CN111071471A - Combined type damping cloud platform with energy harvesting function - Google Patents
Combined type damping cloud platform with energy harvesting function Download PDFInfo
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- CN111071471A CN111071471A CN201811213406.2A CN201811213406A CN111071471A CN 111071471 A CN111071471 A CN 111071471A CN 201811213406 A CN201811213406 A CN 201811213406A CN 111071471 A CN111071471 A CN 111071471A
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- 238000013016 damping Methods 0.000 title claims abstract description 97
- 238000003306 harvesting Methods 0.000 title claims abstract description 39
- 230000001681 protective effect Effects 0.000 claims abstract description 15
- 239000002131 composite material Substances 0.000 claims abstract description 13
- 230000005484 gravity Effects 0.000 claims description 32
- 210000004907 gland Anatomy 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 6
- 239000003190 viscoelastic substance Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims 5
- 238000006073 displacement reaction Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000003384 imaging method Methods 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 29
- 230000009467 reduction Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention discloses a composite vibration-damping cradle head with a energy harvesting function, belongs to an active and passive composite vibration-damping device, and particularly comprises a cradle head rotating arm, a vibration energy collecting device, a vibration-damping and attitude-adjusting device, a clamping device and a camera protective cover. The space motion of the cloud deck can be realized by arranging motors on the cloud deck rotating arms respectively, and the vibration energy collecting device can convert mechanical energy of cloud deck vibration into electric energy based on piezoelectric effect so as to improve the cruising ability of the unmanned aerial vehicle; the vibration-damping and attitude-adjusting device mainly comprises an attitude-adjusting platform, an integrated vibration-damping rod and the like, wherein the integrated vibration-damping rod comprises an active vibration-damping structure and a passive vibration-damping structure, the aim of composite vibration damping is achieved by combining active vibration damping and passive vibration damping, the vibration-damping performance of the holder is effectively improved, and imaging is more stable; and finally, through the design of the structure of the attitude adjusting platform, the displacement output by the integrated vibration damping rod is simplified and solved based on parallel computation, so that the hysteresis problem is effectively improved.
Description
Technical Field
The invention relates to the technical field of an unmanned aerial vehicle auxiliary shooting holder carrying a camera, in particular to an active and passive composite vibration reduction technology.
Background
The tripod head is a supporting workbench for assisting the camera to shoot, the camera mainly utilizes the tripod head to adjust the shooting angle, and the direction of a lens of the camera is changed through the adjustment of the tripod head in the space direction so as to realize the shooting of a target. However, the unmanned aerial vehicle inevitably receives the complex interference from different frequency bands, such as external air flow, motor noise, unmanned aerial vehicle flight inertia and the like in the flight process, so that the body vibrates, and the camera shooting quality is reduced. Meanwhile, many damping devices of the existing holder have certain hysteresis effect and cannot sensitively react to vibration interference generated by the outside. Meanwhile, the unmanned aerial vehicle serving as a high-power aircraft capable of carrying camera equipment also has a great problem of electric quantity consumption in the flight process, so that the cruising ability of the unmanned aerial vehicle is also a great problem to be solved urgently.
Therefore, in order to effectively improve the imaging quality of the aerial camera, the vibration reduction holder needs to be designed. At present, passive damping devices such as damping balls are generally installed or active damping devices are installed in the holder damping technology, damping control is realized by carrying out modes such as optimized design on the structure, and the following problems still exist:
1. the unilateral vibration damping device is not enough to realize the vibration damping requirement of a wide frequency band;
2. most of the existing damping devices generally have serious hysteresis problems;
3. the unmanned aerial vehicle is high in power consumption and poor in cruising ability.
Therefore, to the problems listed above, it is necessary to design a composite vibration-damping cradle head which has good vibration-damping performance, can quickly respond in a complex environment and improve the cruising ability of the unmanned aerial vehicle to a certain extent.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a composite vibration reduction holder with a energy capturing function, so as to solve the problems that the holder in the prior art is poor in cruising ability, and the effective vibration reduction frequency band is narrow and the vibration reduction hysteresis is slow when facing the vibration generated by the complex interference from the outside in different frequency bands.
The cloud platform of the invention includes: the device comprises a holder rotating arm, a vibration energy collecting device, a vibration damping and posture adjusting device, a clamping device and a camera protective cover, wherein the holder rotating arm comprises a rolling arm, a pitching arm, a first motor, a second motor, a third motor and a gravity center adjusting device
And gravity center adjusting device
The vibration energy collecting device is embedded in the recess of the rotating arm of the cloud platform, the transmission shafts at the two ends of the camera protective cover are respectively connected with the shaft coupling and one end of the pitching arm, the shaft coupling is connected with the rotor of the third motor arranged on the rotating arm of the cloud platform, the reductionThe vibration adjusting device is fixed in the camera protective cover through a bolt, the clamping device is fixed on three adjusting platforms of the vibration reducing adjusting device, and the two are matched with each other to fix the camera and adjust the position of the camera.
The cradle head rotating arm comprises a transverse rolling arm, a pitching arm, a first motor, a second motor, a third motor, a sealing cover and a gravity center adjusting device
And gravity center adjusting device
The transverse rolling arm is arc-shaped and is provided with an adjusting sliding groove at the upper part
Said gravity center adjusting device
Adjusting chute mounted at upper end of transverse rolling arm
The rotor of the first motor is fixed on the gravity center adjusting device
Sliding block of
The pitching arm is U-shaped, and the middle part of the pitching arm is provided with an adjusting sliding groove
I, the gravity center adjusting device
I is arranged in the adjusting chute
I, the second motor passesAdjusting device with screw fixed at lower end of transverse rolling arm and rotor fixed at center of gravity
I slider
On I, the third motor is fixed at one end of the pitching arm, a rotor of the third motor is connected with a camera protective cover through a coupler, so that the camera can rotate in the space direction under the driving of the motor, and the sealing cover is rectangular and is used for sealing the energy harvesting unit in the vibration energy collecting device
The groove is located.
The invention relates to a gravity center adjusting device
Comprises a sliding block
X-direction adjusting screw, guide beam and adjusting chute
And X-direction fixing holes, the sliding block
Is T-shaped, is provided with a cylindrical through hole, and is cylindrical and penetrates through the sliding block
The X-direction fixing holes are formed in the upper portion of the transverse rolling arm, the left side and the right side of the transverse rolling arm are respectively provided with one X-direction adjusting screw, and the X-direction adjusting screws on the left side and the right side of the transverse rolling arm penetrate through the X-direction fixing holes respectively to enable the sliding block to move in the X-direction
Adjusting sliding groove fixed on upper part of transverse rolling arm
Inner, the gravity center adjusting device
Comprises a sliding block
Y-direction adjusting screw and adjusting chute
And Y-direction fixing holes, the sliding block
Is a cylinder body and is arranged in the adjusting chute
The Y-direction fixing holes are two and are positioned in the middle of the pitching arm, and the Y-direction adjusting screw penetrating through the Y-direction fixing holes can adjust the sliding block
Adjusting sliding groove fixed in middle of pitching arm
And (4) the following steps.
The vibration energy collecting device is divided into energy harvesting units
And an energy harvesting unit
The energy harvesting unit
And the energy harvesting unit
Energy harvesting unit embedded in pitching arm
Closed by a sealing cover, the energy capturing unit
Comprises a cubic support frame, an arc-shaped sheet, a central mass block and a piezoelectric sheet
The center quality piece be the cuboid, the cube support frame be cuboid frame construction, and the center quality piece utilizes through eight summits on its self and eight summits of cube support frame on corresponding the position the arc piece connect, make center quality piece be in unsettled state under eight arc piece supports, piezoelectric patches
Adhered to the upper and lower surfaces of the arc-shaped sheet, and the energy capturing unit
Comprises a vibration spring, a central mass ball, a cantilever beam and a piezoelectric sheet
The central mass ball is connected and fixed in the pitching arm groove through two vibration springs, the number of the cantilever beams is four, the cantilever beams are fixed on the pitching arm through welding and distributed in the upper, lower, left and right directions of the vibration springs, and the piezoelectric patches
The piezoelectric piece is adhered to the cantilever beam, when the machine body vibrates under the influence of the outside, the central mass ball can vibrate and knock the cantilever beam, the piezoelectric piece on the cantilever beam deforms accordingly, and electric energy is generated.
The camera protection cover is spherical and comprises a spherical shell and a transmission shaft, the spherical shell is provided with a hemispherical light-transmitting mirror, the camera protection cover is surrounded by the pitching arm, one end of the camera protection cover is connected with the third motor rotor through a coupler, the other end of the camera protection cover is connected with one end of the pitching arm through the transmission shaft, and the camera protection cover is connected with the vibration-damping posture-adjusting device through a bolt.
The vibration-damping posture-adjusting device comprises a posture sensor, a posture-adjusting platform, an integrated vibration-damping rod, a posture-adjusting platform base and a spherical hinge, wherein the posture sensor is fixed on the posture-adjusting platform through screws, the three posture-adjusting platforms are trapezoidal and are positioned above the posture-adjusting platform base and are uniformly distributed in an annular shape of 120 degrees around the central axis of the posture-adjusting platform base, one side close to a camera is provided with a strip-shaped through groove penetrating through the upper surface and the lower surface of the posture-adjusting platform, the clamping device is fixed in the strip-shaped through groove through a fastening bolt, the posture-adjusting platform base is circular, and two ends of the posture-adjusting platform are connected with the posture-adjusting platform base through the spherical hinge-integrated vibration-damping rod-spherical hinge structure.
The three clamping devices are respectively fixed on the three posture adjusting platforms and consist of an upper chute and fastening bolts, the bottom of the upper chute and the fastening bolts are wrapped by rubber, two fastening bolts are arranged in each upper chute, and the fastening bolts sequentially penetrate through the upper chute and corresponding strip-shaped grooves on the posture adjusting platforms to fix the camera.
The integrated vibration damping rod consists of a double-layer sleeve, a viscoelastic damper, a piezoelectric driver, a pre-jacking buffer device, a linear bearing, a cylindrical magnet, a coil, an upper gland, a pre-tightening spring and an upper cover, wherein the double-layer sleeve is a hollow straight cylinder with double layers and one side closed, the viscoelastic damper mainly consists of viscoelastic materials and is arranged in a double-layer sleeve barrel cover layer, a passive vibration damping structure mainly consists of the upper gland, the viscoelastic damper and the double-layer sleeve and is used for weakening high and medium frequency vibration, an active vibration damping structure mainly consists of a posture adjusting platform, the piezoelectric driver, the pre-jacking buffer device, the linear bearing and an attitude sensor, the linear bearing is arranged outside the piezoelectric driver, the pre-jacking buffer devices are arranged at two ends of the piezoelectric driver and are arranged at the bottom of the double-layer sleeve, the pre-jacking buffer device at the lower end of the piezoelectric driver is in close contact with the double-layer sleeve, the coil be fixed in double-deck sleeve inlayer and encircle cylindricality magnet, last gland arrange in cylindricality magnet top, the pretension spring arrange in double-deck sleeve and be located between gland and the upper cover, the double-deck sleeve is sealed up to the upper cover simultaneously.
The invention has the advantages that:
(1) on one hand, when the cradle head is subjected to the complex interference of the external environment to generate vibration, the central mass block in the vibration energy collecting device can vibrate due to the vibration of the cradle head to drive the piezoelectric sheet adhered to the arc-shaped sheet
Vibration, the central mass ball can vibrate along with the vibration of the holder and knock the cantilever beam to vibrate, so that the piezoelectric sheet adhered to the central mass ball is caused
The piezoelectric sheet vibrates along with the vibration, and mechanical energy generated by the vibration of the piezoelectric sheet can be converted into electric energy based on the positive piezoelectric effect of the piezoelectric sheet; on the other hand, when the integrated damping rod outputs displacement during working, the internal cylindrical magnet can move along with the integrated damping rod, and the coil is arranged outside the cylindrical magnet, so that electric energy is generated based on the electromagnetic induction principle. Energy conversion is carried out from the two aspects, and the better cruising ability of the unmanned aerial vehicle is realized;
(2) the active vibration reduction structure and the passive vibration reduction structure in the integrated vibration reduction rod are connected in parallel, and the combination of an attitude sensor and a piezoelectric driver in the active vibration reduction structure is mainly utilized to realize the suppression of low-frequency vibration; meanwhile, the viscoelastic damper in the passive vibration reduction structure is utilized to weaken the effect of high and medium frequency vibration. Therefore, vibration reduction under multi-section frequency is realized through the combination of active vibration reduction and passive vibration reduction, a better vibration reduction effect is achieved, and certain universality is achieved;
(3) the camera is fixed on three attitude adjusting platforms through the combined action of three clamping devices, six integrated damping rods output and shift to the three attitude adjusting platforms, each attitude adjusting platform is respectively connected with two integrated damping rods, meanwhile, the three attitude adjusting platforms are independent, the attitude change of the three attitude adjusting platforms is measured by means of an attitude sensor, the problem of solving the displacement of the six integrated damping rods by the known platform position is changed into a problem of solving the displacement of the two integrated damping rods by the known platform position through three parallel calculations, the system feedback time is reduced from the angle of the device structure, and the purpose of weakening the hysteresis problem of the damping system is achieved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a rotating arm of the holder according to the present invention;
FIG. 3 is a schematic view of a center of gravity adjusting device I according to the present invention;
FIG. 4 is a schematic diagram of an energy harvesting unit I according to the present invention;
FIG. 5 is a schematic diagram of an energy harvesting unit II according to the present invention;
FIG. 6 is a schematic view of an assembly of an energy harvesting unit II and a rotating arm of a holder according to the present invention;
FIG. 7 is a schematic view of a connecting structure of the vibration damping and posture adjusting device and the clamping device and the posture adjusting platform in the present invention;
FIG. 8 is an assembly view of the integrated damping rod and damping attitude adjusting device of the present invention;
FIG. 9 is a cross-sectional view of the integrated damper rod of the present invention;
FIG. 10 is a schematic view of a protective cover for a camera according to the present invention;
FIG. 11 is a schematic view of a clamping device according to the present invention;
fig. 12 is a schematic diagram of active and passive damping according to the present invention.
The reference numbers indicate that the cradle head rotating arm 1, the vibration energy collecting device 2, the vibration damping and posture adjusting device 3, the camera protective cover 4, the clamping device 5, the transverse rolling arm 101, the second motor 102, the gravity center adjusting device II103 and the slide block
10301. Y-direction adjusting screw 10304 and adjusting sliding groove
10302. Y-direction fixing hole 10303, pitching arm 104, first motor 105, gravity center adjusting device I106, guide beam 10601 and sliding block
10602. X-direction adjusting screw 10605 and adjusting chute
10603. The device comprises an X-direction fixing hole 10604, a third motor 107, a coupler 108, a cover 109, a energy harvesting unit I201, an energy harvesting unit II202, a central mass block 20101, a cubic support frame 20102, a piezoelectric sheet I20103, an arc sheet 20104, a central mass ball 20201, a piezoelectric sheet II20202, a cantilever beam 20203, a vibration spring 20204, a posture adjusting platform 301, a ball hinge 302, an integrated vibration damping rod 303, a through groove 304, a posture sensor 305, a posture adjusting platform base 306, a passive vibration damping structure 30301, an active vibration damping structure 30302, a pre-tightening spring 30303, an upper gland 30304, a cylindrical magnet 30305, a coil 30306, a double-layer sleeve 30307, a double-layer sleeve outer layer 3030702, a double-layer sleeve inner layer 3030701, a linear bearing 30308, a piezoelectric driver 30309, a pre-top buffer 30310, a viscoelastic damper 30311, an upper cover 30312, a spherical shell 401, a transmission shaft 402, a fastening bolt 501, an upper.
Detailed Description
The apparatus of the present invention is described in further detail below with reference to the accompanying drawings.
The device comprises a cradle head rotating arm 1, a vibration energy collecting device 2, a vibration damping and posture adjusting device 3, a camera protective cover 4 and a clamping device 5, and the details are explained in the following from the whole structure, the cradle head rotating arm 1, the vibration energy collecting device 2, the vibration damping and posture adjusting device 3, the camera protective cover 4 and the clamping device 5 respectively.
As shown in fig. 1 and 2, the invention provides a composite vibration-damping pan/tilt with energy harvesting function, which mainly comprises a pan/tilt rotating arm 1, a vibration energy collecting device 2, a vibration-damping and attitude-adjusting device 3, a camera protecting cover 4 and a clamping device 5, wherein the vibration energy collecting device 2 is embedded in the pan/tilt rotating arm 1, the camera protecting cover 4 is respectively connected to two ends of a pitching arm 104 through a coupling 108 and a transmission shaft 402, the vibration-damping and attitude-adjusting device 3 is fixed in the camera protecting cover 4 through bolts and is kept relatively static with the camera protecting cover 4, the clamping device 5 is fixed on three attitude-adjusting platforms 301 of the vibration-damping and attitude-adjusting device 3, and the two devices are mutually matched to fix a camera and adjust the position of the camera.
As shown in fig. 2, the pan/tilt/swivel arm 1 includes a roll arm 101, a pitch arm 104, a first motor 105, a second motor 102, a third motor 107, a center of gravity adjusting device I106, and a center of gravity adjusting device
103 and a cover 109, the roll arm 101 and the pitch arm 104 are respectively arc-shaped and U-shaped, and the upper part of the roll arm 101 and the middle part of the pitch arm 104 are respectively provided with an adjusting sliding groove
10603, X-direction fixing hole 10604 and adjusting chute
10302. A Y-direction fixing hole 10303, wherein the rotors of the first motor 105 and the second motor 102 are respectively fixed on a slide block I10602 of the gravity center adjusting device I106 in the roll arm 101 and the gravity center adjusting device in the pitch arm 104
103 slide block
10301, the second motor 102 and the third motor 107 are fixed at the ends of the roll arm 101 and the pitch arm 104 by screws, and the rotor of the third motor 107 is connected with the camera protective cover 4 by a coupling 108 to make the two motors mutually rotateThe mechanical protective cover 4 can do the rotary motion in the space direction under the drive of the first motor 105, the second motor 102 and the third motor 107, and then adjust the camera shooting angle, the pitching arm 104 surround the camera protective cover 4, one end of the camera protective cover 4 is connected with the third motor 107 through the coupler 108, and then one end of the pitching arm 104 is connected, the other end is connected with the bearing on the other side of the pitching arm 104, the gravity center adjusting device
103 slide block
10301 and a slide block I10602 of the gravity center adjusting device I106 are respectively connected with the rotors of the first motor 105 and the second motor 102.
As shown in fig. 2 and 3, the center of gravity adjusting device
106 comprises a guide beam 10601 and a sliding block
10602. X-direction adjusting screw 10605 and adjusting chute
10603 and an X-direction fixing hole 10604, and the sliding block
10602 is T-shaped and has a cylindrical through hole, and the guide beam 10601 is cylindrical and passes through the sliding block
10602, and the X-direction adjusting screw 10605 passing through the X-direction fixing hole 10604 to slide the slider
10602 fixed on the upper part of the horizontal rolling arm 101
10603 by changing the slide block
10602 regulating chute
10603 and adjusting the center of gravity of the holder in the direction of the X-axis, said center of gravity adjusting device
103 comprises a slider
10301. Y-direction adjusting screw 10304 and adjusting sliding groove
10302 and Y-direction fixing holes 10303, and the slider
10301 is a column, and is arranged in the adjusting chute at the middle part of the pitching arm 104
10302, the Y-direction adjusting screw 10302 penetrates through the Y-direction fixing hole 10303 to enable the sliding block to be arranged
Fixed to said adjusting runner in the middle of the pitch arm 104
10302. By changing the slide
10301 at the regulating chute
10302, and thereby the center of gravity of the pan and tilt head in the direction of the Y axis.
As shown in fig. 4, 5 and 6, the vibration energy harvesting device 2 is divided into a energy harvesting unit I201 and an energy harvesting unit
202, the energy capturing unit I201 comprises a cubic support frame 20102, a central mass block 20101, arc sheets 20104 and piezoelectric sheets I20103, the cubic support frame 20102 is of a cuboid frame structure, the central mass block 20101 is of a cuboid and is arranged in the center of the cubic support frame 20102, eight vertexes of the central mass block 20101 and eight vertexes of the cubic support frame 20102 are connected at corresponding positions through the arc sheets 20104, so that the central mass block 20101 is suspended in the center of the cubic support frame 20102 under the support of the eight arc sheets 20104, the piezoelectric sheets I20103 are adhered to the upper and lower surfaces of the arc sheets 20104 to form a bimorph element, when the central mass block 20101 vibrates, when a pan head is interfered by external air flow or vibrates under the influence of self inertia, the central mass block 20101 vibrates, and further the arc sheets 20104 connected with the central mass block vibrates, the piezoelectric sheets I20103 adhered to the upper surface and the lower surface of the arc-shaped sheet 20104 are deformed, and electric energy is generated based on the positive piezoelectric effect, so that energy harvesting is realized. Energy harvesting unit
202 is composed of a central mass ball 20201, a cantilever 20203, a vibrating spring 20204, and a piezoelectric sheet
20202, said cantilever beam 20203 is positioned in the groove of the pitch arm 104 and connected with the pitch arm 104 by welding, the cantilever beam 20203 has four pieces and surrounds said central mass ball 20201, and is connected with the pitch arm 104 by said vibration spring 20204, said piezoelectric piece
20202 is adhered to said suspensionThe arm beam 20203 deviates from the side of the central mass ball 20201, when the machine body is disturbed by external air flow or vibrates under the influence of self inertia, the central mass ball 20201 vibrates and strikes the cantilever beam 20203, and because only one end of the cantilever beam 20203 is fixed and has a thin-sheet structure, when the central mass ball 20201 strikes the cantilever beam 20203, the piezoelectric sheet adhered to the cantilever beam 20203 is caused
20202 deforms accordingly to generate electric energy, and the energy harvesting unit I and the energy harvesting unit
Two of them are symmetrically distributed on the two sides of the pitching arm 104 at the respective spatial positions.
As shown in fig. 7 and 8, the vibration-damping and posture-adjusting device 3 comprises a posture sensor 305, a posture-adjusting platform base 306, three posture-adjusting platforms 301, six integrated vibration-damping rods 303 and a spherical hinge 302, wherein the three posture sensors 305 are respectively fixed on the three posture-adjusting platforms 301 through screws for measuring the posture change of the posture-adjusting platforms 301 and outputting corresponding posture data, the posture-adjusting platform base 306 is circular and fixed inside the camera protective cover 401 through bolts, the posture-adjusting platform 306 is trapezoidal and has three blocks above the posture-adjusting platform base 306, the central axis around the posture-adjusting platform base 306 is uniformly distributed in a 120-degree annular shape for transmitting the vibration generated by the camera to the integrated vibration-damping rods 303, one side of the posture-adjusting platform 301 close to the axis of the posture-adjusting platform base 306 is provided with a strip-shaped through groove 304 passing through the upper surface and the lower surface, the two ends of the posture adjusting platform 301 are connected with the posture adjusting platform base 306 through the spherical hinge 302-the integrated vibration damping rod 303-the spherical hinge 302 structure, so that the three posture adjusting platforms 301 are respectively connected with the two integrated vibration damping rods 303 and can independently move, and the camera is fixed on the three posture adjusting platforms 301 through the clamping device 5. When the tripod head is interfered by external environment or disturbed by self inertia, the vibration of the camera can be transmitted to the integrated damping rods 303 through the posture adjusting platform 301, because the posture sensor 305 is arranged on the posture adjusting platform 301 and three posture adjusting platforms 301 are independent, the posture change of the posture adjusting platform 301 can be respectively measured and corresponding posture data is output, the camera posture data is solved by adopting a parallel computing mode based on the measured posture data of the camera, the problem of solving the output quantity of six integrated damping rods 303 by the posture of the known posture adjusting platform 301 is decomposed into the problem of solving the output quantity of two integrated damping rods 303 by three times by the posture of the known posture adjusting platform 301, electric signals required by piezoelectric drivers 30309 in the six integrated damping rods 303 for regulating the posture of the integrated damping rods are respectively obtained, then the restoring force is correspondingly acted on the integrated damping rods 303 to output, and the problem of solving the expansion and contraction quantity of the six integrated damping rods 303 is solved by the device by solving the posture of the known platform, the problem of three output quantities of two integrated damping rods 303 is solved into the known gesture of the gesture adjusting platform 301, the complexity of solving the problem is reduced, the lag time of the vibration damping and gesture adjusting device 3 is further reduced, the vibration damping and gesture adjusting device 3 can follow faster output restoring force when being interfered by the external environment, and the sensitivity of the vibration damping and gesture adjusting device 3 is improved.
As shown in fig. 9, the integrated vibration damping rod 303 includes a double-layer sleeve 30307, a viscoelastic damper 30311, a pre-jacking buffer 30310, a piezoelectric driver 30309, a linear bearing 30308, a cylindrical magnet 30305, an upper gland 30304, a pre-tightening spring 30303, an upper cover 30312 and a coil 30306, wherein the double-layer sleeve 30307 is a double-layer hollow straight cylinder with one side closed, the viscoelastic damper 30311 is made of a viscoelastic material and is arranged in the interlayer of the double-layer sleeve 30307, the piezoelectric driver 30309 is provided with the linear bearing 30308 at the periphery and the upper and lower ends thereof with the pre-jacking buffer 30310 for protecting the piezoelectric driver 30309, the three pre-jacking buffer 30310 arranged at and below the bottom of the double-layer sleeve 30307 are in close contact with the bottom of the double-layer sleeve 30307, the linear bearing 30308 is used for stabilizing the output force of the piezoelectric driver 30309 in one direction, the cylindrical magnet 30305 is arranged on and in close contact with the pre-jacking buffer 30310, the coil 30306 is fixed on the double-layer sleeve inner layer 3030701 and surrounds the cylindrical magnet 30305, the pressure head of the upper gland 30304 is simultaneously in close contact with the cylindrical magnet 30305 and the viscoelastic damper 30311, the pre-tightening spring 30303 is arranged in a groove formed by the upper gland 30304 and the double-layer sleeve outer layer 3030702 and used for providing pre-tightening force, and the upper cover 30312 is in a ring shape, penetrates through the upper gland 30304, is fixed at the upper end of the double-layer sleeve 30307 through a screw and is used for sealing the integrated vibration damping rod 303. Because the cylindrical magnet 30305, the pre-jacking buffer device 30310 and the piezoelectric driver 30309 are connected in series, the cylindrical magnet 30305 generates the same displacement along with the displacement output by the piezoelectric driver 30309 in the working process of the integrated vibration damping rod 303, the coil 30306 fixed on the double-layer sleeve inner layer 3030701 cuts a magnetic induction line due to the movement of the cylindrical magnet 30305, and the coil 30306 generates electric energy for supplying power to the unmanned aerial vehicle based on the electromagnetic induction principle.
As shown in fig. 10, the camera protecting cover 4 is spherical and comprises a spherical shell 401 and a transmission shaft 402, the spherical shell 401 has a hemispherical light-transmitting mirror, so as to facilitate camera shooting, the camera protecting cover 4 is surrounded by the pitching arm 104, one end of the camera protecting cover is connected with the rotor of the third motor 107 through a coupling 402, the other end of the camera protecting cover is connected with one end of the pitching arm 104 through the transmission shaft 402, and the camera protecting cover 401 and the vibration-damping posture-adjusting device 3 are connected through bolts and are kept relatively static.
As shown in fig. 11, the three clamping devices 5 correspond to the three posture adjusting platforms 301 respectively and are composed of fastening bolts 501, an upper chute 502 and a rubber layer 503, the bottom of the upper chute 502 and the fastening bolts 501 are wrapped by the rubber layer 503 to play a role in buffering the upper chute 502, the fastening bolts 501 and the camera, the fastening bolts 501 sequentially penetrate through the upper chute 502 and the strip-shaped groove of the posture adjusting platform 301, and after the camera is installed, the fastening bolts 501 on the three clamping devices 5 are screwed to transmit the vibration brought by the camera and fix the camera.
As shown in fig. 12, the principle diagram of active and passive vibration reduction according to the present invention is described below with reference to the integrated vibration reduction rods 303 and the posture adjustment platform 301 shown in fig. 7, 8 and 9, the vibration reduction and posture adjustment device 3 mainly realizes composite vibration reduction through the combination of the active vibration reduction structure 30302 and the passive vibration reduction structure 30301, the passive vibration reduction structure 30301 mainly comprises an upper gland 30304, a viscoelastic damper 30311, a double-layer sleeve 30307, etc., the active vibration reduction structure 30302 mainly comprises a posture sensor 305, a piezoelectric driver 30309, a pre-jacking buffer 30310, the posture adjustment platform 301 and a linear bearing 30308, etc., when vibration is generated by air flow interference from the outside or inertial interference from itself, the camera mounted on the pan-tilt head is similarly affected by the vibration, and the vibration of the camera in the spatial direction is transmitted to the six integrated vibration reduction rods 303 through the three posture adjustment platforms 301, the integrated vibration damping rods 303 are affected by the vibration from the posture adjusting platform 301, on one hand, the vibration is transmitted to the viscoelastic damper 30311 through the upper gland 30304, the viscoelastic damper 30311 is mainly composed of a viscoelastic high damping rubber material, when the viscoelastic high damping rubber material is subjected to external vibration, the viscous internal friction between rubber molecular chains consumes part of vibration energy, and further weakens the vibration, so that the viscoelastic damper 30311 generates elastic deformation when being subjected to the pressure from the upper gland 30304, and then outputs restoring force, consumes the energy of the vibration, and completes the passive vibration damping process, on the other hand, because the posture sensor 305 is installed on the posture adjusting platform 301, the posture change of the posture adjusting platform 301 can be respectively measured, corresponding data can be output, and further, electric signals required by the piezoelectric driver 30309 in the six integrated vibration damping rods 303 for posture adjustment can be respectively obtained, the restoring force is correspondingly acted on the integrated vibration damping rod 303, so that the piezoelectric driver 30309 outputs corresponding restoring force, the restoring force sequentially passes through the pre-jacking buffer device 30310, the cylindrical magnet 30305 and the upper gland 30304 and is finally transmitted to the posture adjusting platform 301, the three posture adjusting platforms 301 carry out restoring motion simultaneously, the resultant displacement is finally output, the posture adjustment of the camera is completed, the vibration damping purpose is realized, and the camera can stably image.
Claims (8)
1. A combined vibration-damping holder with energy harvesting function is characterized in that the combined vibration-damping holder with energy harvesting function comprises a holder rotating arm, a vibration energy collecting device, a vibration-damping and attitude-adjusting device, a clamping device and a camera protective cover, wherein the holder rotating arm rotates around the holder rotating armComprises a transverse rolling arm, a pitching arm, a first motor, a second motor, a third motor, a sealing cover and a gravity center adjusting device
And gravity center adjusting device
Form, the roll arm be arc and U-shaped respectively with the every single move arm, every single move arm inboard be equipped with four not equidimension recesses, vibration energy collection device install in the every single move arm recess in, the roll arm end be equipped with the third motor, third electric motor rotor passes through the shaft coupling and is connected with the transmission shaft of camera safety cover, the damping transfer appearance device pass through the bolt fastening in the camera safety cover inside, clamping device be fixed in three of damping transfer appearance device transfer appearance platforms on, and both mutually support fixed camera and adjust the camera position.
2. The composite vibration-damping cradle head with energy harvesting function of claim 1, wherein the cradle head rotating arm comprises a roll arm, a pitch arm and a gravity center adjusting device
Gravity center adjusting device
The roll arm and the pitching arm are respectively arc-shaped and U-shaped, and adjusting sliding grooves are respectively formed in the upper part of the roll arm and the middle part of the pitching arm
X-direction fixing hole and adjusting sliding groove
Y-direction fixing holes, the weightHeart adjusting device
Install in the upper end of the transverse rolling arm adjust the concrete chute
The rotor of the first motor is fixed on the gravity center adjusting device
Sliding block of
The gravity center adjusting device
I is arranged on the adjusting sliding groove in the middle of the pitching arm
The second motor is fixed at the lower end of the transverse rolling arm through a screw, and the rotor is fixed on the gravity center adjusting device
I slider
On I, the third motor be fixed in pitch arm one side recess and the third electric motor rotor pass through the shaft coupling and be connected with the transmission shaft of camera safety cover, the closing cap pass through fix with screw pitch arm groove opening part.
3. Center of gravity adjusting device I and center of gravity adjusting device II according to claim 2, characterized in that the center of gravity adjusting device is provided with
By guide beam, slide block
X-direction adjusting screw and adjusting chute
And an X-direction fixing hole, the sliding block
Is T-shaped, is provided with a cylindrical through groove, and is cylindrical and penetrates through the sliding block
The X-direction adjusting screw penetrates through the X-direction fixing hole to enable the sliding block to move along the X-direction
Adjusting chute fixed on upper part of transverse rolling arm
Inner, the gravity center adjusting device
Comprises a sliding block
Y-direction adjusting screw and adjusting chute
And Y-direction fixing holes, the sliding block
Is a cylinder body and is arranged in the middle of the pitching arm
The Y-direction adjusting screw penetrates through the Y-direction fixing hole to enable the sliding block to move
Adjusting sliding groove fixed in middle of pitching arm
And (4) the following steps.
4. The composite vibration-damping holder for energy harvesting of claim 1, wherein the vibration energy harvesting device comprises an energy harvesting unit
And an energy harvesting unit
The energy harvesting unit and the energy harvesting unit
The energy harvesting unit comprises a cubic support frame, an arc-shaped sheet, a central mass block and a piezoelectric sheet
The cube support frame is of a cuboid frame structure, the central mass block is of a cuboid, the central mass block is connected with the eight vertexes of the cube support frame through the eight vertexes of the central mass block at corresponding positions by the arc sheets, the central mass block is suspended under the support of the eight arc sheets, the piezoelectric sheets I are adhered to the upper surface and the lower surface of the arc sheet, and the energy harvesting units are adhered to the upper surface and the lower surface of the arc sheet
Comprises a vibration spring, a central mass ball, a cantilever beam and a piezoelectric sheet
The vibration spring is connected with the central mass ball and the pitching arm, the four cantilever beams are of sheet structures and are rigidly connected with the pitching arm and distributed in the upper, lower, left and right directions of the central mass ball, and the piezoelectric patches
Adhered to one side of the cantilever beam far away from the central mass ball, and the energy harvesting unit
And two energy harvesting units are respectively arranged and are symmetrically distributed at the respective spatial positions of the two sides of the pitching arm, and the energy harvesting units at the two sides
Are different in length.
5. The composite vibration-damping pan/tilt head with energy harvesting function of claim 1, wherein the camera protection cover comprises a spherical shell surrounded by the pitch arm and having a hemispherical transparent mirror, and a transmission shaft fixed to the spherical shell by screws and respectively connected to the third motor rotor and the other side of the pitch arm via a coupling.
6. The composite vibration-damping pan/tilt head with energy harvesting function of claim 1, wherein the number of the clamping devices is three, the clamping devices are composed of an upper chute, a rubber layer and fastening bolts and are respectively fixed on three attitude adjusting platforms, the upper chute is a strip-shaped closed ring, the bottom of the upper chute and the fastening bolts are wrapped by the rubber layer, two fastening bolts are arranged in each upper chute, and the fastening bolts sequentially pass through the upper chute and the strip-shaped grooves of the corresponding attitude adjusting platforms to fix the camera.
7. The composite vibration-damping platform with energy harvesting function according to claim 1, the vibration-damping posture-adjusting device comprises a posture sensor, a posture-adjusting platform base, an integrated vibration-damping rod and a spherical hinge, the posture sensors are fixed on the posture adjusting platform through screws, the posture adjusting platform is trapezoidal and has three blocks in total, the posture adjusting platform is positioned above the posture adjusting platform base and is annularly and uniformly distributed at 120 degrees around the central axis of the posture adjusting platform base, one side of the posture adjusting platform close to the axis of the posture adjusting platform base is provided with a strip-shaped through groove which penetrates through the upper surface and the lower surface, the clamping device is fixed in the strip-shaped through groove of the posture adjusting platform through a bolt, the base of the posture adjusting platform is circular, the two ends of the posture adjusting platform are connected with the posture adjusting platform base through a spherical hinge-integrated damping rod-spherical hinge structure.
8. The vibration-damping and posture-adjusting device according to claim 7, wherein the integrated vibration-damping rod comprises a double-layer sleeve, a viscoelastic damper, a piezoelectric actuator, a pre-jacking buffer mechanism, a linear bearing, a cylindrical magnet, a coil, an upper gland, a pre-tightening spring and an upper cover, the double-layer sleeve is a hollow straight tube with double layers and one side closed, the viscoelastic damper mainly comprises a viscoelastic material and is arranged in a double-layer sleeve barrel layer, the linear bearing is arranged around the piezoelectric actuator, the pre-jacking buffer mechanisms are arranged at the upper end and the lower end of the linear bearing, the pre-jacking buffer mechanism arranged at the bottom of the double-layer sleeve and below the double-layer sleeve is in close contact with the bottom of the double-layer sleeve barrel, the cylindrical magnet is arranged on the pre-jacking buffer mechanism and is in close contact with the pre-jacking buffer mechanism, the coil is fixed on the inner wall of the double-layer sleeve and surrounds the outside of the cylindrical magnet, the upper gland is, the pre-tightening spring is arranged in a groove formed by the upper gland and the outer layer of the double-layer sleeve, and the double-layer sleeve is packaged by the upper gland.
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