CN211108036U - Unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle Download PDFInfo
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- CN211108036U CN211108036U CN201921539660.1U CN201921539660U CN211108036U CN 211108036 U CN211108036 U CN 211108036U CN 201921539660 U CN201921539660 U CN 201921539660U CN 211108036 U CN211108036 U CN 211108036U
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Abstract
The utility model discloses an unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle, this cloud platform mechanism includes the upper support plate, the locating hole, the shock attenuation spheroid, the lower support plate, the linking arm type of falling U support, two left side symmetric linking arms, two right side symmetric linking arms, steering wheel type support is adjusted at the roll angle, steering wheel type support is adjusted at the angle of pitch, the steering wheel type support is adjusted at the roll angle, the steering wheel type of falling left support is adjusted at the roll angle, the steering wheel type of falling U support is adjusted at the roll angle, steering wheel type support is adjusted at the roll angle top, steering wheel type support is adjusted at the angle of pitch bottom type of falling U support, camera platform type of falling U support, camera and angle. The utility model discloses a two degree of freedom angular adjustment of angle of pitch and roll angle can be realized to cloud platform mechanism to the shock attenuation is respond well.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field, concretely relates to unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle.
Background
In recent years, the technology of unmanned aerial vehicles is developed comprehensively at a high speed, so that the unmanned aerial vehicles are widely applied to the fields of topographic mapping, disaster search and rescue, climate monitoring and the like. Unmanned aerial vehicle relies on open high altitude field of vision advantage, can accomplish above-mentioned task rapidly through carrying on optical imaging equipment. However, the fast attitude change of the unmanned aerial vehicle during the flight process may cause the shooting angle of the airborne optical imaging device to change and shake along with the change, resulting in serious degradation of the image quality. Therefore, the holder can play a role in angle compensation and image stabilization to a certain extent. However, the traditional two-degree-of-freedom stability augmentation tripod head of the unmanned aerial vehicle can only adjust the pitch angle and the yaw angle, and cannot compensate the angle deviation of the roll angle; if adopt three degree of freedom cloud platforms, not only can cause the increase of cloud platform mechanism space complexity, control complexity and self weight, its angular adjustment mode can make imaging device deviate from unmanned aerial vehicle axis of gravity moreover, and is very unfavorable to the application that needs utilize imaging device accurate range finding.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's defect, the utility model provides an unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle through oscillating frame construction design, makes the angular deviation that the cloud platform can compensate pitch angle and roll angle simultaneously, has guaranteed imaging quality when improving stability.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a two degree of freedom increase steady cloud platform mechanisms of unmanned aerial vehicle machine-mounted, including upper support plate, the shock attenuation spheroid, lower support plate, linking arm type of falling U support, left side symmetrical linking arm, right side symmetrical linking arm, roll angle regulation steering wheel type of U support, pitch angle regulation steering wheel type of U support, roll angle regulation steering wheel, pitch angle regulation steering wheel, roll angle regulation steering wheel lateral part type of falling left U support, roll angle regulation steering wheel bottom type of falling U support, pitch angle regulation steering wheel top type of U support, pitch angle regulation steering wheel bottom type of falling U support, camera platform type of U support, camera and angle control unit;
the upper supporting plate is in contact connection with the lower supporting plate through a damping ball, and the lower supporting plate is fixedly connected with the inverted U-shaped bracket of the connecting arm; one ends of the left symmetrical connecting arm and the right symmetrical connecting arm are rotatably connected to two right-angle surfaces of the inverted U-shaped bracket of the connecting arm, and the other ends of the left symmetrical connecting arm and the right symmetrical connecting arm are respectively fixed to the outer sides of the two right-angle surfaces of the U-shaped bracket of the roll angle adjusting steering engine; the transverse rolling angle adjusting steering engine and the transverse rolling angle adjusting steering engine side inverted left U-shaped bracket are fixed on the transverse rolling angle adjusting steering engine U-shaped bracket; the pitch angle adjusting steering engine is fixed between a U-shaped support at the top of the pitch angle adjusting steering engine and a reversed U-shaped support at the bottom of the pitch angle adjusting steering engine, and the U-shaped support at the top of the pitch angle adjusting steering engine and the other end of the right symmetrical connecting arm are fixed on two right-angle surfaces of the reversed U-shaped support of the connecting arm;
a right-angle surface on one side of the U-shaped support of the camera platform is rotatably connected with a left-turning U-shaped support on the side of the roll angle adjusting steering engine, the other side of the U-shaped support of the camera platform is fixedly connected with a main shaft of the pitch angle adjusting steering engine, and the camera is fixedly connected with the U-shaped support of the camera platform from the outer side plane; the angle control unit is fixedly connected with the upper supporting plate and is respectively and electrically connected with the roll angle adjusting steering engine and the pitch angle adjusting steering engine through a roll angle adjusting steering engine signal line and a pitch angle adjusting steering engine signal line.
As a preferred technical scheme, a plurality of positioning holes are formed in the upper supporting plate, the number of the damping spheres is the same as that of the positioning holes, the tops of the damping spheres are arranged on the positioning holes, and the bottoms of the damping spheres are arranged on the lower supporting plate.
As the preferred technical scheme, left side symmetric connection arm and right side symmetric connection arm are two, be provided with first rotating screw on two right-angle sides of the type of falling U support of linking arm, the upper end of two left side symmetric connection arms and the upper end of two right side symmetric connection arms are connected with two right-angle sides of the type of falling U support of linking arm rotatable formula through first rotating screw respectively.
According to the preferable technical scheme, symmetrical second fastening screws are arranged at the upper ends of the outer sides of two right-angle surfaces of the U-shaped bracket of the roll angle adjusting steering engine, and the other end of the left symmetrical connecting arm is fixedly connected with the inner sides of the two right-angle surfaces of the U-shaped bracket of the roll angle adjusting steering engine through the symmetrical second fastening screws.
According to the preferable technical scheme, a filling block is arranged in a gap between the rear part of the roll angle adjusting steering engine and the inverted left U-shaped support on the side part of the roll angle adjusting steering engine, and fourth fastening screws are further arranged on the outer sides of two right-angle surfaces of the U-shaped support of the roll angle adjusting steering engine, so that the inverted U-shaped support at the bottom of the roll angle adjusting steering engine and the two right-angle surfaces of the U-shaped support of the roll angle adjusting steering engine are fastened and connected from the inner sides, and the bottom of the roll angle adjusting steering engine is supported.
According to the preferable technical scheme, fifth fastening screws are arranged on the outer sides of two right-angle surfaces of the U-shaped bracket of the pitch angle adjusting steering engine, the other end of the right symmetrical connecting arm and the U-shaped bracket at the top of the pitch angle adjusting steering engine are respectively fastened and connected with the inner sides of the two right-angle surfaces of the U-shaped bracket 19 of the pitch angle adjusting steering engine through the fifth fastening screws, and sixth fastening screws are further arranged on the outer sides of the two right-angle surfaces of the U-shaped bracket of the pitch angle adjusting steering engine, so that the inverted U-shaped bracket at the bottom of the pitch angle adjusting steering engine is fastened and connected with the inner sides.
According to the preferable technical scheme, a main shaft of the roll angle adjusting steering engine is fixedly connected with a steering engine rocker arm through an eighth fastening screw, the upper end of the steering engine rocker arm is rotatably connected with the lower end of a connecting rod through a third rotating screw, and the upper end of the connecting rod is rotatably connected with an inverted L-shaped support arranged below an upper supporting plate through a fourth rotating screw.
As a preferred technical scheme, the angle control unit comprises an angle fusion sensing module, a central control unit and a battery module; the angle fusion sensing module is electrically connected with the central control unit, and the battery module provides power supplies for the angle fusion sensing module, the central control unit, the roll angle adjusting steering engine and the pitch angle adjusting steering engine;
the angle fusion sensing module is used for measuring an attitude angle of the holder mechanism, and the central control unit is used for outputting angle control instructions of the roll angle adjusting steering engine and the pitch angle adjusting steering engine.
Preferably, the damping ball body is a silica gel type anti-dropping damping ball.
The utility model also provides an unmanned aerial vehicle, this unmanned aerial vehicle includes two degrees of freedom increase steady cloud platform mechanism.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
(1) the swing frame structure designed by the utility model can simultaneously adjust the pitch angle and the roll angle under the condition that the cradle head mechanism only uses two steering engines; in contrast, the existing two-degree-of-freedom pan-tilt can only adjust the pitch angle and the yaw angle.
(2) The utility model discloses a structural design of upper and lower supporting plate is connected to the shock attenuation spheroid, can weaken the vibrations that the unmanned aerial vehicle fuselage transmitted cloud platform mechanism effectively, has reached the image and has increased steady effect.
(3) The utility model discloses adopted oscillating pan-tilt structure scheme in the aspect of the compensation of roll angle, adjusted the camera angle when can making the unmanned aerial vehicle organism produce roll angle axial skew, reached the imaging center of camera all the time with unmanned aerial vehicle's focus keep unanimous effect basically in vertical direction, be favorable to utilizing the application scene of camera accurate measurement distance.
Drawings
Fig. 1 is an oblique perspective view of the airborne two-degree-of-freedom stability augmentation pan-tilt mechanism of the unmanned aerial vehicle of the utility model;
fig. 2 is a front view of the airborne two-degree-of-freedom stability-increasing cradle head mechanism of the unmanned aerial vehicle of the utility model;
fig. 3 is a left side view of the airborne two-degree-of-freedom stability augmentation holder mechanism of the unmanned aerial vehicle of the utility model;
fig. 4 is a schematic structural diagram of an angle control module of the airborne two-degree-of-freedom stability-increasing cradle head mechanism of the unmanned aerial vehicle of the utility model;
the system comprises an o-reference system origin, an x-axis-roll angle axial direction, a y-axis-pitch angle axial direction, a z-axis-gravity acceleration axial direction, a 1-upper supporting plate, a 2-positioning hole, a 3-damping sphere, a 4-lower supporting plate, a 5-connecting arm reverse U-shaped support, a 6-first fastening screw, a 7-first rotating screw, an 8-left side symmetrical connecting arm, a 9-right side symmetrical connecting arm, a 10-second fastening screw, a 11-roll angle adjusting steering engine U-shaped support, a 12-roll angle adjusting steering engine, a 13-roll angle adjusting steering engine side reverse left U-shaped support, a 14-third fastening screw, a 15-filling block, a 16-fourth fastening screw, a 17-roll angle adjusting steering engine bottom reverse U-shaped support, a 18-fifth fastening screw, a 19-pitch angle adjusting steering engine U-shaped support, a 20-pitch angle adjusting steering engine U-shaped support, a 21-pitch angle adjusting top U-shaped support, a 22-sixth fastening screw, a 23-pitch angle adjusting bottom reverse U-shaped support, a 24-second fastening screw, a 25-seventh fastening screw, a 25-pitch angle adjusting steering engine U-support, a 20-pitch angle adjusting steering engine U-pitch angle adjusting screw, a 21-pitch angle adjusting steering engine support, a fourth-33-pitch angle adjusting steering engine transverse rotation angle adjusting steering engine control module, a transverse rotation.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1-3, the airborne two-degree-of-freedom stability-enhancing pan/tilt head mechanism of the unmanned aerial vehicle provided in this embodiment 1 includes an upper support plate 1, four positioning holes 2 disposed on the upper support plate, four damping spheres 3, a lower support plate 4, a connecting arm inverted U-shaped bracket 5, two left symmetrical connecting arms 8, two right symmetrical connecting arms 9, a roll angle adjusting steering engine U-shaped bracket 11, a pitch angle adjusting steering engine U-shaped bracket 19, a roll angle adjusting steering engine 12, a pitch angle adjusting steering engine 20, a roll angle adjusting steering engine side inverted left U-shaped bracket 13, a roll angle adjusting steering engine bottom inverted U-shaped bracket 17, a pitch angle adjusting steering engine top U-shaped bracket 21, a pitch angle adjusting steering engine bottom inverted U-shaped bracket 23, a camera platform U-shaped bracket 26, a camera 27, and an angle control unit 36; the upper supporting plate 1 is mutually connected with a lower supporting plate 4 through four positioning holes 2 and four damping spheres 3 of the upper supporting plate, the lower supporting plate 4 is fixedly connected with a connecting arm inverted U-shaped support 5 through two first fastening screws 6, two first rotating screws 7 are arranged on two right-angle surfaces of the connecting arm inverted U-shaped support 5, and the upper ends of two left symmetrical connecting arms 8 and the upper ends of two right symmetrical connecting arms 9 are rotatably connected with the two right-angle surfaces of the connecting arm inverted U-shaped support 5 through the two first rotating screws 7 respectively; two symmetrical second fastening screws 10 are arranged at the upper ends of the outer sides of two right-angle surfaces of the U-shaped bracket 11 of the roll angle adjusting steering engine, the other ends of the two left symmetrical connecting arms 8 are fastened and connected with the U-shaped bracket 11 of the roll angle adjusting steering engine at the inner sides of the two right-angle surfaces through the two symmetrical second fastening screws 10, the roll angle adjusting steering engine 12 and the left-side inverted U-shaped bracket 13 of the roll angle adjusting steering engine are fixed on the U-shaped bracket 11 of the roll angle adjusting steering engine through four symmetrical third fastening screws 14, a filling block 15 is arranged in a gap between the rear part of the roll angle adjusting steering engine 12 and the left-side inverted U-shaped bracket 13 of the side part of the roll angle adjusting steering engine to enable the two to be fastened and connected, two right-angle fourth fastening screws 16 are further arranged at the outer sides of the two right-angle surfaces of the U-shaped bracket 11 of the roll angle adjusting steering engine to enable a bottom inverted U-shaped bracket 17 of the roll angle adjusting steering engine and two right-angle surfaces of the U, and the function of supporting the bottom of the transverse rolling angle adjusting steering engine 12 is achieved; two fifth fastening screws 18 are arranged on the outer sides of two right-angle surfaces of the U-shaped bracket 19 of the pitch angle adjusting steering engine, the other ends of the two right-side symmetrical connecting arms 9 and the U-shaped bracket 21 at the top of the pitch angle adjusting steering engine are respectively fastened and connected with the two right-angle surfaces of the U-shaped bracket 19 of the pitch angle adjusting steering engine from the inner sides through the two fifth fastening screws 18, two sixth fastening screws 22 are further arranged on the outer sides of the two right-angle surfaces of the U-shaped bracket 19 of the pitch angle adjusting steering engine, so that a reversed U-shaped bracket 23 at the bottom of the pitch angle adjusting steering engine is fastened and connected with the inner sides of the two right-angle surfaces of the U-shaped bracket 19 of the pitch angle adjusting steering engine, and the pitch angle adjusting steering engine 20 is fixed; a second rotating screw 24 and a seventh fastening screw 25 are symmetrically arranged on the inner sides of two right-angle surfaces of the U-shaped support 26 of the camera platform, so that the right-angle surface on one side of the U-shaped support 26 of the camera platform is rotatably connected with the inverted left U-shaped support 13 on the side part of the roll angle adjusting steering engine, the other side of the U-shaped support is fixedly connected with a main shaft of the pitch angle adjusting steering engine 20, and the camera 27 is fixedly connected with the U-shaped support 26 of the camera platform from the outer side surface; the angle control unit 36 is fixedly connected with the upper supporting plate 1 and is electrically connected with the roll angle adjusting steering engine 12 and the pitch angle adjusting steering engine 20 respectively through a roll angle adjusting steering engine signal line 34 and a pitch angle adjusting steering engine signal line 35.
In one aspect of the present embodiment, the main shaft of the roll angle adjusting steering engine 12 is fixedly connected to a steering engine rocker arm 29 through an eighth fastening screw 28, the upper end of the steering engine rocker arm 29 is rotatably connected to the lower end of a connecting rod 31 through a third rotating screw 30, and the upper end of the connecting rod 31 is rotatably connected to an inverted L-shaped bracket 33 disposed below the upper supporting plate 1 through a fourth rotating screw 32.
In one aspect of the present embodiment, as shown in fig. 4, the angle control unit 36 includes an angle fusion sensing module 37, a central control unit 38, and a battery module 39.
The angle fusion sensing module 37 is electrically connected with the central control unit 38, the battery module 39 provides power sources for the angle fusion sensing module 37, the central control unit 38, the roll angle adjusting steering engine 12 and the pitch angle adjusting steering engine 20, the angle fusion sensing module 37 is used for measuring the attitude angle of the pan-tilt mechanism, and the central control unit 38 is used for outputting angle control instructions of the roll angle adjusting steering engine 12 and the pitch angle adjusting steering engine 20.
The tripod head mechanism of the embodiment has the working principle that two first rotating screws 7, two left symmetrical connecting arms 8, a U-shaped support 11 of a roll angle adjusting steering engine, two right symmetrical connecting arms 9, a U-shaped support 19 of a pitch angle adjusting steering engine, a left inverted U-shaped support 13 at the side part of the roll angle adjusting steering engine, a U-shaped support 26 of a camera platform and a pitch angle adjusting steering engine 20 are connected with each other to form a complete frame type structure, so that the frame can perform swinging motion by taking the two first rotating screws 7 as the center, meanwhile, a U-shaped support 21 at the top of the pitch angle adjusting steering engine and a inverted U-shaped support 23 at the bottom of the pitch angle adjusting steering engine are respectively fixed on a U-shaped support 19 of the pitch angle adjusting steering engine through two fifth fastening screws 18 and two sixth fastening screws 22, one end of the U-shaped support 26 of the camera platform is connected with the inverted U-shaped support 13 at the side part of the roll angle adjusting steering engine through a second rotating screw 24, the other end of the U-shaped support 26 is connected with a main shaft of the camera platform through a seventh fastening screw 25 and a main shaft of a rocker arm 20, so that the main shaft of the camera platform U-shaped support 26 is fastened with a main shaft of the camera platform 20, so that the camera platform can rotate with a main shaft of the camera platform, the main shaft of the camera platform 20, the camera platform is fastened, the camera platform is fastened with the camera platform, the camera platform is capable of adjusting steering engine, the camera platform is capable of adjusting the camera platform, the camera platform is capable of adjusting the camera platform, the camera platform is capable of adjusting the camera platform, the camera platform is capable of adjusting the camera platform, the camera platform is capable of adjusting the camera platform, the camera platform capable of adjusting the camera platform capable.
The utility model discloses adopted oscillating pan-tilt structure scheme in the aspect of the compensation of roll angle, adjusted the camera angle when can making the unmanned aerial vehicle organism produce roll angle axial skew, reached the imaging center of camera all the time with unmanned aerial vehicle's focus keep unanimous effect basically in vertical direction, be favorable to utilizing the application scene of camera accurate measurement distance.
Example 2
The present embodiment 2 has the same technical features as those of the embodiment 1, except that:
through research and experiment, the preferable mode of the embodiment 2 can be as follows: (1) according to the figure 1, each part of the carbon fiber material is manufactured, the four damping spheres 3 can be silica gel type anti-dropping damping spheres, and the roll angle adjusting steering engine 12 and the roll angle adjusting steering engine 20 can be Futaba S3003. (2) As shown in FIG. 4, the angle fusion sensing module 37 may be of GY-85 type, the central control unit 38 may be of ATmega8 type, and the battery module 39 may be of lithium polymer battery. According to the connection relation of the above specification, after the above components are installed and connected, the utility model can be better implemented by combining the debugging of hardware and software.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. An airborne two-degree-of-freedom stability-increasing tripod head mechanism of an unmanned aerial vehicle is characterized by comprising an upper supporting plate (1), a damping sphere (3), a lower supporting plate (4), a connecting arm inverted U-shaped support (5), a left symmetrical connecting arm (8), a right symmetrical connecting arm (9), a roll angle adjusting steering engine U-shaped support (11), a pitch angle adjusting steering engine U-shaped support (19), a roll angle adjusting steering engine (12), a pitch angle adjusting steering engine (20), a roll angle adjusting steering engine side inverted left U-shaped support (13), a roll angle adjusting steering engine bottom inverted U-shaped support (17), a pitch angle adjusting steering engine top U-shaped support (21), a pitch angle adjusting steering engine bottom inverted U-shaped support (23), a camera platform U-shaped support (26), a camera (27) and an angle control unit (36);
the upper supporting plate (1) is in contact connection with a lower supporting plate (4) through a damping ball (3), and the lower supporting plate (4) is fixedly connected with a connecting arm inverted U-shaped bracket (5); one ends of the left symmetrical connecting arm (8) and the right symmetrical connecting arm (9) are rotatably connected to two right-angle surfaces of the inverted U-shaped bracket (5) of the connecting arms, and the other ends of the left symmetrical connecting arm (8) and the right symmetrical connecting arm (9) are respectively fixed to the outer sides of the two right-angle surfaces of the U-shaped bracket (11) of the roll angle adjusting steering engine; the roll angle adjusting steering engine (12) and the left-side inverted U-shaped bracket (13) at the side part of the roll angle adjusting steering engine are fixed on the roll angle adjusting steering engine U-shaped bracket (11); the pitch angle adjusting steering engine (20) is fixed between a U-shaped support (21) at the top of the pitch angle adjusting steering engine and a reversed U-shaped support (23) at the bottom of the pitch angle adjusting steering engine, and the U-shaped support (21) at the top of the pitch angle adjusting steering engine and the other end of the right symmetrical connecting arm (9) are fixed on two right-angle surfaces of the reversed U-shaped support (5) of the connecting arm together;
a right-angle surface on one side of the U-shaped support (26) of the camera platform is rotatably connected with the inverted left U-shaped support (13) on the side part of the roll angle adjusting steering engine, the other side of the U-shaped support is fixedly connected with a main shaft of the pitch angle adjusting steering engine (20), and the camera (27) is fixedly connected with the U-shaped support (26) of the camera platform from the outer side plane; the angle control unit (36) is fixedly connected with the upper supporting plate (1) and is respectively and electrically connected with the roll angle adjusting steering engine (12) and the pitch angle adjusting steering engine (20) through a roll angle adjusting steering engine signal line (34) and a pitch angle adjusting steering engine signal line (35).
2. The airborne two-degree-of-freedom stability-increasing holder mechanism of the unmanned aerial vehicle according to claim 1, wherein a plurality of positioning holes (2) are formed in the upper supporting plate (1), the number of the shock-absorbing balls (3) is the same as that of the positioning holes (2), the tops of the shock-absorbing balls (3) are arranged on the positioning holes (2), and the bottoms of the shock-absorbing balls (3) are arranged on the lower supporting plate (4).
3. The airborne two-degree-of-freedom stability-increasing tripod head mechanism of an unmanned aerial vehicle according to claim 1, wherein the number of the left symmetrical connecting arms (8) and the number of the right symmetrical connecting arms (9) are two, the two right-angle surfaces of the inverted U-shaped bracket (5) of the connecting arms are provided with first rotating screws (7), and the upper ends of the two left symmetrical connecting arms (8) and the upper ends of the two right symmetrical connecting arms (9) are rotatably connected with the two right-angle surfaces of the inverted U-shaped bracket (5) of the connecting arms through the first rotating screws (7) respectively.
4. The airborne two-degree-of-freedom stability-increasing holder mechanism of the unmanned aerial vehicle according to claim 3, wherein symmetrical second fastening screws (10) are arranged at the upper ends of the outer sides of the two right-angle surfaces of the U-shaped bracket (11) of the roll angle adjusting steering engine, and the other end of the left symmetrical connecting arm (8) is fastened and connected with the U-shaped bracket (11) of the roll angle adjusting steering engine on the inner sides of the two right-angle surfaces through the symmetrical second fastening screws (10).
5. The airborne two-degree-of-freedom stability-increasing holder mechanism of the unmanned aerial vehicle as claimed in claim 1, wherein a gap between the rear portion of the roll angle adjusting steering engine (12) and the reverse left U-shaped bracket (13) on the side portion of the roll angle adjusting steering engine is provided with a filling block (15), and fourth fastening screws (16) are further arranged on the outer sides of two right-angle surfaces of the U-shaped bracket (11) of the roll angle adjusting steering engine, so that the reverse U-shaped bracket (17) on the bottom of the roll angle adjusting steering engine and the two right-angle surfaces of the U-shaped bracket (11) of the roll angle adjusting steering engine are fastened and connected from the inner side, and the mechanism plays a role in supporting the bottom of the roll angle adjusting steering engine (12).
6. The airborne two-degree-of-freedom stability augmentation tripod head mechanism of an unmanned aerial vehicle according to claim 3, wherein fifth fastening screws (18) are arranged on the outer sides of two right-angle surfaces of the U-shaped bracket (19) of the pitch angle adjusting steering engine, the other end of the right symmetrical connecting arm (9) and the U-shaped bracket (21) at the top of the pitch angle adjusting steering engine are respectively fastened and connected with the inner sides of the two right-angle surfaces of the U-shaped bracket (19) of the pitch angle adjusting steering engine through the fifth fastening screws (18), and sixth fastening screws (22) are further arranged on the outer sides of the two right-angle surfaces of the U-shaped bracket (19) of the pitch angle adjusting steering engine, so that the inverted U-shaped bracket (23) at the bottom of the pitch angle adjusting steering engine is fastened and connected with.
7. The airborne two-degree-of-freedom stability-enhancing cradle head mechanism of the unmanned aerial vehicle as claimed in claim 1, wherein a main shaft of the roll angle adjusting steering engine (12) is fixedly connected with a steering engine rocker arm (29) through an eighth fastening screw (28), the upper end of the steering engine rocker arm (29) is rotatably connected with the lower end of a connecting rod (31) through a third rotating screw (30), and the upper end of the connecting rod (31) is rotatably connected with an inverted L-shaped bracket (33) arranged below the upper supporting plate (1) through a fourth rotating screw (32).
8. The unmanned aerial vehicle-mounted two-degree-of-freedom stability augmentation pan-tilt mechanism according to claim 1, wherein the angle control unit (36) comprises an angle fusion sensing module (37), a central control unit (38) and a battery module (39); the angle fusion sensing module (37) is electrically connected with the central control unit (38), and the battery module (39) provides power sources for the angle fusion sensing module (37), the central control unit (38), the roll angle adjusting steering engine (12) and the pitch angle adjusting steering engine (20);
the angle fusion sensing module (37) is used for measuring an attitude angle of the holder mechanism, and the central control unit (38) is used for outputting angle control instructions of the roll angle adjusting steering engine (12) and the pitch angle adjusting steering engine (20).
9. The airborne two-degree-of-freedom stability-increasing holder mechanism of the unmanned aerial vehicle according to claim 1, wherein the shock-absorbing ball body (3) is a silica gel type anti-dropping shock-absorbing ball.
10. An unmanned aerial vehicle, characterized by comprising the two-degree-of-freedom stability augmentation holder mechanism of any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921539660.1U CN211108036U (en) | 2019-09-16 | 2019-09-16 | Unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921539660.1U CN211108036U (en) | 2019-09-16 | 2019-09-16 | Unmanned aerial vehicle machine carries two degrees of freedom and increases steady cloud platform mechanism and unmanned aerial vehicle |
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| CN211108036U true CN211108036U (en) | 2020-07-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525673A (en) * | 2019-09-16 | 2019-12-03 | 华南理工大学 | A kind of unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism and unmanned plane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525673A (en) * | 2019-09-16 | 2019-12-03 | 华南理工大学 | A kind of unmanned aerial vehicle onboard two degrees of freedom increases steady cradle head mechanism and unmanned plane |
| CN110525673B (en) * | 2019-09-16 | 2024-05-31 | 华南理工大学 | Unmanned aerial vehicle airborne two-degree-of-freedom stability-enhancing cradle head mechanism and unmanned aerial vehicle |
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