CN207496957U - A kind of cradle head device and unmanned plane - Google Patents
A kind of cradle head device and unmanned plane Download PDFInfo
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- CN207496957U CN207496957U CN201721421443.3U CN201721421443U CN207496957U CN 207496957 U CN207496957 U CN 207496957U CN 201721421443 U CN201721421443 U CN 201721421443U CN 207496957 U CN207496957 U CN 207496957U
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- head device
- cradle head
- capture apparatus
- unmanned plane
- adjustment
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Abstract
The utility model discloses a kind of cradle head device and unmanned planes, wherein cradle head device includes rack components, adjustment component, capture apparatus and control assembly, the control assembly includes circuit board, connecting line, processor and inertial sensor, the inertial sensor detects the attitude information of the capture apparatus, the processor controls the adjustment component according to the attitude information, wherein：The adjustment component includes the joint coupling for connection frame component and capture apparatus and the adjusting apparatus for adjusting the shooting angle of capture apparatus.Unmanned plane, including unmanned plane main body, the unmanned plane lower body part snaps connection the cradle head device, unmanned plane main body electrical connection cradle head device.Using the adjustment capture apparatus angle of screw wing, the purpose adjusted the angle in real time can be realized so that adjustment is more flexible.The structure of the design of the utility model is more reasonable simultaneously, uses and is more convenient when using adjustment angle, and shooting effect is better than traditional holder.
Description
Technical field
The utility model belongs to unmanned air vehicle technique field, is related to a kind of cradle head device and unmanned plane.
Background technology
With the raising of the degree of automation patrolled circuit, patrol UAV is widely used, and is carried for convenience
Detection device needs to install holder frame mounting in patrol UAV, and being accordingly used in the holder frame mounting of patrol UAV is
One important component, in the existing holder frame mounting for patrol UAV, particularly small-sized electric platform, load
Fixed-link is formed between supporting plate, installation frame and body, body vibrations are transmitted as readily to load section, influence load imaging effect,
Simultaneously as holder frame is directly affixed with body, it is unfavorable for the standardization of a variety of small drone or multiple mounting modes.
Holder is the support workbench for installing video equipment, and video equipment is arranged on holder, by holder
Adjustment adjusts the camera lens of video equipment, to realize correctly to the camera shooting of target.In photography, photograph and/or monitoring field, carry
The carrier of video camera or camera (such as：Aircraft, automobile, steamer, robot, human body) in the process of running, due to
There are high-frequency vibrations and low-frequency jitter in itself for carrier, need to configure stable self-balancing holder and are used for carrying video camera, camera
To realize steady shot.It is the attitudes vibration that video camera or camera are detected by electronic equipment mostly to stablize self-balancing holder,
Steering engine Contrary compensation is controlled to realize the stabilization of video camera or camera.
Chinese patent：Patent No. CN201110380344.6 discloses a kind of gyroscope type dynamic self-balance holder, including machine
Frame component, electric machine assembly, capture apparatus and control assembly；Control assembly includes processor and inertial sensor, inertia sensing
Device detects the attitude information of capture apparatus, and processor controls electric machine assembly according to attitude information；Electric machine assembly directly drives rack
Component rotates the shooting angle to adjust capture apparatus relative to capture apparatus；Further include the connecting rod structure for auxiliary framework component
Part, link component rotates with rack components and frames component.Although the holder frame mounting of the utility model is realized
The function of fixed video camera, but the utility model also exist it is dumb when shooting, it is external unsightly and unreasonable structure
The problem of.
Meanwhile existing holder is mainly that either three shaft mechanicals or electronic platform increase steady method, this method using two axis
Use motor（Brushless motor etc.）Control the angle at capture apparatus inclination angle, shake is larger, capture apparatus has greater obliquity that could supervise
It measures, can just make balanced adjustment.Essence is to optimize shooting picture of taking photo by plane with algorithm, and being susceptible to picture has shake trace
Problem.
Invention content
The purpose of this utility model is that for the deficiency of existing holder balance, provide a kind of rational in infrastructure, adjustment flexibly,
Easy to use and shooting effect good cradle head device and unmanned plane.
To achieve these goals, the utility model employs following technical scheme：
A kind of cradle head device, including rack components, adjustment component, capture apparatus and control assembly, the control assembly
Including circuit board, connecting line, processor and inertial sensor, the inertial sensor detects the posture letter of the capture apparatus
Breath, the processor control the adjustment component according to the attitude information, wherein：The adjustment component includes connecting
The joint coupling of rack components and capture apparatus and the adjusting apparatus for adjusting the shooting angle of capture apparatus.
Further, the screw wing that the adjusting apparatus carries driving motor at least two, driving motor electrical connection
Control assembly.
Further, the cradle head device, which further includes, is useful for package rack components, adjustment component and control assembly
Link at the top of housing and rack components and for connecting unmanned plane, connection are erected at the top of rack components.
Further, the housing includes the annular frame of support protective effect and covers respectively to be open in annular frame
The upper cover plate and lower cover at place.
Further, the upper cover plate and lower cover are uniformly distributed equipped with ventilation hole.
Further, joint coupling difference connection frame component lower end and lower cover top panel, and it is universal
Connector can realize activity adjustment.
Further, the joint coupling includes Cardon universal joint or rzeppa joint.
Further, the link includes for the pedestal of connection frame component and for snapping connection unmanned plane
Installation frame.
Further, capture apparatus activity is adjustable mounted on the bottom of lower cover, and lower bottom cover, which is equipped with, to be corresponded to
Coordinate the notch of capture apparatus.
A kind of unmanned plane, including unmanned plane main body, wherein：The unmanned plane lower body part snaps connection above-mentioned cloud
Table apparatus, unmanned plane main body electrical connection cradle head device.Unmanned plane main body electrical connection cradle head device can be realized to cradle head device
It power supply and is realized by unmanned plane main body and data transmission.
The beneficial effects of the utility model：
The utility model senses the shooting state of capture apparatus by acceleration gyroscope, is then realized by adjusting device
Adjust capture apparatus angle.
The utility model uses acceleration gyroscope sense state, then coordinates the screw wing of translator by gimbal structure
（Flight Vehicle Structure）, rack components plays the role of Auxiliary support, while does not interfere with the angle of screw wing adjustment capture apparatus, energy
Enough realize the purpose adjusted the angle in real time so that adjustment is more flexible.The structure of the design of the utility model is more reasonable simultaneously,
It uses and is more convenient when using adjustment angle, and shooting effect is better than traditional holder.
For the utility model using Flight Vehicle Structure as holder, built-in high-precision acceleration gyroscope can allow holder
Device and capture apparatus keep horizontal equilibrium in real time, and capture apparatus has relatively small tilt angle with regard to that can detect, can ensure shooting of taking photo by plane
Picture is more stable, and picture is not easy shake, blurred trace occur, is substantially to detect capture apparatus in real time with acceleration gyroscope
Inclination angle.
Description of the drawings
Attached drawing 1 is the cradle head device decomposition diagram of unmanned plane；
Attached drawing 2 is that the cradle head device of unmanned plane looks up stereoscopic schematic diagram；
Attached drawing 3 is the cradle head device top perspective schematic diagram of unmanned plane；
Attached drawing 4 is Universal active bar schematic diagram.
It is identified in figure：1- capture apparatus, 2a- lower covers, 2b- upper cover plates, 3- annular frames, 4- driving motors, 5- racks
Component, 6a- installation frames, 6b- pedestals, 7- control assemblies, 8- screw wings, 9- Universal actives bar, 20- mounting body, 21- are fixed
External member, 90- circular pegs, 91- pressing plates.
Specific embodiment
With reference to the accompanying drawings, it is described in further detail to specific embodiment of the present utility model.
In the description of the present invention, it is to be appreciated that term " length ", " width ", " on ", " under ", " preceding ",
The orientation or position relationship of the instructions such as " rear ", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are based on attached
Orientation or position relationship shown in figure are for only for ease of description the utility model and simplify description rather than instruction or imply
Signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that this
The limitation of utility model.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature." multiple " are meant that two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the utility model embodiment unless specifically defined or limited otherwise, term " installation ", " connects " connected "
Connect ", the terms such as " fixation " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；
Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, it can be with
It is the interaction relationship of connection inside two elements or two elements.For the ordinary skill in the art, may be used
To understand concrete meaning of the above-mentioned term in the utility model as the case may be.
Shown in refer to the attached drawing 1,2,3, present embodiment discloses a kind of cradle head device, including rack components 5, adjustment component,
Capture apparatus 1 and control assembly 7, the control assembly 7 includes circuit board, connecting line, processor and inertial sensor, described
Inertial sensor detects the attitude information of the capture apparatus 1, and the processor controls the adjustment according to the attitude information
Component, wherein：The adjustment component includes the joint coupling for connection frame component 5 and capture apparatus 1 and is used for
Adjust the adjusting apparatus of the shooting angle of capture apparatus 1；The joint coupling includes Cardon universal joint or rzeppa joint.
With reference to cardan (hookes)universal joint structure is used in figure 1 and the present embodiment shown in Fig. 4, it is equipped with to live in 5 lower part of rack components
The circular pegs 90 of dynamic connection Universal active bar 9,9 middle part pressing plate 91 of Universal active bar are flexibly connected with circular pegs 90 so that ten thousand
It can be rotated to motion bar 9 around circular pegs 90.9 both ends of Universal active bar are equipped with the cylinder outwardly protruded and are pacified by 91 activity of pressing plate
Mounted in lower cover 2a top panels, Universal active bar 9 can be realized around the axle center of Universal active bar 9 and be rotated.The structure is used to cause
The structure of the utility model is more reasonable, and relatively traditional holder the utility model structure is simpler, and adjustment is more quick
It is convenient.
In another embodiment using shown rzeppa joint structure, in the lower part connected ball of rack components 5
Head, bulb coordinate the sliding sleeve flexible connection on lower cover 2a so that rack components 5 can be with respect to housing（It also is understood that under
Cover board 2a）Rotation adjusts angle.
The present embodiment shown in refer to the attached drawing 1 is further, and the adjusting apparatus carries driving motor 4 at least two
Screw wing 8, driving motor 4 are electrically connected control assembly 7.Adjusting apparatus uses four spiral shells with driving motor 4 in the present embodiment
Rotor 8（Here it will be seen that for the aircraft blade of an axis in four-axle aircraft and aircraft motor）, this four band driving electricity
The screw wing 8 of machine 4 is evenly distributed in four angles in housing, after the state that capture apparatus 1 is sensed according to gyro inductor
Four driving motors 4 of control are respectively so that screw wing 8 works so as to adjust the shooting angle of capture apparatus 1 so that shooting is cleverer
It is living.
The present embodiment does holder using four-axle aircraft, due to its built-in high-precision acceleration gyroscope, can allow holder
Device and capture apparatus keep horizontal equilibrium in real time（When acceleration gyroscope detects the inclination angle of cradle head device and capture apparatus
Afterwards, the processor built in cradle head device, which receives, allows four horses after the dip angle signal and acceleration signal that acceleration gyroscope detects
Up to the rotating speed exported with reaching cradle head device and capture apparatus horizontal equilibrium state is adapted, so as to set cradle head device and shooting
It is standby（3 in attached drawing 2 and 21）Remain horizontal equilibrium state, capture apparatus has relatively small tilt angle that can just detect, shooting of taking photo by plane
Picture is more stable, and picture is not easy shake, blurred trace occur, is substantially to detect capture apparatus in real time with acceleration gyroscope
Inclination angle.
Adjusting apparatus uses three or six screw wings 8 with driving motor 4 in a further embodiment（Do not show in figure
Go out, when principle is identical with four screw wings 8）, when equal around the center of rack components 5 for three screw wings 8 with driving motor 4
Even is distributed in housing, and the interconnecting line between last screw wing 8 forms an isosceles triangle；When electric for six band drivings
The screw wing 8 of machine 4 is evenly distributed in around the center of rack components 5 in housing, the interconnecting line shape between last screw wing 8
The hexagon equilateral into one etc..And the quantity of adjusting apparatus is generally with the size of holder, carrying capture apparatus 1 or Adjustment precision
Setting is increased and decreased Deng as basis.
Flight Vehicle Structure cradle head device, it is therefore an objective to capture apparatus 1 be allowed to remain horizontal equilibrium, principle is using in holder
The high-precision acceleration gyroscope put detect in real time itself work when inclination angle, built in processor receive acceleration top
Allow four motor outputs horizontal with reaching cradle head device and capture apparatus 1 after dip angle signal and acceleration signal that spiral shell instrument detects
The rotating speed that equilibrium state is adapted, so as to which capture apparatus 1 finally be made to remain horizontal equilibrium.
Further shown in refer to the attached drawing 1, the cradle head device, which further includes, is useful for package rack components 5, adjustment group
5 top of housing and rack components of part and control assembly 7 and the link for connecting unmanned plane, connect and are erected at rack
The top of component 5.The housing includes the annular frame 3 of support protective effect and is covered respectively in 3 opening of annular frame
Upper cover plate 2b and lower cover 2a.The upper cover plate 2b and lower cover 2a is uniformly distributed equipped with ventilation hole.The shell of the present embodiment
Body, upper cover plate 2b and lower cover 2a are used, and there is the resistance to material that falls to be made（Such as High molecular weight polyethylene）, spiral shell can be effectively protected
Rotor 8 can be effectively protected the safety and stabilization of holder, can effectively prevent the work of ectocine holder；Exist simultaneously
Ventilation hole is added on upper cover plate 2b and lower cover 2a can effectively maintain air balance inside holder, more can effectively maintain
The balance of holder reduces influence of the internal circulating current to holder in itself, also just subtracts so as to decrease the influence of internal gas flow
The adjusting work of screw wing 8 is lacked, so as to reduce energy consumption, and the heat for effectively generating the work such as motor in housing is timely
It discharges outside holder, the effective service life for increasing holder internal component.
It is further shown in refer to the attached drawing 1,5 lower end of joint coupling difference connection frame component and lower cover 2a
Top panel, and joint coupling can realize activity adjustment.Upper cover plate 2b is equipped with for across rack components 5 in the present embodiment
Central opening, central opening is big compared with rack components 5, during for preventing rotational angle upper cover plate 2b interfere with rack components 5 from
And influence adjustment work.
Further shown in refer to the attached drawing 1, the link includes the pedestal 6b and use for connection frame component 5
In the installation frame 6a for snapping connection unmanned plane.Coordinate nobody by being added at the top of installation frame 6a in the present embodiment
Machine forms the outwardly projecting button of Fast Installation, so as to ensure can to increase with the purpose of fast assembling-disassembling using when this holder
Add the convenience of user.
Further shown in refer to the attached drawing 1,1 activity of capture apparatus is adjustable mounted on the bottom of lower cover 2a
Portion, lower bottom cover are equipped with the notch of corresponding matching capture apparatus 1.It is provided with to shoot for installing in the lower part of notch in the present embodiment
The mounting body 20 of equipment 1, and capture apparatus 1 is mounted on by the way that fixed sleeve part 21 is adjustable in mounting body 20, shooting is set
Standby 1 is equipped with the port of connection unmanned plane.
In order to ensure the whole service life of holder and resistance to performance, housing, rack components 5, installation frame are fallen in the present embodiment
6a, mounting body 20 and joint coupling etc. are made using lighter weight and with the material that resistance to falling property is high and crushing resistance is strong, by
In using lighter weight material be made so that holder overall weight it is relatively light, even if also therefore it is small using power and compared with
Small-sized aircraft can also complete the task of adjustment 1 angle of capture apparatus, also can effectively reduce energy consumption, improve adjustment
Accuracy, as High molecular weight polyethylene, ultra-high molecular weight polyethylene, polyurethane, polyethylene, high impact polystyrene, rubber increase
The materials such as tough epoxy resin, do not limit to above-mentioned material certainly.
The driving motor 4 of screw wing 8 is brush motor in the present embodiment.The driving motor 4 of screw wing 8 in other embodiment
DC brushless motor may be used, be advantageous in that：(1) electronic commutation replaces traditional mechanical commutation, dependable performance, forever without mill
Damage, failure rate are low, and the service life improves about 6 times than brush motor；(2) belong to static motor, no-load current is small；(3) it is efficient；(4)
It is small.
Control assembly 7 includes processor, inertial sensor, circuit board and connecting line, and connecting line includes conductor wire and letter
Number line, inertial sensor include the acceleration gyroscope for detecting angular velocity signal and acceleration signal, and processor is according to angle
Speed signal and acceleration signal forward and reverse and rotating speed size to control the driving of screw wing 8.By setting inertia
Sensor comes the posture of timely dynamic monitoring capture apparatus 1, and the positive and negative rotation of the quick motor of control in time, make cradle head device and
Capture apparatus 1 remains horizontal equilibrium state, so as to improve the shooting stability of capture apparatus 1.
The above embodiments are all using way of the aircraft blade in upper aircraft motor under, in other embodiment
In then using method in contrast with the previous embodiment, aircraft blade being set in lower aircraft motor what upper inversion was set
Meter, and be then that aircraft motor is mounted below upper cover plate 2b at this time, and other settings are identical with the above embodiments.
The present embodiment shown in refer to the attached drawing 1 also discloses a kind of unmanned plane, including unmanned plane main body, wherein：The nothing
Man-machine lower body part snaps connection above-mentioned cradle head device, unmanned plane main body electrical connection cradle head device.Unmanned plane main body is electrically connected
Connecing cradle head device can realize to the power supply of cradle head device and be realized by unmanned plane main body and data transmission.
More preferably one of concrete mode of embodiment described above, only the utility model, those skilled in the art
The usual variations and alternatives carried out in the range of technical solutions of the utility model should all be included in the scope of protection of the utility model
It is interior.
Claims (10)
1. a kind of cradle head device, including rack components（5）, adjustment component, capture apparatus（1）And control assembly（7）, the control
Component processed（7）Including circuit board, connecting line, processor and inertial sensor, the inertial sensor detects the capture apparatus
（1）Attitude information, the processor controls the adjustment component according to the attitude information；It is characterized in that：The adjustment
Component is included for connection frame component（5）And capture apparatus（1）Joint coupling and for adjusting capture apparatus（1）
Shooting angle adjusting apparatus.
2. cradle head device according to claim 1, it is characterized in that：The adjusting apparatus is at least two with driving electricity
Machine（4）Screw wing（8）, driving motor（4）It is electrically connected control assembly（7）.
3. cradle head device according to claim 1, it is characterized in that：The joint coupling includes Cardon universal joint or cage
Formula universal joint.
4. cradle head device according to claim 1, it is characterized in that：The cradle head device, which further includes, is useful for package rack
Component（5）, adjustment component and control assembly（7）Housing and rack components（5）Top and the connection for connecting unmanned plane
Frame, connection are erected at rack components（5）Top.
5. cradle head device according to claim 4, it is characterized in that：The housing includes the ring frame of support protective effect
Frame（3）And it is covered respectively in annular frame（3）The upper cover plate of opening（2b）And lower cover（2a）.
6. cradle head device according to claim 5, it is characterized in that：The upper cover plate（2b）And lower cover（2a）Uniformly divide
It is laid with ventilation hole.
7. the cradle head device according to claim 1 or 3, it is characterized in that：The joint coupling difference connection frame group
Part（5）Lower end and lower cover（2a）Top panel, and joint coupling can realize activity adjustment.
8. cradle head device according to claim 4, it is characterized in that：The link is included for connection frame component
（5）Pedestal（6b）And the installation frame for snapping connection unmanned plane（6a）.
9. cradle head device according to claim 1, it is characterized in that：The capture apparatus（1）The adjustable installation of activity
In lower cover（2a）Bottom, lower bottom cover be equipped with corresponding matching capture apparatus（1）Notch.
10. a kind of unmanned plane, including unmanned plane main body, it is characterized in that：The unmanned plane lower body part, which snaps connection, has the right
It is required that the cradle head device described in 1-9 any one, unmanned plane main body electrical connection cradle head device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721421443.3U CN207496957U (en) | 2017-10-31 | 2017-10-31 | A kind of cradle head device and unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721421443.3U CN207496957U (en) | 2017-10-31 | 2017-10-31 | A kind of cradle head device and unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN207496957U true CN207496957U (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721421443.3U Active CN207496957U (en) | 2017-10-31 | 2017-10-31 | A kind of cradle head device and unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585320A (en) * | 2017-10-31 | 2018-01-16 | 深圳市中航佳智能科技有限公司 | A kind of cradle head device and unmanned plane |
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2017
- 2017-10-31 CN CN201721421443.3U patent/CN207496957U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585320A (en) * | 2017-10-31 | 2018-01-16 | 深圳市中航佳智能科技有限公司 | A kind of cradle head device and unmanned plane |
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