CN210391577U - Small-size two optical nacelle of triaxial - Google Patents
Small-size two optical nacelle of triaxial Download PDFInfo
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- CN210391577U CN210391577U CN201920295833.3U CN201920295833U CN210391577U CN 210391577 U CN210391577 U CN 210391577U CN 201920295833 U CN201920295833 U CN 201920295833U CN 210391577 U CN210391577 U CN 210391577U
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Abstract
The utility model provides a three-axis small-sized double-light nacelle, which comprises an orientation base mechanism, a pitching supporting mechanism, a rolling supporting mechanism and a load assembly; one end of the azimuth base mechanism is fixed on an external aircraft, the other end of the azimuth base mechanism is connected with the pitching support mechanism in a sliding manner, and the roll support mechanism is arranged on the inner side of the pitching support mechanism and is connected with the pitching support mechanism in a sliding manner; the load assembly is arranged in the transverse rolling supporting mechanism and is rotationally connected with the transverse rolling supporting mechanism. The utility model discloses not only can extend its application function, reduce whole weight of two light nacelle and size, improve the stability of nacelle, strengthen the interference killing feature moreover, in addition, can reduce nacelle complete machine windage influence, improve the precision and the rigidity of complete machine. The development requirement of the modern small-sized pod is met.
Description
Technical Field
The utility model belongs to unmanned aerial vehicle patrols and examines the field, especially relates to a two light nacelle of triaxial small-size.
Background
In recent years, with the development of scientific technology and the deepening of the national low-altitude open policy, the unmanned aerial vehicle system is widely applied to various industries such as public safety, electric power, traffic, environmental protection and the like with unique advantages of maneuverability, flexibility, rapidness, high efficiency, safety and the like, and is gradually becoming an effective supplement of the unmanned helicopter and manual inspection particularly in the field of power line inspection.
At present, the photoelectric load mass and the volume of being applied to unmanned aerial vehicle and patrolling and examining the monitoring operation are all great, and the function is single, can't satisfy the limited carry space of unmanned aerial vehicle and the lightweight application demand of long voyage hour. In addition, most of small photoelectric pods applied to operation mostly adopt an azimuth-elevation type two-shaft two-frame structure, and cannot completely compensate external interference due to lack of geometric constraint, so that an image rotation phenomenon is easy to form, and the small photoelectric pods are not suitable for strong-mobility small unmanned aerial vehicles; the existing three-axis tripod head adopts an azimuth-roll-pitch structural form, a roll shaft is in a single-cantilever structural form, the precision and the stability are general, the outer contour size of the three-axis tripod head is irregular, the influence of wind resistance on the three-axis tripod head in work is large, the turning radius of the whole machine is large, and the stabilization effect in a high-speed flight scene is poor.
Disclosure of Invention
In view of this, the present invention provides a three-axis small-sized dual-optical pod, which solves the problems of single function, large overall weight and size of the pod; the problems of external disturbance, general precision and stability and poor high-speed flight effect cannot be completely compensated.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
a three-axis small-sized double-optical pod comprises an azimuth base mechanism, a pitching supporting mechanism, a rolling supporting mechanism and a load assembly; one end of the azimuth base mechanism is fixed on an external aircraft, the other end of the azimuth base mechanism is connected with the pitching support mechanism in a sliding manner, and the roll support mechanism is arranged on the inner side of the pitching support mechanism and is connected with the pitching support mechanism in a sliding manner; the load assembly is arranged in the transverse rolling supporting mechanism and is rotationally connected with the transverse rolling supporting mechanism;
the roll supporting mechanism comprises a spherical shell, a roll motor, a pitching motor rotor connecting piece, a roll bearing positioning frame, a roll bearing, a roll moving shaft and a roll limiting block, wherein the roll motor is installed at one end inside the spherical shell, the roll motor is connected with the roll moving shaft, the roll bearing is sleeved on the roll moving shaft, and the roll bearing positioning frame is installed at the other end of the spherical shell and is connected with the roll bearing in a matching manner;
two sides of the rolling bearing are respectively fixed with a rolling limiting block which is used for limiting the rotation amplitude of the rolling bearing; the pitching motor rotor connecting piece is arranged on one side of the spherical shell.
Further, the azimuth base mechanism comprises a base, a base upper cover, an azimuth motor, a sliding ring, a connector fixing cover and a data plug, wherein the base upper cover is installed at the top end of the base, the azimuth motor is fixed in the base, and the data plug is fixed on one side of the base through the connector fixing cover and connected with the load assembly;
and a slip ring is arranged at the bottom of the azimuth motor and used for realizing 360-degree rotation of the nacelle.
Furthermore, the pitching support mechanism comprises a frame support frame, a pitching motor fixing frame, a pitching motor, a pitching end cover, a pitching bearing positioning frame, a pitching limiting baffle, a pitching bearing and a pitching motion shaft, wherein the pitching motor fixing frame is arranged on one side of the frame support frame and used for fixing the pitching motor on the frame support frame;
the pitching motor is connected with the pitching motion shaft, the pitching bearing is sleeved on the pitching motion shaft, the pitching bearing is connected with the pitching bearing positioning frame in a matching manner, and the pitching bearing is fixedly connected with the pitching limiting baffle and used for limiting the rotation amplitude of the pitching bearing; pitching end covers are respectively installed on two sides of the frame supporting frame.
Further, the load assembly comprises a main control board, an infrared camera, a servo tracking board, a rolling motion shaft, a rolling connecting board, a high-definition camera and a storage board, wherein the vertical part of the rolling connecting board is coaxially connected with the motor rotor, the rolling motion shaft is fixedly connected with the rolling connecting board and horizontally penetrates through the horizontal part of the rolling connecting board;
the main control board is arranged above the infrared cameras, and the infrared cameras are respectively fixed on the horizontal part and the vertical part of the roll connecting plate; the high-definition camera is installed below the horizontal portion of the roll connecting plate, a storage plate is fixed at the bottom of the high-definition camera, and a servo tracking plate is fixed on one side of the high-definition camera.
Further, the spherical shell includes spherical shell front end and spherical shell rear end, spherical shell front end and spherical shell rear end fixed connection, be equipped with first lens hood and second lens hood on the spherical shell front end respectively, first lens hood diameter is greater than infrared camera lens diameter, and second lens hood diameter is greater than high definition camera diameter.
Further, the data plug comprises an SMA plug and a DB9 plug which are respectively connected with the pins of the main control board; the SMA plug is used for realizing video transmission of the pod, and the DB9 plug is used for realizing communication and power supply transmission of the pod.
Further, the rotation angle of the pitching supporting mechanism is 140 degrees; the rotation angle of the rolling support mechanism is 20 degrees.
Furthermore, the pitching motor rotor connecting piece is in transmission connection with the pitching motor, so that pitching motion of the nacelle is realized.
Compared with the prior art, the small-size two light nacelle of triaxial have following advantage:
the utility model discloses not only can extend its application function, reduce whole weight of two light nacelle and size, improve the stability of nacelle, strengthen the interference killing feature moreover, in addition, can reduce nacelle complete machine windage influence, improve the precision and the rigidity of complete machine. The development requirement of the modern small-sized pod is met.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is an overall schematic diagram of an embodiment of the present invention;
fig. 2 is a schematic view of an orientation base mechanism according to an embodiment of the present invention;
fig. 3 is a schematic view of a pitch support mechanism according to an embodiment of the present invention;
fig. 4 is a schematic view of a roll support mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view of the front end of the spherical shell according to the embodiment of the present invention;
fig. 6 is a schematic diagram of the rear end of the spherical shell according to the embodiment of the present invention;
fig. 7 is a schematic view of a load assembly according to an embodiment of the present invention.
Description of reference numerals:
1. an azimuth base mechanism; 2. a pitch support mechanism; 3. a roll support mechanism; 4. a load assembly; 11. a base; 12. an upper cover of the base; 13. an azimuth motor; 14. a slip ring; 15. a plug-in connector fixing cover; 16. a data plug; 21. a frame support frame; 22. a pitching motor fixing frame; 23. a pitch motor; 24. a pitch end cap; 25. a pitch bearing positioning frame; 26. a pitching limiting baffle; 27. a pitch bearing; 28. a pitch motion axis; 31. the front end of the spherical shell; 32. a pitching electric motor rotor connection; 33. a roll motor; 34. the rear end of the spherical shell; 35. a roll bearing positioning frame; 36. a roll bearing; 37. a roll limiting block; 41. a main control board; 42. an infrared camera; 43. a servo track pad; 44. a roll motion shaft; 45. a roll connecting plate; 46. a high-definition camera; 47. and a storage plate.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The utility model discloses carry on two loads of high definition visible light camera 46 and infrared camera 42, this nacelle adopts position-every single move-roll type structural design for the first time, and roll supporting mechanism 3 is whole to be installed in the inboard of every single move supporting mechanism 4, and is unanimous with two frame nacelles of traditional diaxon in appearance. The advantage that the wind resistance influence of the two-shaft two-frame nacelle is small is kept, the disturbance compensation function of the nacelle in the rolling direction is increased, and the space omnibearing disturbance compensation is effectively realized.
(1) The whole machine adopts a modular design and comprises an azimuth base mechanism 1, a pitching supporting mechanism 2, a rolling supporting mechanism 3 and a load assembly 4; one end of the azimuth base mechanism 1 is fixed on an external aircraft, the other end of the azimuth base mechanism is connected with the pitching support mechanism 2 in a sliding manner, and the roll support mechanism 3 is installed on the inner side of the pitching support mechanism 2 and is connected with the pitching support mechanism 2 in a sliding manner; the load assembly 4 is installed inside the roll supporting mechanism 3 and is rotatably connected with the roll supporting mechanism 3. The pod isolates external disturbance through the high-precision gyro stabilization platform and keeps the optical axis of the imaging sensor stable in an inertial space. Visible light video of the target area can be provided in real time, high-definition visible light video and photos can be stored, infrared video images can be provided in real time, and heat map data can be stored, as shown in fig. 1.
(2) The top of the azimuth base mechanism 1 is connected with an external aircraft through a threaded connection hole of a base upper cover 12, the lower end of the azimuth base mechanism is in transmission connection with the pitching supporting mechanism 2 through a rotor of an azimuth motor 13, the pitching supporting mechanism 2 is connected with the rolling supporting mechanism 3 through the matching of a rotor of a pitching motor 23 and a pitching movement shaft 28, the rolling supporting mechanism 3 is connected with the load component 4 through the matching of a rotor of a rolling motor 33 and a rolling movement shaft 44, and the load component 4 is arranged in the rolling supporting mechanism 3 to rotate.
(3) The azimuth base mechanism 1 adopts a slip ring 14 design, and can realize 360-degree rotation. The azimuth motor comprises a base 11, a base upper cover 12, a connector fixing cover 15, an azimuth motor 13, a sliding ring 14, an SMA plug and a DB9 plug 16, wherein the azimuth base upper cover 12 is fixedly connected with the outside through 6M 3 threaded holes, the base 11 can realize the interference of a flat cable in the base 11 and a rotor of the azimuth motor 13 through an inner ring design, and a stator of the azimuth motor 13 is fixedly connected with the base 11. The SMA plug realizes the video transmission function of the pod, and the DB9 plug realizes the communication and power supply transmission function of the pod. As shown in fig. 2.
(4) The pitching supporting mechanism 2 can realize 140-degree rotation and mainly comprises a pitching frame supporting frame 21, a pitching motor fixing frame 22, a pitching end cover 24, a pitching motion shaft 28, a pitching motor 23, a pitching bearing 27, a pitching bearing positioning frame 25 and a pitching limiting baffle 26. The pitching supporting mechanism 2 adopts two ends to support together, one end of the pitching supporting mechanism realizes the rotary motion of the rolling supporting mechanism 3 through the rotor of the pitching motor 23, and the other end of the pitching supporting mechanism realizes the synchronous rotary motion through the transmission combination of the pitching bearing 27 and the pitching motion shaft 28. As shown in fig. 3.
(5) The roll supporting mechanism 3 can realize 20-degree rotation and comprises a spherical shell front end 31, a spherical shell rear end 34, a roll motor 33, a pitch motor rotor connecting piece 32, a roll bearing 36 positioning frame 35, a roll bearing 36 and a roll limiting block 37. The roll supporting mechanism 3 is supported by two ends together, one end drives the roll connecting plate 45 to realize the rotary motion of the load component 4 through the rotor of the roll motor 33, and the other end synchronously rotates and limits the motion through the roll bearing 36 and the roll moving shaft 44. As shown in fig. 4.
(6) The front end 31 of the spherical shell and the rear end 34 of the spherical shell are fixedly combined and installed into a whole through positioning, and the appearance protective shell belongs to the rolling support mechanism 3, so that the weight and the size of the whole machine are reduced, and the reduction of precision and rigidity caused by a multi-structure lap joint form is avoided. The front end 31 and the rear end 34 of the spherical shell are made of light-weight and high-rigidity composite ABS materials. By means of reasonable ribbing and reinforcing methods, the weight of the structural part is reduced to the maximum extent while the rigidity of the structural part is ensured. As shown in fig. 5 and 6.
(7) The load part assembly consists of a roll connecting plate 45, an infrared camera 42, a high-definition camera 46, a main control plate 41, a roll moving shaft 44, a storage plate 47 and a servo tracking plate 43. The load and various components are arranged in the nacelle in a binding mode, so that the whole structure in the nacelle is compact. The servo tracking board 43 realizes free switching and tracking of the high-definition camera 46 and the infrared camera 42, the main control board 41 realizes functions of video tracking, rotation, zooming, temperature measurement and the like of the pod, and the storage board 47 realizes a function of storing videos and pictures of the pod. As shown in fig. 7.
The utility model discloses two loads of small-size high definition visible light camera 46 and infrared camera 42 have integrateed, make nacelle overall structure compact with load and all kinds of components and parts at the inside reasonable layout of nacelle through the bundling structure. The composite ABS material with light weight and good rigidity is selected as the material of the nacelle shell, and the weight of the structural part is reduced to the maximum extent while the rigidity and the strength of the structural part are ensured by reasonably adding ribs and reinforcing ribs during the design of the structural part. The problems that the nacelle is single in function, large in overall weight and size and the like are solved;
the utility model discloses adopt position-every single move-roll type structural design for the first time, roll frame set spare integral erection is inside every single move frame set spare, and is unanimous with two frame nacelle of traditional diaxon in appearance, has both remain two frame nacelle wind resistance of diaxon and has influenced less advantage, has increased the disturbance compensation function of nacelle roll direction again, and the effectual all-round disturbance compensation in space that has realized has solved two frame nacelle of traditional diaxon because of lacking like the problem soon that the roll axle produced, has promoted the nacelle interference killing feature.
The pitching frame component 2 and the rolling frame component 3 both adopt a structural form that two ends support together, so that the problems of low precision and poor stability caused by a traditional three-axis holder rolling shaft single-cantilever structural form are solved.
The roll supporting mechanism 3 adopts a fixed combination installation form of pitching front and back hemispherical shells, so that the problems of large wind resistance influence, large turning radius of the whole machine and poor high-speed flight effect caused by exposed roll arms of the traditional three-axis pan-tilt are solved. The spherical shell is the appearance protective shell, and simultaneously plays a supporting role, so that the weight and the size of the whole machine are reduced, and the reduction of precision and rigidity caused by a multi-structure lap joint mode is avoided.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A three-axis small-sized dual-light pod is characterized in that: the device comprises an azimuth base mechanism, a pitching supporting mechanism, a rolling supporting mechanism and a load assembly; one end of the azimuth base mechanism is fixed on an external aircraft, the other end of the azimuth base mechanism is connected with the pitching support mechanism in a sliding manner, and the roll support mechanism is arranged on the inner side of the pitching support mechanism and is connected with the pitching support mechanism in a sliding manner; the load assembly is arranged in the transverse rolling supporting mechanism and is rotationally connected with the transverse rolling supporting mechanism;
the roll supporting mechanism comprises a spherical shell, a roll motor, a pitching motor rotor connecting piece, a roll bearing positioning frame, a roll bearing, a roll moving shaft and a roll limiting block, wherein the roll motor is installed at one end inside the spherical shell, the roll motor is connected with the roll moving shaft, the roll bearing is sleeved on the roll moving shaft, and the roll bearing positioning frame is installed at the other end of the spherical shell and is connected with the roll bearing in a matching manner;
two sides of the rolling bearing are respectively fixed with a rolling limiting block which is used for limiting the rotation amplitude of the rolling bearing; the pitching motor rotor connecting piece is arranged on one side of the spherical shell.
2. The three-axis compact dual-optic pod of claim 1, wherein: the azimuth base mechanism comprises a base, a base upper cover, an azimuth motor, a sliding ring, a connector fixing cover and a data plug, wherein the base upper cover is installed at the top end of the base, the azimuth motor is fixed in the base, and the data plug is fixed on one side of the base through the connector fixing cover and connected with the load assembly;
and a slip ring is arranged at the bottom of the azimuth motor and used for realizing 360-degree rotation of the nacelle.
3. The three-axis compact dual-optic pod of claim 1, wherein: the pitching support mechanism comprises a frame support frame, a pitching motor fixing frame, a pitching motor, a pitching end cover, a pitching bearing positioning frame, a pitching limiting baffle, a pitching bearing and a pitching motion shaft, wherein the pitching motor fixing frame is arranged on one side of the frame support frame and used for fixing the pitching motor on the frame support frame;
the pitching motor is connected with the pitching motion shaft, the pitching bearing is sleeved on the pitching motion shaft, the pitching bearing is connected with the pitching bearing positioning frame in a matching manner, and the pitching bearing is fixedly connected with the pitching limiting baffle and used for limiting the rotation amplitude of the pitching bearing; pitching end covers are respectively installed on two sides of the frame supporting frame.
4. The three-axis compact dual-optic pod of claim 2, wherein: the load assembly comprises a main control board, an infrared camera, a servo tracking board, a transverse rolling motion shaft, a transverse rolling connecting board, a high-definition camera and a storage board, wherein the vertical part of the transverse rolling connecting board is coaxially connected with a motor rotor, the transverse rolling motion shaft is fixedly connected with the transverse rolling connecting board and horizontally penetrates through the horizontal part of the transverse rolling connecting board;
the main control board is arranged above the infrared cameras, and the infrared cameras are respectively fixed on the horizontal part and the vertical part of the roll connecting plate; the high-definition camera is installed below the horizontal portion of the roll connecting plate, a storage plate is fixed at the bottom of the high-definition camera, and a servo tracking plate is fixed on one side of the high-definition camera.
5. The three-axis compact dual-optic pod of claim 4, wherein: the spherical shell comprises a spherical shell front end and a spherical shell rear end, the spherical shell front end is fixedly connected with the spherical shell rear end, a first lens cover and a second lens cover are arranged on the spherical shell front end respectively, the diameter of the first lens cover is larger than that of an infrared camera lens, and the diameter of the second lens cover is larger than that of a high-definition camera.
6. The three-axis compact dual-optic pod of claim 4, wherein: the data plugs comprise SMA plugs and DB9 plugs, and the data plugs are respectively connected with pins of the main control board; the SMA plug is used for realizing video transmission of the pod, and the DB9 plug is used for realizing communication and power supply transmission of the pod.
7. The three-axis compact dual-optic pod of claim 1, wherein: the rotation angle of the pitching supporting mechanism is 140 degrees; the rotation angle of the rolling support mechanism is 20 degrees.
8. The three-axis compact dual-optic pod of claim 3, wherein: the pitching motor rotor connecting piece is in transmission connection with the pitching motor, so that pitching motion of the nacelle is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920295833.3U CN210391577U (en) | 2019-03-08 | 2019-03-08 | Small-size two optical nacelle of triaxial |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920295833.3U CN210391577U (en) | 2019-03-08 | 2019-03-08 | Small-size two optical nacelle of triaxial |
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| Publication Number | Publication Date |
|---|---|
| CN210391577U true CN210391577U (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920295833.3U Expired - Fee Related CN210391577U (en) | 2019-03-08 | 2019-03-08 | Small-size two optical nacelle of triaxial |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846240A (en) * | 2020-08-03 | 2020-10-30 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN113371211A (en) * | 2021-06-17 | 2021-09-10 | 西安应用光学研究所 | Spliced combined U-shaped shell for photoelectric pod |
| CN113443155A (en) * | 2021-07-22 | 2021-09-28 | 成都浩孚科技有限公司 | Triaxial photoelectric pod |
| CN113932122A (en) * | 2021-10-26 | 2022-01-14 | 杭州大数云智科技有限公司 | Photoelectric tracking equipment with stability augmentation function |
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
| CN115639713A (en) * | 2022-12-23 | 2023-01-24 | 中国科学院长春光学精密机械与物理研究所 | Frame structure for installing aerial camera and image shooting system |
-
2019
- 2019-03-08 CN CN201920295833.3U patent/CN210391577U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846240A (en) * | 2020-08-03 | 2020-10-30 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN111846240B (en) * | 2020-08-03 | 2022-02-22 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN113371211A (en) * | 2021-06-17 | 2021-09-10 | 西安应用光学研究所 | Spliced combined U-shaped shell for photoelectric pod |
| CN113443155A (en) * | 2021-07-22 | 2021-09-28 | 成都浩孚科技有限公司 | Triaxial photoelectric pod |
| CN113932122A (en) * | 2021-10-26 | 2022-01-14 | 杭州大数云智科技有限公司 | Photoelectric tracking equipment with stability augmentation function |
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
| CN115639713A (en) * | 2022-12-23 | 2023-01-24 | 中国科学院长春光学精密机械与物理研究所 | Frame structure for installing aerial camera and image shooting system |
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Granted publication date: 20200424 Termination date: 20210308 |