CN206825466U - A kind of automatically controlled head of multiple degrees of freedom for mobile platform - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom electronically controlled cloud platform for a mobile platform, which is characterized in that it includes a yaw angle adjustment module that rotates around the Z axis, and the yaw angle adjustment module is connected with a Rotating roll angle adjustment module, the roll angle adjustment module is connected with a pitch angle adjustment module that rotates around the X axis, and the pitch angle adjustment module is connected with the end effector carrying platform for installing various actuators; the utility model is used for The multi-degree-of-freedom electronically controlled pan/tilt of the mobile platform solves the problem of the poor universality of the existing mobile platform, the limitation of the operation of the terminal equipment due to insufficient degrees of freedom, and the control of the information interaction between the collected signal and the operation terminal. Process open-loop problem.

Description

A multi-degree-of-freedom electronically controlled pan-tilt for mobile platforms

technical field

The utility model belongs to the technical field of automatic control devices, in particular to a multi-degree-of-freedom electronically controlled cloud platform for a mobile platform.

Background technique

With the development of automatic control equipment, diversified mobile platforms such as "air, sky, and ground" have served the research and production of various industries. The operation terminal based on this type of mobile platform also designs and uses various multi-degree-of-freedom electronic control equipment such as "mechanical arms and dexterous hands" for refined operations according to different application places and operating objects. However, the existing mobile platforms have poor universality, and the operation terminal equipment is limited due to insufficient degrees of freedom, and the signal collected by the terminal cannot perform information interaction with the operation terminal.

Utility model content

The purpose of this utility model is to provide a multi-degree-of-freedom electric control platform for mobile platforms, which solves the problem of the poor universality of existing mobile platforms, the limited operation of terminal equipment due to insufficient degrees of freedom, and the The open-loop problem of the control process in which the acquisition signal and the operation terminal cannot perform information interaction.

The technical solution adopted by the utility model is, a multi-degree-of-freedom electric control platform for mobile platforms, including a yaw angle adjustment module that rotates around the Z axis, and the yaw angle adjustment module is connected with a Y A roll angle adjustment module that rotates on the axis, the roll angle adjustment module is connected with a pitch angle adjustment module that rotates around the X axis, and the pitch angle adjustment module is connected with an end effector carrying platform for installing various actuators.

The utility model is also characterized in that:

The yaw angle adjustment module includes the connecting column of the mobile platform. The connecting column of the mobile platform is connected to one side of the expansion connecting plate through a screw fastener. The other side of the expanding connecting plate is installed with a yaw angle torque motor fastening column. A yaw angle torque motor is installed on the motor fastening column, and the yaw angle torque motor is fixed to the adapter arm a, and the bayonet structure set on the adapter arm a is connected to the roll angle adjustment module.

Sensor mounting posts are installed on the connection plate for expansion.

The roll angle adjustment module includes a bayonet fastener for quick disassembly with the yaw angle adjustment module. The lower end of the bayonet fastener is fixed to the adapter arm b, and the adapter arm b is connected to the roll motor carrying platform by a bayonet connection. connection, the roll motor carrying platform is fixedly connected to the roll angle torque motor, and the roll angle torque motor is connected to the pitch angle adjustment module.

The pitch angle adjustment module includes a pitch module adapter arm a connected to the roll angle adjustment module, the two ends of the pitch module adapter arm a are respectively connected to the pitch module adapter arm b and the pitch module adapter arm c, and the pitch module adapter arm b It is connected to the pitch angle torque motor a, the pitch module adapter arm c is connected to the pitch angle torque motor b, and the end effector carrying platform is connected between the pitch angle torque motor a and the pitch angle torque motor b.

The end effector mounting platform includes a "T" type mounting platform transfer arm, the horizontal ends of the mounting platform transfer arm are respectively connected to the pitch angle torque motor a and the pitch angle torque motor b, and the vertical bottom end of the mounting platform transfer arm is Connect with the end effector mounting platform.

The beneficial effects of the utility model are: a multi-degree-of-freedom electric control platform for a mobile platform of the utility model has a simple structure, clear control principle, and is easy to debug; a multi-freedom electronic control platform for a mobile platform of the utility model High-speed electronically controlled pan/tilt, controlled by multi-torque motors, avoids the inaccessibility of the space position caused by the lack of freedom of the installed devices at the operating end. The use of high-torque motors improves the accuracy and stability of the pan/tilt operation and expands the operating range The type and working range of the manipulator at the installation end, and the installation method in the utility model can increase or decrease the adjustment module, which increases the application flexibility of the utility model.

Description of drawings

Fig. 1 is a structural schematic diagram of a multi-degree-of-freedom electronically controlled pan-tilt for a mobile platform of the present invention.

In the figure, 1. Mobile platform connecting column, 2. Screw fastener, 3. Expansion connecting plate, 3-1. Sensor mounting column, 4. Yaw angle torque motor fastening column, 5. Yaw angle torque motor , 6. Adapter arm a, 7. Bayonet fastener, 8. Adapter arm b, 9. Roll motor mounting platform, 10. Roll angular torque motor, 11. Pitch module adapter arm a, 12. Pitch Module adapter arm b, 13. Pitch angle torque motor a, 14. Mounting platform adapter arm, 15. End effector installation platform, 16. Pitch module adapter arm c, 17. Pitch angle torque motor b.

detailed description

The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

The utility model is a multi-degree-of-freedom electronically controlled cloud platform for a mobile platform. The structure is shown in Figure 1, including a yaw angle adjustment module that rotates around the Z axis. The yaw angle adjustment module is connected with a Y A roll angle adjustment module that rotates on the axis, the roll angle adjustment module is connected with a pitch angle adjustment module that rotates around the X axis, and the pitch angle adjustment module is connected with an end effector carrying platform for installing various actuators.

The yaw angle adjustment module includes a mobile platform connecting column 1, which is connected to one side of the expansion connecting plate 3 through a screw fastener 2, and the yaw angle torque motor is installed on the negative direction of the Z axis of the expanding connecting plate 3. Fixing column 4, yaw angle torque motor Fastening column 4 is equipped with 100kg/cm yaw angle torque motor 5, the working voltage of yaw angle torque motor 5 is 12V-24V, yaw angle torque motor 5 and the transfer The arm a6 is fixed, and the screw hole is drilled with M4 thread on the adapter arm a6 to provide a quick-detachable bayonet structure for the roll angle adjustment module.

The sensor mounting column 3-1 can be installed on the expansion connecting plate 3 according to the requirement, and the additional sensor can complete the perception of the objects below, automatically judge the height change of the terrain to change the length of the system, and complete automatic obstacle avoidance, etc.

The roll angle adjustment module includes a bayonet fastener 7 for quick disassembly of the yaw angle adjustment module. The bayonet fastener 7 is connected to the bayonet structure of the adapter arm a6, and the bayonet connection can be quickly disassembled. The lower end of the bayonet fastener 7 is fixed to the adapter arm b8, and the adapter arm b8 is connected to the rolling motor carrying platform 9 by bayonet connection. The rolling motor carrying platform 9 uses M4 screws and a 100kg/cm rolling angular torque motor 10 is fixedly connected, the operating voltage of the roll angle torque motor 10 is 12V-24V, and the roll angle torque motor 10 and the pitch module adapter arm a11 are installed and connected with M4 screws.

The pitch angle adjustment module includes a pitch module adapter arm a11 connected to the roll angle adjustment module. The two ends of the pitch module adapter arm a11 are respectively connected to the pitch module adapter arm b12 and the pitch module adapter arm c16. Connect with the 100kg/cm pitch angle torque motor a13, the pitch module adapter arm c16 is connected with the 100kg/cm pitch angle torque motor b17, and connect the end effector carrying platform between the pitch angle torque motor a13 and the pitch angle torque motor b17, two The synchronous rotation control of the pitch angle torque motor operates the end effector carrying platform.

The end effector carrying platform includes a "T" type carrying platform adapter arm 14, and the horizontal ends of the carrying platform connecting arm 14 are respectively connected with the pitch angle torque motor a13 and the pitch angle torque motor b17, and the carrying platform adapter arm 14 is vertical The bottom end of the end effector installation platform 15 is connected to the end effector installation platform 15, which includes a variety of fast detachable bolts, clamps, etc., and a variety of operating equipment can be mounted below here, such as cameras (for stable shooting ), spray booms (for pesticide spraying), surveying and mapping equipment (for detection of infrared height, etc.), etc.

The utility model is used for the multi-degree-of-freedom electric control platform of the mobile platform, the control between the yaw angle adjustment module and the roll angle adjustment module is independent, the two modules are fixed by bolts, and can be repaired and debugged separately.

The utility model is used for the multi-degree-of-freedom electric control platform of the mobile platform, the control between the roll angle adjustment module and the pitch angle adjustment module is independent, the two modules are fixed by bolts, and can be repaired and debugged separately.

In the utility model, the yaw angle torque motor 5 drives the yaw angle torque motor fastening column 4 to rotate around the Z axis, so that the end effector mounting platform 15 performs yaw motion to form the first degree of freedom, and the roll angle torque motor 10 drives The pitch module adapter arm a11 rotates around the Y axis to make the end effector mounting platform 15 perform a rolling motion to form a second degree of freedom. The pitch angle torque motor a13 and the pitch angle torque motor b17 drive the mounting platform adapter arm 14 to rotate The rotation of the X-axis makes the end effector installation platform 15 perform a pitching motion to form a third degree of freedom.

The rotation range of yaw angle torque motor 5 is [0°, ±180°], the rotation range of roll angle torque motor 10 is [0°, ±90°], the rotation range of pitch angle torque motor a13 and pitch angle torque motor b17 is [0°, ±90°].

The yaw angle torque motor 5, the roll angle torque motor 10, the pitch angle torque motor a13, and the pitch angle torque motor b17 can all change the working state of the motor according to the PWM signal output by the sensor and processor in the system, and keep rotating at a constant speed or always The state of being stationary in a certain position.

The utility model is used for a multi-degree-of-freedom electric control platform for a mobile platform. The control between the pitch angle adjustment module and the end effector carrying platform is independent. The two modules are fixed by bolts and can be repaired and debugged separately.

When in use, first complete the installation of the expansion mounting plate 3 and the yaw angle torque motor fastening column 4, and then perform device zero calibration on the yaw angle torque motor 5; then, use M4 screws to fix the adapter arm a6 and the bayonet Fastener 7 fixes the roll angle torque motor 10 and the yaw angle adjustment module, then performs zero calibration on the roll angle torque motor 10, and at the same time performs the yaw angle torque motor 5 again under the condition that the mobile platform mounting column is fixed Calibration; again, install the pitch module adapter arm a11 on the roll angle torque motor, and then perform zero calibration of the pitch angle, roll angle, and yaw angle torque motors. Finally, the end effector is installed on the end effector installation platform 15 and controlled by remote control or program control. The multi-degree-of-freedom electronically controlled pan/tilt of the utility model has a control line independent of the body itself, but is uniformly plugged into a control card, and the control card can communicate with a remote controller or a PC in various ways through wired or wireless communication.

Movement process: yaw angle torque motor 5, roll angle torque motor 10, pitch angle torque motor a13, pitch angle torque motor b17, which can be controlled independently or coupled according to requirements, among which the transfer arm a 6 and the transfer arm b8 , the pitch module adapter arm a11 , the pitch module adapter arm b12 , and the mounting platform adapter arm 14 can be made of hollow aluminum tube or PVC tube to reduce the motor load. In actual operation, the adapter arm a6 should be larger than 12cm and less than 20cm. The purpose is to be able to mount video acquisition devices such as cameras under the adapter arm a6 without reducing the flexibility of the gimbal due to the excessive length of the adapter arm a6.

In the structural design of the utility model, the yaw angle adjustment is used as the first-level motion link connecting the mobile platform object, which can effectively reduce the problem that the torque has a high requirement on the motor during the rolling and pitching motion, and will generate a large torque to the transfer arm b8 It is designed to be parallel to the yaw, and as the upper-level connecting device of the roll and pitch movements, its manufacturing size constraints have been reduced; for the pitch module adapter arm a11 of the pitch angle adjustment module, the pitch module adapter arm b12, The space structure composed of the pitch module adapter arm c16 and the horizontal arm equipped with the platform adapter arm 14, its core coincides with the rotation axis of the yaw angle torque motor 5, so as to avoid the yaw angle torque motor 5 that may be caused by unbalanced design. wear, and at the same time, it can ensure that the roll angle torque motor 10 is subjected to the same torque in the X-axis direction.

The multi-degree-of-freedom electric control cloud platform used for the mobile platform of the utility model has the advantages of simple structure, clear control principle and easy debugging. The multi-degree-of-freedom electric control platform used for the mobile platform of the utility model is controlled by a multi-torque motor, which avoids the inaccessibility of the space position of the installed device at the operating end due to insufficient degrees of freedom, and improves the use of the large-torque motor. The accuracy and stability of the pan-tilt operation are improved, the type and working range of the manipulator at the operating installation end are expanded, and the installation mode in the utility model can increase or decrease the adjustment module, which increases the application flexibility of the utility model.

The multi-degree-of-freedom electronically controlled pan/tilt of the utility model is designed for a variety of mobile platform equipment, such as quadrotors, wheeled robots, industrial robots, etc. It can be equipped with various acquisition equipment according to the requirements of data acquisition types, such as cameras , infrared sensors, small radars, etc. The multi-degree-of-freedom electronically controlled pan/tilt has many target devices, and it can provide a wide carrying space. It is an information collection device that cannot be obtained by modern intelligent equipment.

The multi-degree-of-freedom electronically controlled pan/tilt of the utility model can be controlled by remote control at the working end, and the state of each torque motor can be adjusted according to the terminal movement requirements to ensure the accuracy and speed of the pan/tilt movement. In addition, the electronically controlled pan/tilt can complete the lifting of the end of the actuator. and obstacle avoidance and other protective actions. The multi-degree-of-freedom electronically controlled pan/tilt of the utility model can replace manual data collection work in dangerous and harmful environments, and due to the multi-degree of freedom of this pan/tilt and the diversification of mobile platforms, it can work in different Working in the environment, it has smaller working dead angle than manual method.

Claims (6)

1. A multi-degree-of-freedom electronically controlled cloud platform for a mobile platform, characterized in that it includes a yaw angle adjustment module that rotates around the Z axis, and the yaw angle adjustment module is connected with a roller that rotates around the Y axis through a bayonet structure. The rotation angle adjustment module and the roll angle adjustment module are connected with a pitch angle adjustment module that rotates around the X axis, and the pitch angle adjustment module is connected with an end effector carrying platform for installing various actuators. 2. A kind of multi-degree-of-freedom electric control cloud platform for mobile platform according to claim 1, is characterized in that, described yaw angle adjustment module comprises mobile platform connecting column (1), mobile platform connecting column (1) ) is connected to one side of the expansion connecting plate (3) through the screw fastener (2), and the other side of the expansion connecting plate (3) is installed with the yaw angle torque motor fastening column (4), and the yaw angle torque motor is fastened A yaw angle torque motor (5) is installed on the solid column (4), and the yaw angle torque motor (5) is fixed to the adapter arm a (6). The roll angle adjustment module is connected. 3. A multi-degree-of-freedom electronically controlled pan-tilt for a mobile platform according to claim 2, characterized in that a sensor mounting column (3-1) is installed on the expansion connecting plate (3). 4. A multi-degree-of-freedom electronically controlled pan/tilt for a mobile platform according to claim 1, wherein the roll angle adjustment module includes a bayonet clamp for quick disassembly with the yaw angle adjustment module. The firmware (7), the lower end of the bayonet fastener (7) is fixedly connected to the adapter arm b (8), and the adapter arm b (8) is connected to the rolling motor carrying platform (9) by bayonet connection. The rotating motor carrying platform (9) is fixedly connected with the roll angle torque motor (10), and the roll angle torque motor (10) is connected with the pitch angle adjustment module. 5. A kind of multi-degree-of-freedom electric control platform for mobile platform according to claim 1, it is characterized in that, described pitch angle adjustment module comprises the pitch module adapter arm a that is connected with described roll angle adjustment module (11), the two ends of the pitch module adapter arm a (11) are respectively connected to the pitch module adapter arm b (12) and the pitch module adapter arm c (16), and the pitch module adapter arm b (12) is connected to the pitch angle The torque motor a (13) is connected, the pitch module adapter arm c (16) is connected with the pitch angle torque motor b (17), and the pitch angle torque motor a (13) is connected with the pitch angle torque motor b (17). The end effector mounts the platform. 6. A kind of multi-degree-of-freedom electric control platform for mobile platform according to claim 5, is characterized in that, described end effector carrying platform comprises " T " type carrying platform adapter arm (14), carries The horizontal two ends of the platform adapter arm (14) are respectively connected with the pitch angle torque motor a (13) and the pitch angle torque motor b (17), and the vertical bottom end of the platform adapter arm (14) is connected with the The end effector mounting platform (15) is connected.