and is connected with outline border；
Pitching driving assembly is set to outline border, and for driving inside casing to complete the rotation of pitch orientation；
Rolling driving assembly is set to outline border, and for driving outline border to complete the rotation in rolling direction；
Driving assembly is yawed, inside casing is set to, yaw driving assembly is equipped with equipment platform, equipment platform and inside casing activity
Connection, and for installing equipment, yaw driving assembly is for driving equipment platform in the rotation of yaw direction.
Further, in the preferred embodiment, pitching driving assembly includes pitch-control motor, the first pitching synchronization
Belt wheel, the second pitching synchronous pulley, first rotating shaft and first bearing；
Wherein, the first pitching synchronous pulley is fixedly connected by screw with first rotating shaft and inside casing, and the second pitching is synchronous
Belt wheel is fixedly connected with pitch-control motor, and pitch-control motor is fixedly connected by screw with outline border, the first pitching synchronous pulley and second
Pitching synchronous pulley is configured as the rotation that synchronous drive inside casing completes pitch orientation.
Further, in the preferred embodiment, the quantity of first rotating shaft and first bearing is two, and
The two sides of first pitching synchronous pulley, two first rotating shafts and two first bearings are symmetrical arranged.
Further, in the preferred embodiment, rolling driving assembly includes roll control motor, the first rolling synchronization
Belt wheel, the second rolling synchronous pulley, the second shaft and second bearing；
Wherein, the first rolling synchronous pulley is rotatablely connected by the second shaft and second bearing and outline border, and the second rolling is same
Step belt wheel is fixedly connected with roll control motor, and roll control motor is fixedly connected by screw with outline border, the first rolling synchronous pulley and the
Two rolling synchronous pulleys are configured as rotating synchronously the rotation for driving outline border to complete rolling direction.
Further, in the preferred embodiment, inside casing is connect by third shaft and 3rd bearing with outline border,
The quantity of third shaft and 3rd bearing is two, and is located at the two sides that inside casing intersects with outline border.
Further, in the preferred embodiment, yaw driving assembly includes yaw control motor, the first yaw synchronization
Belt wheel and the second yaw synchronous pulley；
Wherein, equipment platform is the first yaw synchronous pulley, and the first yaw synchronous pulley is equipped with threaded hole, and threaded hole is used
In installation equipment, the first yaw synchronous belt and inside casing are rolled and are connected, and the second yaw synchronous pulley is fixedly connected with yaw control motor, partially
Boat steering engine is fixedly connected by screw with inside casing, and the second yaw synchronous pulley is configured as driving equipment platform in yaw direction
Rotation.
Further, in the preferred embodiment, yaw driving assembly further includes being set to yaw control motor two sides
Two cushion blocks.
Further, in the preferred embodiment, the first yaw synchronous belt is set in inside casing, and passes through rolling
Component and inside casing, which roll, to be connected, and rolling assembly is used for so that the first yaw synchronous belt has the freedom degree on yaw direction, so that
Obtain the rotation that equipment platform realizes yaw direction under the drive of the second yaw synchronous belt.
Further, in the preferred embodiment, rolling assembly includes being located at the first yaw synchronous belt both ends
Two sets of rolling members, every set rolling member include ball, ball rack and the ball slide rail of multiple rounded array settings, ball peace
It loaded in ball rack, and rolls and connects with ball slide rail, ball slide rail yaws synchronous belt with first and is fixedly connected.
A kind of unmanned plane, including above-mentioned three-axis stabilization holder.
The embodiment of the present invention at least have following advantages or the utility model has the advantages that
The embodiment provides a kind of three-axis stabilization holder, the three-axis stabilization holder for small-sized fixed-wing nobody
Machine.The three-axis stabilization holder includes fixed bracket, outline border, inside casing, pitching driving assembly, rolling driving assembly and yaw driving
Component.Wherein, fixed bracket is fixedly connected with the fuselage of fixed-wing unmanned plane；Outline border is fixedly connected with fixed bracket；Inside casing is set
It is placed in outline border, and is connected with outline border；Pitching driving assembly is set to outline border, and for driving inside casing to complete turning for pitch orientation
It is dynamic；Rolling driving assembly is set to outline border, and for driving outline border to complete the rotation in rolling direction；Yaw driving assembly is set to
Inside casing, yaw driving assembly are equipped with equipment platform, and equipment platform is flexibly connected with inside casing, and for installing equipment, yaw is driven
Dynamic component is for driving equipment platform in the rotation of yaw direction.Pass through pitching driving assembly, yaw driving assembly and rolling
The setting of driving assembly is led to so that the three-axis stabilization holder may be implemented rolling, pitching, yaw being freely rotated for three directions
The steering engine for crossing three directions just can effectively complete correction to equipment posture, and capture apparatus is made to obtain more stable image；
Platform structure has effectively saved the space in fuselage, is easily installed.Meanwhile equipment platform being placed in the structure of stable holder
The heart has preferably saved space, enables a device to be mounted in unmanned aerial vehicle body, has evaded various inconvenience of external hanging type holder.
The embodiment of the present invention also provides a kind of unmanned plane, which includes above-mentioned three-axis stabilization holder.Therefore, should
Unmanned plane can shoot under the premise of not changing aircraft utilization mode and service performance and export stable and not tremble with aspect
Dynamic image.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the three-axis stabilization holder that the embodiment of the present invention provides；
Fig. 2 is the confined explosion's schematic diagram one for the three-axis stabilization holder that the embodiment of the present invention provides；
Fig. 3 is the confined explosion's schematic diagram two for the three-axis stabilization holder that the embodiment of the present invention provides；
Fig. 4 is the confined explosion's schematic diagram three for the three-axis stabilization holder that the embodiment of the present invention provides.
Icon: 100- three-axis stabilization holder；101- fixes bracket；103- outline border；105- inside casing；107- pitching driving group
Part；109- rolling driving assembly；111- yaws driving assembly；113- equipment platform；115- pitch-control motor；The first pitching of 117- is same
Walk belt wheel；119- the second pitching synchronous pulley；121- first rotating shaft；123- first bearing；125- roll control motor；127- first is rolled
Turn synchronous pulley；129- the second rolling synchronous pulley；The second shaft of 131-；133- second bearing；135- bearing (ball) cover；137- is inclined
Navigate steering engine；139- second yaws synchronous pulley；141- cushion block；143- rolling member；145- ball；147- ball rack；149- ball
Sliding rail.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
Either the invention product using when the orientation or positional relationship usually put, be merely for convenience of the description present invention and simplification retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and
It cannot be understood as indicating or implying relative importance.
In the description of the embodiment of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to detachably connect
It connects, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be on or below second feature
Directly contacted including the first and second features, also may include the first and second features be not direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature second spy
Right above sign and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below be directly below and diagonally below the second feature, or be merely representative of first feature horizontal height
Less than second feature.
Fig. 1 is the structural schematic diagram of three-axis stabilization holder 100 provided in this embodiment；Fig. 2 is provided in this embodiment three
Axis stablizes confined explosion's schematic diagram one of holder 100；Fig. 3 is the confined explosion of three-axis stabilization holder 100 provided in this embodiment
Schematic diagram two；Fig. 4 is confined explosion's schematic diagram three of three-axis stabilization holder 100 provided in this embodiment.Referring to FIG. 1 to FIG. 4,
Present embodiments provide a kind of three-axis stabilization holder 100.The three-axis stabilization holder 100 is used for small-sized fixed-wing unmanned plane.This three
It includes: fixed bracket 101, outline border 103, inside casing 105, pitching driving assembly 107, rolling driving assembly 109 that axis, which stablizes holder 100,
And yaw driving assembly 111.
In detail, referring to Fig. 1 to Fig. 4, in the present embodiment, the machine of fixed bracket 101 and fixed-wing unmanned plane
Body is fixedly connected.Outline border 103 is fixedly connected with fixed bracket 101；Inside casing 105 is set in outline border 103, and with 103 phase of outline border
Even；Pitching driving assembly 107 is set to outline border 103, and for driving inside casing 105 to complete the rotation of pitch orientation；Rolling driving
Component 109 is set to outline border 103, and for driving outline border 103 to complete the rotation in rolling direction；Driving assembly 111 is yawed to be arranged
It in inside casing 105, yaws driving assembly 111 and is equipped with equipment platform 113, equipment platform 113 is flexibly connected with inside casing 105, and is used
In installation equipment, yaw driving assembly 111 is for driving equipment platform 113 in the rotation of yaw direction.Pass through pitching driving group
The setting of part 107, yaw driving assembly 111 and rolling driving assembly 109, so that the three-axis stabilization holder 100 may be implemented
Rolling, yaws being freely rotated for three directions at pitching, just can be effectively completed by the steering engine in three directions to equipment posture
Correction, so that capture apparatus is obtained more stable image；Platform structure has effectively saved the space in fuselage, is easily installed.
Meanwhile equipment platform 113 being placed in the structure centre of stable holder, space has preferably been saved, has enabled a device to be mounted on nothing
In man-machine fuselage, various inconvenience of external hanging type holder are evaded.
Specifically, referring to Fig. 1 to Fig. 4, in the present embodiment, pitching driving assembly 107 includes pitch-control motor
115, the first pitching synchronous pulley 117, the second pitching synchronous pulley 119, first rotating shaft 121 and first bearing 123；Wherein,
First pitching synchronous pulley 117 is fixedly connected by screw with first rotating shaft 121 and inside casing 105, the second pitching synchronous pulley
119 are fixedly connected with pitch-control motor 115, and pitch-control motor 115 is fixedly connected by screw with outline border 103, the first pitching synchronous belt
Wheel 117 and the second pitching synchronous pulley 119 are configured as the rotation that synchronous drive inside casing 105 completes pitch orientation.Therefore, pass through
The setting of pitching driving assembly 107, so that the rotation of the achievable pitch orientation of inside casing 105, so that the three-axis stabilization holder
100 may be implemented being freely rotated for pitch orientation.
As a preferred option, in the present embodiment, the quantity of first rotating shaft 121 and first bearing 123 is two, and
In the two sides of the first pitching synchronous pulley 117, two first rotating shafts 121 and two first bearings 123 are symmetrical arranged.Synchronous pulley
Symmetry direction be mounted on shaft and bearing, platform rotary balance can be kept.
Specifically, referring to Fig. 1 to Fig. 4, rolling driving assembly 109 is synchronous including roll control motor 125, the first rolling
Belt wheel 127, the second rolling synchronous pulley 129, the second shaft 131 and second bearing 133.Second bearing 133 passes through bearing end
Lid 135 limits, wherein the first rolling synchronous pulley 127 is connected by the second shaft 131 and second bearing 133 and the rotation of outline border 103
It connects, the second rolling synchronous pulley 129 is fixedly connected with roll control motor 125, and roll control motor 125 is fixed by screw and outline border 103
Connection, the first rolling synchronous pulley 127 and the second rolling synchronous pulley 129, which are configured as rotating synchronously, drives outline border 103 to complete
The rotation in rolling direction.Therefore, by the setting of rolling driving assembly 109, so that the achievable rolling direction of inside casing 105 turns
It is dynamic, so that being freely rotated for rolling direction may be implemented in the three-axis stabilization holder 100.
Specifically, referring to Fig. 1 to Fig. 4, in the present embodiment, inside casing 105 passes through third shaft and 3rd bearing
It is connect with outline border 103, the quantity of third shaft and 3rd bearing is two, and is located inside casing 105 and intersects with outline border 103
Two sides.
Specifically, referring to Fig. 1 to Fig. 4, in the present embodiment, yaw driving assembly 111 includes yaw control motor
137, the first yaw synchronous pulley and the second yaw synchronous pulley 139；Wherein, equipment platform 113 is the first yaw synchronous belt
Wheel, the first yaw synchronous pulley are equipped with threaded hole, and threaded hole is rolled for installing equipment, the first yaw synchronous belt and inside casing 105
Dynamic connection, the second yaw synchronous pulley 139 are fixedly connected with yaw control motor 137, and yaw control motor 137 passes through screw and inside casing 105
It is fixedly connected, the second yaw synchronous pulley 139 is configured as the rotation for driving equipment platform 113 in yaw direction.Therefore, pass through
The setting of driving assembly 111 is yawed, so that the rotation of the achievable yaw direction of inside casing 105, so that the three-axis stabilization holder
100 may be implemented being freely rotated for yaw direction.
As a preferred option, in the present embodiment, yaw driving assembly 111 further includes being set to 137 liang of yaw control motor
Two cushion blocks 141 of side.Cushion block 141 can reduce interference.
It is further preferred that in the present embodiment, the first yaw synchronous belt is set in inside casing 105, and passes through rolling group
Part and inside casing 105, which roll, to be connected, and rolling assembly is used for so that the first yaw synchronous belt has the freedom degree on yaw direction, so that
Obtain the rotation that equipment platform 113 realizes yaw direction under the drive of the second yaw synchronous belt.
Wherein, rolling assembly includes two sets of rolling members 143 positioned at the first yaw synchronous belt both ends, every set rolling member 143
It include ball 145, ball rack 147 and the ball slide rail 149 of multiple rounded array settings, ball 145 is installed on ball
It in frame 147, and rolls and connects with ball slide rail 149, ball slide rail 149 is fixedly connected with the first yaw synchronous belt.Second yaw
Synchronous pulley 139 completes being freely rotated between inside casing 105 by ball 145.Possess it in yaw side by ball 145
To freedom degree.
The embodiments of the present invention also provide a kind of unmanned planes, including above-mentioned three-axis stabilization holder 100.Therefore, the nothing
It is man-machine to shoot under the premise of not changing aircraft utilization mode and service performance and export stable and do not shaken with aspect
Image.
In conclusion the three-axis stabilization holder 100 that the embodiment of the present invention provides, is suitable for small-sized fixed-wing unmanned plane,
It can shoot under the premise of not changing aircraft utilization mode and service performance and export figure that is stable and do not shake with aspect
Picture.
The unmanned plane that the embodiment of the present invention provides, including above-mentioned three-axis stabilization holder 100.Therefore, which can
Under the premise of not changing aircraft utilization mode and service performance, shooting output is stable and not with the figure of aspect shake
Picture.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of three-axis stabilization holder is used for small-sized fixed-wing unmanned plane characterized by comprising
Fixed bracket, the fixed bracket are fixedly connected with the fuselage of the fixed-wing unmanned plane；
Outline border, the outline border are fixedly connected with the fixed bracket；
Inside casing is set in the outline border, and is connected with the outline border；
Pitching driving assembly is set to the outline border, and for driving the inside casing to complete the rotation of pitch orientation；
Rolling driving assembly is set to the outline border, and for driving the outline border to complete the rotation in rolling direction；
Yaw driving assembly, be set to the inside casing, the yaw driving assembly is equipped with equipment platform, the equipment platform and
The inside casing is flexibly connected, and for installing equipment, the yaw driving assembly is for driving the equipment platform in yaw side
To rotation.
2. three-axis stabilization holder according to claim 1, it is characterised in that:
The pitching driving assembly include pitch-control motor, the first pitching synchronous pulley, the second pitching synchronous pulley, first rotating shaft with
And first bearing；
Wherein, the first pitching synchronous pulley is fixedly connected by screw with the first rotating shaft and the inside casing, described
Second pitching synchronous pulley is fixedly connected with the pitch-control motor, and the pitch-control motor connects by the way that screw and the outline border are fixed
It connects, the first pitching synchronous pulley and the second pitching synchronous pulley are configured as inside casing described in synchronous drive and complete pitching
The rotation in direction.
3. three-axis stabilization holder according to claim 2, it is characterised in that:
The quantity of the first rotating shaft and the first bearing is two, and in the two sides of the first pitching synchronous pulley,
Two first rotating shafts and two first bearings are symmetrical arranged.
4. three-axis stabilization holder according to claim 1, it is characterised in that:
The rolling driving assembly include roll control motor, the first rolling synchronous pulley, the second rolling synchronous pulley, the second shaft with
And second bearing；
Wherein, the first rolling synchronous pulley is connected by second shaft and the second bearing and outline border rotation
It connects, the second rolling synchronous pulley is fixedly connected with the roll control motor, and the roll control motor passes through screw and the outline border
It is fixedly connected, the first rolling synchronous pulley and the second rolling synchronous pulley are configured as rotating synchronously and drive outside described
The rotation in frame completion rolling direction.
5. three-axis stabilization holder according to claim 1, it is characterised in that:
The inside casing is connect by third shaft and 3rd bearing with the outline border, the third shaft and the 3rd bearing
Quantity is two, and is located at the two sides that the inside casing intersects with the outline border.
6. three-axis stabilization holder according to claim 1, it is characterised in that:
The yaw driving assembly includes yaw control motor, the first yaw synchronous pulley and the second yaw synchronous pulley；
Wherein, the equipment platform is the first yaw synchronous pulley, and the first yaw synchronous pulley is equipped with threaded hole,
For installing the equipment, the first yaw synchronous belt and the inside casing roll to be connected the threaded hole, second yaw
Synchronous pulley is fixedly connected with the yaw control motor, and the yaw control motor is fixedly connected by screw with the inside casing, and described
Two yaw synchronous pulleys are configured as the rotation for driving the equipment platform in yaw direction.
7. three-axis stabilization holder according to claim 6, it is characterised in that:
The yaw driving assembly further includes two cushion blocks for being set to the yaw control motor two sides.
8. three-axis stabilization holder according to claim 6, it is characterised in that:
The first yaw synchronous belt is set in the inside casing, and is rolled and connected by rolling assembly and the inside casing, described
Rolling assembly is used for so that the first yaw synchronous belt has the freedom degree on yaw direction, so that the equipment platform exists
The rotation of yaw direction is realized under the drive of the second yaw synchronous belt.
9. three-axis stabilization holder according to claim 8, it is characterised in that:
The rolling assembly includes two sets of rolling members positioned at first yaw synchronous belt both ends, and rolling member described in every set wraps
Ball, ball rack and the ball slide rail of multiple rounded array settings are included, the ball is installed in the ball rack, and with
The ball slide rail rolls connection, and the ball slide rail is fixedly connected with the first yaw synchronous belt.
10. a kind of unmanned plane, which is characterized in that including three-axis stabilization holder described in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811629855.5A CN109606718A (en) | 2018-12-28 | 2018-12-28 | A kind of three-axis stabilization holder and unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811629855.5A CN109606718A (en) | 2018-12-28 | 2018-12-28 | A kind of three-axis stabilization holder and unmanned plane |
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| CN109606718A true CN109606718A (en) | 2019-04-12 |
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| CN201811629855.5A Pending CN109606718A (en) | 2018-12-28 | 2018-12-28 | A kind of three-axis stabilization holder and unmanned plane |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111006553A (en) * | 2019-11-28 | 2020-04-14 | 北京航天飞腾装备技术有限责任公司 | Seeker frame type connecting rod driving device based on shell fixing |
| CN113734441A (en) * | 2021-09-01 | 2021-12-03 | 深圳供电局有限公司 | Unmanned aerial vehicle high-pressure water washing cloud platform device |
| CN113820709A (en) * | 2021-11-25 | 2021-12-21 | 湖南华诺星空电子技术有限公司 | Through-wall radar detection system and detection method based on unmanned aerial vehicle |
| CN114963898A (en) * | 2022-06-15 | 2022-08-30 | 西安工业大学 | System and method for testing shot blasting point position based on unmanned aerial vehicle |
| WO2023115562A1 (en) * | 2021-12-24 | 2023-06-29 | 深圳市大疆创新科技有限公司 | Image processing method and device, pan-tilt and movable platform |
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Application publication date: 20190412 |