CN110525673A - A kind of unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism and unmanned plane - Google Patents
A kind of unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism and unmanned plane Download PDFInfo
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- CN110525673A CN110525673A CN201910871599.9A CN201910871599A CN110525673A CN 110525673 A CN110525673 A CN 110525673A CN 201910871599 A CN201910871599 A CN 201910871599A CN 110525673 A CN110525673 A CN 110525673A
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- 238000013016 damping Methods 0.000 claims abstract description 18
- 230000004927 fusion Effects 0.000 claims description 13
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000000377 silicon dioxide Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012634 optical imaging Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
Abstract
The invention discloses a kind of unmanned aerial vehicle onboard two degrees of freedom to increase steady cradle head mechanism and unmanned plane, the cradle head mechanism includes upper bearing plate, location hole, damping sphere, lower support plate, linking arm inverted U bracket, two symmetrical linking arms in left side, two symmetrical linking arms in right side, roll angle adjusts steering engine u-bracket, pitch angle adjusts steering engine u-bracket, roll angle adjusts steering engine, pitch angle adjusts steering engine, roll angle adjusts steering engine side and falls left u-bracket, roll angle adjusts steering engine bottom inverted U bracket, pitch angle adjusts u-bracket at the top of steering engine, pitch angle adjusts steering engine bottom inverted U bracket, Camera Platform u-bracket, video camera and angle control unit.The two degrees of freedom angle adjustment of pitch angle and roll angle may be implemented in cradle head mechanism of the invention, and damping effect is good.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of unmanned aerial vehicle onboard two degrees of freedom increase steady cradle head mechanism and nobody
Machine.
Background technique
Unmanned air vehicle technique high speed and comprehensive development in recent years, so that unmanned plane is widely used in mapping, disaster is searched and rescued
And in the fields such as climate monitoring.Unmanned plane relies on open high-altitude visual field advantage, can be fast by carrying optical imaging apparatus
Speed completes above-mentioned task.However, rapid posture transformation of the unmanned plane in flight course will cause airborne optical imaging device
Shooting angle changes and with shake, causes the degradation of the quality of image.Therefore, it can be risen to a certain extent using holder
Increase steady effect to angle compensation and image.But traditional unmanned plane two degrees of freedom increases steady holder and is only capable of making pitch angle and yaw
The pose adjustment at angle can not compensate the angular deviation of roll angle；According to Three Degree Of Freedom holder, cradle head mechanism sky is not only resulted in
Between complexity, control complexity and own wt increase, and its angle adjustment mode can make imaging device deviate unmanned plane
Gravity axis, it is very unfavorable using the application of imaging device precision ranging for needing.
Summary of the invention
In order to overcome the drawbacks of the prior art, the present invention provide a kind of unmanned aerial vehicle onboard two degrees of freedom increase steady cradle head mechanism and
Unmanned plane is enable holder to compensate the angular deviation of pitch angle and roll angle simultaneously, is mentioned by shuttle-type framework design
It ensure that image quality while high stability.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of unmanned aerial vehicle onboard two degrees of freedom provided by the invention increases steady cradle head mechanism, including upper bearing plate, damping sphere,
Lower support plate, linking arm inverted U bracket, the symmetrical linking arm in left side, the symmetrical linking arm in right side, roll angle adjust steering engine u-bracket,
It is left U-shaped that pitch angle adjusts steering engine u-bracket, roll angle adjusts steering engine, pitch angle adjusts steering engine, roll angle adjusts steering engine side
Bracket, roll angle adjust steering engine bottom inverted U bracket, pitch angle adjusts u-bracket at the top of steering engine, pitch angle adjusts steering engine bottom
Inverted U bracket, Camera Platform u-bracket, video camera and angle control unit；
The upper bearing plate is connect by damping sphere with lower support plate contact, and the lower support plate and linking arm fall U
Type bracket is fixedly connected；The symmetrical linking arm in the left side and the symmetrical linking arm one end in right side are rotatablely connected with linking arm and fall U
In two right-angle surfaces of type bracket, the other end of the symmetrical linking arm in the left side and the symmetrical linking arm in right side is individually fixed in described
Roll angle is adjusted on the outside of two right-angle surfaces of steering engine u-bracket；The roll angle adjusts steering engine, roll angle adjusts steering engine side and falls
Left u-bracket is fixed on roll angle and adjusts in steering engine u-bracket；The pitch angle adjusts steering engine and is fixed on pitch angle adjusting steering engine
Top u-bracket and pitch angle are adjusted between the inverted U bracket of steering engine bottom, the pitch angle adjust at the top of steering engine u-bracket with
The other end of the symmetrical linking arm in right side is fixed on together in two right-angle surfaces of linking arm inverted U bracket；
The side right-angle surface of the Camera Platform u-bracket and roll angle adjust steering engine side and fall left u-bracket and can turn
Dynamic formula connection, the main shaft that the other side and pitch angle adjust steering engine are fixedly connected, the video camera and Camera Platform u-bracket from
Medial plane is fixedly connected；The angle control unit is fixedly connected with upper bearing plate, and adjusts steering engine signal by roll angle
Line and pitch angle adjust steering engine signal wire and adjust steering engine and pitch angle adjusting steering engine electrical connection with the roll angle respectively.
As a preferred technical solution, the upper bearing plate be equipped with multiple location holes, the quantity of the damping sphere with
Positioning hole number is identical, and the top of the damping sphere is arranged on location hole, and the bottom of the damping sphere is arranged in lower branch
On board.
The symmetrical linking arm of the symmetrical linking arm in the left side and right side is two as a preferred technical solution, the company
Connect and be provided with the first rotation screw in two right-angle surfaces of arm inverted U bracket, the upper end of the symmetrical linking arm in two left sides and
Two right-angle surfaces that the upper end of the symmetrical linking arm in two right sides passes through the first rotation screw and linking arm inverted U bracket respectively can turn
Dynamic formula connection.
The roll angle adjusts two right-angle surface outer upper ends setting of steering engine u-bracket as a preferred technical solution,
There is symmetrical second fastening screw, the other end of the symmetrical linking arm in left side passes through symmetrical second fastening screw and roll angle
Steering engine u-bracket is adjusted to be fastened and connected on the inside of two right-angle surfaces.
Fall left U for the rear portion of the roll angle adjusting steering engine and roll angle adjusting steering engine side as a preferred technical solution,
Gap between type bracket is provided with filling block, and two right-angle surfaces outside that the roll angle adjusts steering engine u-bracket is also set up
There is the 4th fastening screw, so that the roll angle adjusts steering engine bottom inverted U bracket and roll angle adjusts the two of steering engine u-bracket
A right-angle surface is fastenedly connected from inside, and plays the role of the bottom that roll angle described in support adjusts steering engine.
The pitch angle, which is adjusted, as a preferred technical solution, is provided with the on the outside of two right-angle surfaces of steering engine u-bracket
Five fastening screws, the other end, the pitch angle of the symmetrical linking arm in right side adjust u-bracket at the top of steering engine and pass through the 5th respectively tightly
Gu two right-angle surfaces that screw adjusts steering engine u-bracket 19 with pitch angle are fastenedly connected from inside, the pitch angle adjusts steering engine U
Be additionally provided with the 6th fastening screw on the outside of two right-angle surfaces of type bracket so that pitch angle adjust steering engine bottom inverted U bracket with
Two right-angle surfaces inside that pitch angle adjusts steering engine u-bracket is fastenedly connected.
The main shaft that the roll angle adjusts steering engine as a preferred technical solution, passes through the 8th fastening screw and steering engine rocker arm
It is fastenedly connected, the upper end of the steering engine rocker arm is turnably connected by the lower end that third rotates screw and connecting rod, the connecting rod
Upper end by the 4th rotation screw turnably connect with the inverted L shape bracket being arranged in below upper bearing plate.
The angle control unit includes angle fusion sensing module, central control unit as a preferred technical solution,
And battery module；The angle fusion sensing module is mutually electrically connected with central control unit, and the battery module provides angle
Merge the electrical source of power that sensing module, central control unit, roll angle adjust steering engine and pitch angle adjusting steering engine；
The angle fusion sensing module is used to measure the attitude angle of cradle head mechanism, and the central control unit is for exporting
The roll angle adjusts steering engine and pitch angle adjusts the angle control instruction of steering engine.
The damping sphere uses silica gel-type anticreep shock-absorbing ball as a preferred technical solution,.
The present invention also provides a kind of unmanned plane, which includes that the two degrees of freedom increases steady cradle head mechanism.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the swing type frame structure that the present invention designs, so that energy in the case where two steering engines is used only in the cradle head mechanism
Enough while adjusting pitch angle and roll angle；In contrast, existing cradle head of two degrees of freedom is only adjustable pitch angle and yaw angle.
(2) present invention employs the structure design that damping sphere connects upper and lower support plate, unmanned plane can effectively be weakened
Fuselage is transmitted to the vibration of cradle head mechanism, and it is steady to have achieved the effect that image increases.
(3) present invention uses shuttle-type cradle head structure scheme in terms of roll angle angle compensation, can make unmanned plane
Body adjusts camera angle when generating roll angle axial dipole field, has reached the imaging center of video camera in the vertical direction always
The effect being consistent substantially with the center of gravity of unmanned plane is conducive to need the application scenarios using video camera precise measurement distance.
Detailed description of the invention
Fig. 1 is the strabismus perspective view that unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism in the present invention；
Fig. 2 is the front view that unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism in the present invention；
Fig. 3 is the left side view that unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism in the present invention；
Fig. 4 is the structural representation for the angle control module that unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism in the present invention
Figure；
Wherein, o- referential origin, x-axis-roll angle is axial, and y-axis-pitch angle is axial, and z-axis-acceleration of gravity is axial, 1-
Upper bearing plate, 2- location hole, 3- damping sphere, 4- lower support plate, 5- linking arm inverted U bracket, the first fastening screw of 6-, 7-
Symmetrical linking arm, the symmetrical linking arm in the right side 9-, the second fastening screw of 10-, 11- roll angle adjust rudder on the left of one rotation screw, 8-
Machine u-bracket, 12- roll angle adjust steering engine, 13- roll angle adjust steering engine side fall left u-bracket, 14- third fastening screw,
15- filling block, the 4th fastening screw of 16-, 17- roll angle adjust steering engine bottom inverted U bracket, the 5th fastening screw of 18-, 19-
Pitch angle adjusts steering engine u-bracket, 20- pitch angle adjusts steering engine, 21- pitch angle adjusts u-bracket, 22- the 6th at the top of steering engine
Fastening screw, 23- pitch angle adjust steering engine bottom inverted U bracket, 24- second rotates screw, the 7th fastening screw of 25-, 26- and takes the photograph
Camera platform u-bracket, 27- video camera, the 8th fastening screw of 28-, 29- steering engine rocker arm, 30- third rotation screw, 31- connect
Bar, 32- the 4th rotate screw, 33- inverted L shape bracket, 34- roll angle and adjust steering engine signal wire, 35- pitch angle adjusting steering engine signal
Line, 36- angle control unit, 37- angle fusion sensing module, 38- central control unit, 39- battery module.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
As shown in Figure 1-Figure 3, a kind of unmanned aerial vehicle onboard two degrees of freedom that the present embodiment 1 provides increases steady cradle head mechanism, including
Upper bearing plate 1, four location holes, 2, the four damping spheres 3 being arranged on upper bearing plate, lower support plate 4, linking arm inverted U branch
The symmetrical linking arm 9 in 5, two left sides of frame, 8, two right sides of symmetrical linking arm, roll angle adjust steering engine u-bracket 11, pitch angle tune
Save steering engine u-bracket 19, roll angle adjusts steering engine 12, pitch angle adjusts steering engine 20, roll angle adjusts steering engine side left U-shaped branch
Frame 13, roll angle adjust steering engine bottom inverted U bracket 17, pitch angle adjusts u-bracket 21 at the top of steering engine, pitch angle adjusts steering engine
Bottom inverted U bracket 23, Camera Platform u-bracket 26, video camera 27 and angle control unit 36；The upper bearing plate 1
It is connected with each other by four location holes 2 of upper bearing plate and four damping spheres 3 and lower support plate 4, the lower support plate 4 passes through two
The first fastening screw 6 is fastenedly connected with linking arm inverted U bracket 5, in two right-angle surfaces of the linking arm inverted U bracket 5
Two first rotation screws 7 are provided with, the symmetrical linking arm 9 in upper end and two right sides of two symmetrical linking arms 8 in left side
Upper end passes through two first rotation screws 7 respectively and turnably connect with two right-angle surfaces of linking arm inverted U bracket 5；It is described
Two right-angle surface outer upper ends that roll angle adjusts steering engine u-bracket 11 are provided with symmetrical two the second fastening screws 10, and two
The other end of the symmetrical linking arm 8 in left side described in root is U-shaped by symmetrical two the second fastening screws 10 and roll angle adjusting steering engine
Bracket 11 is fastenedly connected on the inside of two right-angle surfaces, and it is left U-shaped that the roll angle adjusts steering engine 12, roll angle adjusts steering engine side
Bracket 13 is fixed on roll angle by symmetrical four third fastening screws 14 and adjusts in steering engine u-bracket 11, and the roll
Angle adjusts the rear portion of steering engine 12 and roll angle adjusts the gap that steering engine side is fallen between left u-bracket 13 and is provided with filling block 15,
It is fastenedly connected the two, two right-angle surfaces outside that the roll angle adjusts steering engine u-bracket 11 is additionally provided with two the 4th tightly
Gu screw 16, so that the roll angle adjusts steering engine bottom inverted U bracket 17 and roll angle adjusts two of steering engine u-bracket 11
Right-angle surface is fastenedly connected from inside, and plays the role of the bottom that roll angle described in support adjusts steering engine 12；The pitch angle tune
It saves and is provided with two the 5th fastening screws 18 on the outside of two right-angle surfaces of steering engine u-bracket 19, the symmetrical connection in two right sides
The other end, the pitch angle of arm 9 adjust u-bracket 21 at the top of steering engine and are adjusted respectively by two the 5th fastening screws 18 with pitch angle
Two right-angle surfaces of steering engine u-bracket 19 are fastened and connected from inside, and the pitch angle adjusts two of steering engine u-bracket 19 directly
Two the 6th fastening screws 22 are additionally provided on the outside of edged surface, so that pitch angle adjusts steering engine bottom inverted U bracket 23 and pitch angle
It adjusts and is fastenedly connected on the inside of two right-angle surfaces of steering engine u-bracket 19, the pitch angle adjusts steering engine 20 and is fixed on pitch angle tune
U-bracket 21 and pitch angle at the top of steering engine is saved to adjust between steering engine bottom inverted U bracket 23；The Camera Platform u-bracket
It is symmetrically arranged with the second rotation screw 24 and the 7th fastening screw 25 on the inside of 26 two right-angle surfaces, makes the Camera Platform U
The side right-angle surface of type bracket 26 and roll angle, which adjust steering engine side and fall left u-bracket 13, turnably to be connect, the other side with bow
The main shaft that the elevation angle adjusts steering engine 20 is mutually fixedly connected, and the video camera 27 and Camera Platform u-bracket 26 are from medial plane phase
It is fastenedly connected；The angle control unit 36 is fastened and connected with upper bearing plate 1, and adjusts steering engine signal wire 34 by roll angle
Steering engine signal wire 35 is adjusted with pitch angle electrically to connect with roll angle adjusting steering engine 12 and pitch angle adjusting 20 phase of steering engine respectively
It connects.
In the one aspect of the present embodiment, the main shaft that the roll angle adjusts steering engine 12 passes through the 8th fastening screw 28 and rudder
Machine rocker arm 29 is fastened and connected, and the upper end of the steering engine rocker arm 29 can be rotated by the lower end that third rotates screw 30 and connecting rod 31
The upper end of formula connection, the connecting rod 31 can with the inverted L shape bracket 33 being arranged in below upper bearing version 1 by the 4th rotation screw 32
Rotary type connection.
In the one aspect of the present embodiment, as shown in figure 4, the angle control unit 36 includes angle fusion sensing module
37, central control unit 38 and battery module 39.
The angle fusion sensing module 37 is mutually electrically connected with central control unit 38, and the battery module 39 provides angle
Degree fusion sensing module 37, central control unit 38, roll angle adjust steering engine 12 and pitch angle adjusts the electrical source of power of steering engine 20,
The angle fusion sensing module 37 is used to measure the attitude angle of cradle head mechanism, and the central control unit 38 is described for exporting
Roll angle adjusts steering engine 12 and pitch angle adjusts the angle control instruction of steering engine 20.
The working principle of the present embodiment cradle head mechanism is: the symmetrical linking arm 8 in two first rotation screws, 7, two left sides, cross
Roll angle adjusts the symmetrical linking arm 9 in 11, two right sides of steering engine u-bracket, pitch angle adjusts steering engine u-bracket 19, roll angle adjusting
Steering engine side falls left u-bracket 13, Camera Platform u-bracket 26 and pitch angle and adjusts steering engine 20 and be connected with each other, and becomes one
A complete tower structure enables the frame to make swing type movement centered on two first rotation screws 7, meanwhile,
It is tight by two the 5th respectively that pitch angle adjusts u-bracket 21 and pitch angle adjusting steering engine bottom inverted U bracket 23 at the top of steering engine
Gu pitch angle adjusting steering engine 20 is fixed on pitch angle and adjusts steering engine u-bracket 19 by screw 18 and two the 6th fastening screws 22
On；One end of Camera Platform u-bracket 26 adjusts steering engine side by the second rotation screw 24 and roll angle and falls left u-bracket
13 turnable connections, the other end are fastenedly connected by the main shaft that the 7th fastening screw 25 adjusts steering engine 20 with pitch angle, so that
Camera Platform u-bracket 26 can be with the main shaft that pitch angle adjusts steering engine 20 under the control that pitch angle adjusts steering engine 20
Heart rotation；Roll angle, which adjusts steering engine side and falls left u-bracket 13 and roll angle, to be adjusted steering engine bottom inverted U bracket 17 and passes through respectively
Roll angle is adjusted steering engine 12 and fixed by 14, two the 4th fastening screws 16 of symmetrical four third fastening screws and filling block 15
It is adjusted in steering engine u-bracket 11 in roll angle；Steering engine rocker arm 29, connecting rod 31 and inverted L shape bracket 33 pass through the 8th fastening spiral shell respectively
Nail 28, third rotation screw 30 and the 4th rotation screw 32 are connected with each other roll angle adjusting steering engine 12 and upper bearing version 1, work as cross
When the main shaft that roll angle adjusts steering engine 12 drives steering engine rocker arm 29 to rotate clockwise, connecting rod 31 is that the center of circle is inverse with the 4th rotation screw 32
Hour hands rotation drives the tower structure of holder to be rotated counterclockwise centered on two first rotation screws 7 until maximum immediately
Angle；On the contrary, connecting rod 31 is that the center of circle is suitable with the 4th rotation screw 32 when roll angle adjusts the spindle axis counterclockwise rotation of steering engine 12
Hour hands rotation drives the tower structure of holder to rotate clockwise centered on two first rotation screws 7 until maximum angle；
During the work time, the angle fusion sensing module 37 in angle control unit 36 is respectively to the frame-type knot of current time holder
The pitch angle of structure and the angle value of both roll angles are sampled, and sampled result is transmitted to central control unit 38, center control
Unit 38 processed calculates the difference of preset angle value and current angle value, adjusts steering engine signal wire 34 and pitch angle tune by roll angle
Section steering engine signal wire 35 controls roll angle adjusting steering engine 12 respectively in a manner of pulse width and pitch angle adjusts steering engine 20 and turns to
Predetermined angle, the steady purpose of increasing to realize video camera 27；In addition, four dampings being arranged between upper bearing plate 1 and lower support version 4
Sphere 3 can effectively eliminate the vibration of video camera 27.
The present invention uses shuttle-type cradle head structure scheme in terms of roll angle angle compensation, can make unmanned plane body
Adjust camera angle when generating roll angle axial dipole field, reached the imaging center of video camera in the vertical direction always with nothing
The effect that man-machine center of gravity is consistent substantially is conducive to need the application scenarios using video camera precise measurement distance.
Embodiment 2
For the present embodiment 2 other than following technical characteristics, other technical characteristics are same as Example 1:
It tests after study, the preferred embodiment of the present embodiment 2 can be with are as follows: (1) as shown in Figure 1, makes carbon fibre material
Silica gel-type anticreep shock-absorbing ball can be selected in all parts, four damping spheres 3, and roll angle adjusts steering engine 12 and roll angle adjusts steering engine
20 optional Futaba S3003 types.(2) as shown in Figure 4, GY-85 type, center control can be selected in angle fusion sensing module 37
ATmega8 type can be selected in unit 38, and poly-lithium battery can be selected in battery module 39.Connection relationship described in book as described above,
After the installation connection of above-mentioned component, in conjunction with the debugging of hardware and software, it can preferably implement the present invention.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism, which is characterized in that including upper bearing plate (1), damping sphere
(3), lower support plate (4), linking arm inverted U bracket (5), the symmetrical linking arm in left side (8), the symmetrical linking arm in right side (9), roll angle
Adjust steering engine u-bracket (11), pitch angle adjusts steering engine u-bracket (19), roll angle adjusts steering engine (12), pitch angle adjusts rudder
Machine (20), roll angle adjust steering engine side fall left u-bracket (13), roll angle adjust steering engine bottom inverted U bracket (17), pitching
Angle adjusts u-bracket (21) at the top of steering engine, pitch angle adjusts steering engine bottom inverted U bracket (23), Camera Platform u-bracket
(26), video camera (27) and angle control unit (36)；
The upper bearing plate (1) is connect by damping sphere (3) with lower support plate (4) contact, the lower support plate (4) and company
Arm inverted U bracket (5) is connect to be fixedly connected；The symmetrical linking arm in left side (8) and right side symmetrical linking arm (9) one end are rotatable
It is connected in two right-angle surfaces of linking arm inverted U bracket (5), the symmetrical linking arm in left side (8) and the symmetrical linking arm in right side
(9) the other end is individually fixed in the roll angle and adjusts on the outside of two right-angle surfaces of steering engine u-bracket (11)；The roll angle
Adjust steering engine (12), roll angle adjust steering engine side fall left u-bracket (13) be fixed on roll angle adjust steering engine u-bracket (11)
On；The pitch angle adjusts steering engine (20) and is fixed on u-bracket (21) and pitch angle adjusting steering engine at the top of pitch angle adjusting steering engine
Between bottom inverted U bracket (23), the pitch angle adjusts u-bracket (21) and the symmetrical linking arm in right side (9) at the top of steering engine
The other end is fixed on together in two right-angle surfaces of linking arm inverted U bracket (5)；
The side right-angle surface of the Camera Platform u-bracket (26) and roll angle adjust steering engine side and fall left u-bracket (23)
Turnable connection, the other side are fixedly connected with the main shaft that pitch angle adjusts steering engine (20), the video camera (27) and video camera
Platform u-bracket (26) is fixedly connected from medial plane；The angle control unit (36) is fixedly connected with upper bearing plate (1),
And steering engine signal wire (34) and pitch angle adjusting steering engine signal wire (35) are adjusted by roll angle and adjusted respectively with the roll angle
Steering engine (12) and pitch angle adjust steering engine (20) electrical connection.
2. unmanned aerial vehicle onboard two degrees of freedom according to claim 1 increases steady cradle head mechanism, which is characterized in that the upper bearing
Plate (1) is equipped with multiple location holes (2), and the quantity of the damping sphere (3) is identical as location hole (2) quantity, the shock-absorbing ball
The top of body (3) is arranged on location hole (2), and the bottom of the damping sphere (3) is arranged on lower support plate (4).
3. unmanned aerial vehicle onboard two degrees of freedom according to claim 1 increases steady cradle head mechanism, which is characterized in that the left side is right
Claim linking arm (8) and the symmetrical linking arm in right side (9) is two, is set in two right-angle surfaces of the linking arm inverted U bracket (5)
It is equipped with the first rotation screw (7), the symmetrical linking arm (9) in upper end and two right sides of the symmetrical linking arm (8) in two left sides
Upper end passes through the first rotation screw (7) respectively and turnably connect with two right-angle surfaces of linking arm inverted U bracket (5).
4. unmanned aerial vehicle onboard two degrees of freedom according to claim 3 increases steady cradle head mechanism, which is characterized in that the roll angle
Two right-angle surface outer upper ends for adjusting steering engine u-bracket (11) are provided with symmetrical second fastening screw (10), the left side
The other end of symmetrical linking arm (8) adjusts steering engine u-bracket (11) In by symmetrical second fastening screw (10) and roll angle
It is fastened and connected on the inside of two right-angle surfaces.
5. unmanned aerial vehicle onboard two degrees of freedom according to claim 1 increases steady cradle head mechanism, which is characterized in that the roll angle
The rear portion and roll angle for adjusting steering engine (12) adjust gap that steering engine side is fallen between left u-bracket (13) provided with filling block
(15), two right-angle surfaces outside that the roll angle adjusts steering engine u-bracket (11) is additionally provided with the 4th fastening screw (16), makes
Obtain two right-angle surfaces that the roll angle adjusts steering engine bottom inverted U bracket (17) and roll angle adjusts steering engine u-bracket (11)
It is fastenedly connected from inside, and plays the role of the bottom that roll angle described in support adjusts steering engine (12).
6. unmanned aerial vehicle onboard two degrees of freedom according to claim 3 increases steady cradle head mechanism, which is characterized in that the pitch angle
It adjusts and is provided with the 5th fastening screw 18, the symmetrical linking arm in right side (9) on the outside of two right-angle surfaces of steering engine u-bracket (19)
The other end, pitch angle adjusts u-bracket (21) at the top of steering engine and adjusts rudder by the 5th fastening screw (18) and pitch angle respectively
Two right-angle surfaces of machine u-bracket (19) are fastenedly connected from inside, and the pitch angle adjusts two of steering engine u-bracket (19) directly
It is additionally provided with the 6th fastening screw (22) on the outside of edged surface, so that pitch angle adjusts steering engine bottom inverted U bracket (23) and pitch angle
It adjusts and is fastenedly connected on the inside of two right-angle surfaces of steering engine u-bracket (19).
7. unmanned aerial vehicle onboard two degrees of freedom according to claim 1 increases steady cradle head mechanism, which is characterized in that the roll angle
The main shaft for adjusting steering engine (12) is fastenedly connected by the 8th fastening screw (28) with steering engine rocker arm (29), the steering engine rocker arm (29)
Upper end turnably connect by third rotation screw (30) with the lower end of connecting rod (31), the upper end of the connecting rod (31) passes through
4th rotation screw (32) is turnably connect with the inverted L shape bracket (33) being arranged below upper bearing plate (1).
8. unmanned aerial vehicle onboard two degrees of freedom according to claim 1 increases steady cradle head mechanism, which is characterized in that the angle control
Unit (36) processed includes angle fusion sensing module (37), central control unit (38) and battery module (39)；The angle is melted
It closes sensing module (37) to be mutually electrically connected with central control unit (38), the battery module (39) provides angle fusion and senses mould
Block (37), central control unit (38), roll angle adjust steering engine (12) and pitch angle adjusts the electrical source of power of steering engine (20)；
The angle fusion sensing module (37) is used to measure the attitude angle of cradle head mechanism, and the central control unit (38) is used for
Export the angle control instruction that the roll angle adjusts steering engine (12) and pitch angle adjusts steering engine (20).
9. unmanned aerial vehicle onboard two degrees of freedom according to claim 1 increases steady cradle head mechanism, which is characterized in that the shock-absorbing ball
Body (3) uses silica gel-type anticreep shock-absorbing ball.
10. a kind of unmanned plane, which is characterized in that increase steady cradle head mechanism including two degrees of freedom described in any one of 1-9.
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