JP6574855B2 - Position restriction device and unmanned aerial vehicle having this position restriction device - Google Patents

Description

  The present invention relates to position restriction technology, and more particularly, to a position restriction device and an unmanned aerial vehicle including the position restriction device.

  In the field of unmanned aerial photography, a single-circumferential position regulation rotation mechanism is usually adopted so that a relatively large range of imaging angles can be reached. Stop. However, due to the position restricting action of the position restricting member, this structure may not be able to completely rotate 360 ° when it is rotated, so that the photographing angle may be insufficient.

  In view of the above contents, it is necessary to provide a position restricting device having a position restricting action and having a rotation angle larger than 360 °.

  There is also a need to provide an unmanned aerial vehicle having this position regulating device.

A position regulating device for connecting the pan head,
A fixing assembly;
A rotating holder is provided which is pivotally connected to the fixed assembly and engages with the pan head on one side, and the pivot holder swings with respect to the pan head. Thus, the rotary member can be engaged with or disengaged from the pan head, and when the rotating holder is engaged with the pan head, the pan head is interposed via the rotating holder. A rotating member capable of moving and rotating the rotating member;
A quick release assembly provided on the fixing assembly, wherein the head is detachably fixed and held on the fixing assembly via the quick release assembly when the head is disengaged. When,
A position regulating device comprising:

  Furthermore, the fixed assembly includes a rotation shaft, the position restricting device further includes a first rotating member, a second rotating member, and a position restricting member, and the first rotating member is the rotating member. The rotating member is used to move the first rotating member to rotate around the rotating shaft, and the second rotating member is fitted on the rotating shaft, The first rotating member is used to move the second rotating member to rotate around the rotation axis together with the first rotating member, and the position restricting member is fixedly connected to the fixing assembly. The position restricting member is used for restricting continuous rotation of the first rotating member and the second rotating member.

  Further, the rotating member moves the first rotating member to rotate the first rotating member around the rotating shaft by a first angle and until the rotating member contacts the second rotating member. The first rotating member moves the second rotating member until the second rotating member moves until it comes into contact with the position regulating member when the first rotating member moves. The first rotation member and the second rotation member are both continuously rotated by the second angle together with the member, and stop moving.

  Furthermore, the first angle and the second angle are both greater than 180 ° and less than 360 °.

  Further, the distance from the first rotating member to the center of the rotating shaft is shorter than the distance from the position regulating member to the center of the rotating shaft, and from the second rotating member to the center of the rotating shaft. Is longer than the distance from the position regulating member to the center of the rotating shaft.

  Further, the fixed assembly includes a base, and the base has a receiving cavity, the rotating shaft is provided in the receiving cavity, the rotating member includes a main body, and a through hole is formed in the main body. The rotating shaft passes through the through hole, and the first rotating member is provided to surround an edge of the through hole.

  Further, the rotating member further includes two mounting arms and a mounting column, the mounting arm is provided on the outer wall of the main body, and both are provided to face each other at a distance from the main body. A mounting hole is opened at each of the far ends, a fitting hole is opened on one side of the rotating holder, and this mounting column passes through the fitting hole and the mounting hole in sequence, and as a result, The rotating holder is connected to one side of the main body and rotated with respect to the main body or the mounting arm.

  Further, the fixing assembly further includes a fixing plate, the fixing plate is provided at the center of the receiving cavity, the rotating shaft is provided on the fixing plate, and the position restricting member is provided on the fixing plate. The

  Further, the position regulating device further includes a fitting member, and the fitting member is fitted on the rotating shaft so as to reduce the rotational frictional force between the second rotating member and the rotating shaft. Used.

  Further, the position restricting device includes two fitting members, and both of the two fitting members are fitted on the rotating shaft, and one end face of the fitting member is the second rotating member. Adheres closely to the end face.

  Further, the position regulating device further includes a pretension member, and the pretension member is fitted on the rotating shaft and is positioned between the two fitting members.

  Further, the position regulating device further includes a flexible connecting member, and the flexible connecting member is wound around the rotating shaft and used to realize electrical connection between the load and the unmanned aircraft.

  Further, the flexible connecting member is one of a flexible circuit board, an electric wire, and a flat cable.

  Further, the flexible connecting member has a spring shape.

An unmanned aerial vehicle comprising a position restriction device and a pan head that is pivotally connected to the position restriction device, wherein the position restriction device comprises:
A fixing assembly;
A rotating holder is provided which is pivotally connected to the fixed assembly and engages with the pan head on one side, and the pivot holder swings with respect to the pan head. Thus, the rotary member can be engaged with or disengaged from the pan head. A rotating member capable of moving and rotating the rotating member;
A quick release assembly provided on the fixing assembly, wherein the head is detachably fixed and held on the fixing assembly via the quick release assembly when the head is disengaged. When,
An unmanned aircraft equipped with.

  Furthermore, the fixed assembly includes a rotation shaft, the position restricting device further includes a first rotating member, a second rotating member, and a position restricting member, and the first rotating member is the rotating member. The rotating member is used to move the first rotating member to rotate around the rotating shaft, and the second rotating member is fitted on the rotating shaft, The first rotating member is used to move the second rotating member to rotate around the rotation axis together with the first rotating member, and the position restricting member is fixedly connected to the fixing assembly. The position restricting member is used for restricting continuous rotation of the first rotating member and the second rotating member.

  Further, the rotating member moves the first rotating member to rotate the first rotating member around the rotating shaft by a first angle and until the rotating member contacts the second rotating member. The first rotating member moves the second rotating member until the second rotating member moves until it comes into contact with the position regulating member when the first rotating member moves. The first rotation member and the second rotation member are both continuously rotated by the second angle together with the member, and stop moving.

  Furthermore, the first angle and the second angle are both greater than 180 ° and less than 360 °.

  Further, the distance from the first rotating member to the center of the rotating shaft is shorter than the distance from the position regulating member to the center of the rotating shaft, and from the second rotating member to the center of the rotating shaft. Is longer than the distance from the position regulating member to the center of the rotating shaft.

  Further, the fixed assembly includes a base, and the base has a receiving cavity, the rotating shaft is provided in the receiving cavity, the rotating member includes a main body, and a through hole is formed in the main body. The rotating shaft passes through the through hole, and the first rotating member is provided to surround an edge of the through hole.

  Further, the rotating member further includes two mounting arms and a mounting column, the mounting arm is provided on the outer wall of the main body, and both are provided to face each other at a distance from the main body. A mounting hole is opened at each of the far ends, a fitting hole is opened on one side of the rotating holder, and this mounting column passes through the fitting hole and the mounting hole in sequence, and as a result, The rotating holder is connected to one side of the main body and rotated with respect to the main body or the mounting arm.

  Further, the fixing assembly further includes a fixing plate, the fixing plate is provided at the center of the receiving cavity, the rotating shaft is provided on the fixing plate, and the position restricting member is provided on the fixing plate. The

  Further, the position regulating device further includes a fitting member, and the fitting member is fitted on the rotating shaft so as to reduce the rotational frictional force between the second rotating member and the rotating shaft. Used.

  Further, the position restricting device includes two fitting members, and both of the two fitting members are fitted on the rotating shaft, and one end face of the fitting member is the second rotating member. Adheres closely to the end face.

  Further, the position regulating device further includes a pretension member, and the pretension member is fitted on the rotating shaft and is positioned between the two fitting members.

  Further, the position regulating device further includes a flexible connecting member, and the flexible connecting member is wound around the rotating shaft and used to realize electrical connection between the load and the unmanned aircraft.

  Further, the flexible connecting member is one of a flexible circuit board, an electric wire, and a flat cable.

  Further, the flexible connecting member has a spring shape.

  The unmanned aircraft further includes a connecting member, the connecting member includes a connecting portion and a connecting arm, the connecting portion is connected to the rotating member, the connecting arm is provided on a side surface of the connecting portion, and the position Used to attach a regulating device to the unmanned aerial vehicle.

  Further, a connecting hole is opened in the connecting portion, and a shaft hole corresponding to the connecting hole is opened on the rotating shaft, and a fastening member is sequentially inserted into the connecting hole and the shaft hole of the rotating shaft. By passing, the position regulating device is eventually connected to the connecting member.

  Further, the connecting arm includes an arm portion, a fitting portion, and a fastening holding portion, and the arm portion is connected to one side of the connecting portion and has a first engagement at one end far from the connecting portion. A groove and a first fastening and holding hole are opened, and a second engaging groove and a second fastening and holding hole corresponding to the first engaging groove are opened at one end of the fitting portion; The first engagement groove and the second engagement groove engage with the unmanned aircraft, respectively, and the fastening holding portion is provided through the second fastening holding hole and the first fastening holding hole.

  Further, the unmanned aircraft includes a fuselage, the first engagement groove of the arm portion and the second engagement groove of the fitting portion are respectively engaged with the fuselage, and the fastening holding portion is the second engagement groove. It penetrates in the fastening holding hole and the first fastening holding hole.

  The pan head includes a pitch axis holder, a roll axis holder, a yaw axis holder, a pitch motor provided at one end of the roll axis holder and connected to the pitch axis holder, the roll axis holder and the yaw axis. A roll motor for connecting the shaft holder and a yaw motor provided at one end of the yaw shaft holder are provided, and the rotating holder is engaged with the yaw shaft holder.

  The yaw shaft holder further includes a first connecting rod and a second connecting rod provided perpendicular to each other, the first connecting rod being connected to the yaw motor, and one end of the second connecting rod. Is connected to the roll motor, the other end is movably mounted on the first connecting rod, and the rotating holder is engaged with the first connecting rod.

Base and
A quick release assembly for removably fixing and holding a pan head on the base;
A rotating holder capable of engaging with or disengaging from the camera platform by swinging with respect to the camera platform;
A position regulating device comprising:

  The quick release assembly further includes a first quick release portion and a second quick release portion fitted to the first quick release portion, the first quick release portion being on the base. And the second quick release portion is provided on the pan head.

  Further, the first quick release portion is a guide groove that is surrounded by a first protrusion and a second protrusion provided at opposite ends of one end of the base. The release part is a sliding protrusion that is fitted into a guide groove formed by the first protrusion and the second protrusion.

Furthermore, the first quick release part and the second quick release part are dovetail grooves fitted to each other,
Alternatively, the first quick release portion and the second quick release portion are T-shaped grooves that are fitted to each other.

  Further, a storage groove penetrating the side wall of the base is provided, the quick release assembly further includes a clamp member, the clamp member includes a clamp body, a clamp rod, and a nut, and the clamp body is Received in the storage groove, one end of the clamp rod is received on one side of the clamp body, the nut is fitted on the clamp rod, the clamp rod is rotated by operating the nut, The clamp body is put into a locked state and a detached state, and when the clamp body is in a locked state, one end of the clamp body abuts on the sliding protrusion, and when the clamp body is in a detached state, One end is detached from the sliding protrusion.

  Furthermore, a lug is provided on the outer side of the nut, and the nut can be easily operated by operating the lug to move and rotate the nut.

An unmanned aerial vehicle comprising a position restriction device and a pan head that is pivotally connected to the position restriction device, wherein the position restriction device comprises:
Base and
A quick release assembly for removably fixing and holding a pan head on the base;
A rotating holder capable of engaging with or disengaging from the camera platform by swinging with respect to the camera platform;
An unmanned aircraft equipped with.

  The quick release assembly further includes a first quick release portion and a second quick release portion fitted to the first quick release portion, the first quick release portion being on the base. And the second quick release portion is provided on the pan head.

  Further, the first quick release portion is a guide groove that is surrounded by a first protrusion and a second protrusion provided at opposite ends of one end of the base. The release part is a sliding protrusion that is fitted into a guide groove formed by the first protrusion and the second protrusion.

Furthermore, the first quick release part and the second quick release part are dovetail grooves fitted to each other,
Alternatively, the first quick release portion and the second quick release portion are T-shaped grooves that are fitted to each other.

  Further, a storage groove penetrating the side wall of the base is provided, the quick release assembly further includes a clamp member, the clamp member includes a clamp body, a clamp rod, and a nut, and the clamp body is Received in the storage groove, one end of the clamp rod is received on one side of the clamp body, the nut is fitted on the clamp rod, the clamp rod is rotated by operating the nut, The clamp body is put into a locked state and a detached state, and when the clamp body is in a locked state, one end of the clamp body abuts on the sliding protrusion, and when the clamp body is in a detached state, One end is detached from the sliding protrusion.

  Furthermore, a lug is provided on the outer side of the nut, and the nut can be easily operated by operating the lug to move and rotate the nut.

  In the position restricting device according to the present invention, the first rotating member is moved by the main body to first rotate by the first angle, and further, the second rotating member is pushed to move the first rotating member. At the same time, it is continuously rotated by the second angle, and a position restricting member is provided so that the first turning member and the second turning member stop turning due to the position restricting action of the position restricting member. The first rotation member has a total rotation angle of more than 360 ° and less than 720 ° in order to overlap the first angle and the second angle. This position restricting device has a simple structure, low cost, and an advantage that a transmission signal is not restricted by the structure.

1 is a schematic diagram of an unmanned aerial vehicle according to a preferred embodiment of the present invention. It is a partial schematic diagram of the unmanned aerial vehicle shown in FIG. FIG. 2 is a partially exploded schematic view of the unmanned aerial vehicle shown in FIG. 1. FIG. 4 is an exploded schematic view of the position regulating device in the unmanned aerial vehicle shown in FIG. 3. FIG. 5 is a partial connection schematic diagram of the position regulating device in the unmanned aerial vehicle shown in FIG. It is a partial assembly schematic diagram of the position control apparatus in the unmanned aerial vehicle shown in FIG. It is the schematic of the 1st moving track | orbit and the 2nd moving track | truck which the 1st rotation member and 2nd rotation member in the position control apparatus shown in FIG. 5 comprise. FIG. 8 is a schematic view of a state when a first rotating member in the position regulating device shown in FIG. 7 rotates in a first direction and comes into contact with the second rotating member. A state in which the first rotating member in the position restricting device shown in FIG. 7 pushes and rotates the second rotating member, and the second rotating member contacts the position restricting member. FIG.

  The following detailed description explains the present invention further with reference to the drawings.

  Hereinafter, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. However, it should be understood that the described embodiments are a part of the embodiments of the present invention. And not all examples. Based on the embodiments in the present invention, any other embodiments obtained by a person skilled in the art under the premise that no creative work is performed belong to the scope protected by the present invention.

  It should be noted that when one part is said to be “electrically connected” to another part, it may be directly on the other assembly or there may be intervening parts. When one part is considered to be “electrically connected” to another part, it may be a contact connection, such as a wire connection scheme, or a non-contact connection, such as a non-contact coupling scheme Good.

  Unless otherwise defined, all technical and scientific terms used in this document have the same meaning as commonly understood by one of ordinary skill in the art. In this document, the terminology used in the specification of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term “and / or” includes any combination of one or more of the associated listed items.

  Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. If not inconsistent, the following examples and the features in the examples can be combined with each other.

  1 and 2, an unmanned aerial vehicle 100 provided by an embodiment of the present invention. The unmanned aerial vehicle 100 includes a body 70, a position regulating device 10 that can rotate with respect to the body 70, and a load 20. The load 20 is rotatably connected to the position regulating device 10.

  Referring to FIGS. 3 and 4 together, the position restricting device 10 includes a fixed assembly 11, a rotating member 12, a first rotating member 13, a second rotating member 14, and a position restricting member 15. The fixing assembly 11 includes a base 111, a fixing plate 112, at least one screw column 113, and a rotating shaft 114. In this embodiment, the base 111 has a cylindrical structure, and at least one screw hole 115 is provided at the bottom thereof.

  The fixing plate 112 is provided on the base 111. Specifically, an accommodation cavity 116 is opened in the base 111, and the fixing plate 112 is provided at the center position of the accommodation cavity 116. In this embodiment, the fixing plate 112 has a substantially rectangular shape and is screwed to the base 111. Specifically, at least one fixing hole 117 is formed in the fixing plate 112. In this embodiment, the number of the fixing holes 117 is the same as the number of the screw holes 115.

  In the present embodiment, the number of the screw pillars 113 coincides with the number of the screw holes 115. Of course, the number of the screw columns 113 may be smaller than the number of the screw holes 115, that is, the screw columns 113 are fitted into some of the screw holes 115 and the fixing holes 117. The screw column 113 passes through the corresponding screw hole 115 and the fixing hole 117 in sequence, and as a result, the fixing plate 112 and the base 111 are screw-connected to facilitate removal. It can be understood that the fixing plate 112 may be provided on the base 111 by other methods, for example, connected by welding. Of course, in order to facilitate processing, the screw plate 113, the screw hole 115, and the fixing hole 117 may be omitted, and the fixing plate 112 may be directly formed integrally with the base 111.

  The rotating shaft 114 is provided on a surface of the fixed plate 112 facing away from the base 111. It can be understood that in another embodiment, the rotating shaft 114 may be provided directly on the base 111 and the fixing plate 112 may be omitted. A boss 118 is further provided on the rotating shaft 114. In this embodiment, the boss 118 has a cylindrical shape and is provided coaxially with the rotating shaft 114. Of course, in other embodiments, the boss 118 may have other shapes.

  The rotating member 12 is fitted on the rotating shaft 114 so as to be rotatable. The rotating member 12 includes a main body 121, two mounting arms 123, a rotation holder 125, and a mounting column 127. The main body 121 has a cylindrical shape, and includes a first surface 12a provided to face the base 111, and a second surface 12b provided to face the first surface 12a. A through hole 1211 is formed in the main body 121, and the through hole 1211 penetrates the first surface 12a and the second surface 12b. The rotating shaft 114 passes through the through hole 1211.

  The mounting arm 123 is provided on the outer wall of the main body 121, and both are provided to face each other with a space therebetween. An attachment hole 1231 is formed at an end of the attachment arm 123 far from the main body 121. The rotating holder 125 has a ladder shape, and a fitting hole 1251 is formed on one side thereof. In this embodiment, the mounting column 127 sequentially passes through the fitting hole 1251 and the mounting hole 1231, and as a result, the rotating holder 125 is connected to one side of the main body 121, and the rotating holder 125 can rotate with respect to the main body 121 or the mounting arm 123.

  Referring also to FIG. 5, the first rotating member 13 is provided on the first surface 12 a of the main body 121. Specifically, the first rotating member 13 is provided at the edge of the through hole 1211, so that when the rotating member 12 is rotated around the rotating shaft 114, the rotating member 12 is The first rotating member 13 is moved and rotated in the first direction A or in the second direction B opposite to the first direction A, so that the first rotating member 13 rotates. The angle is greater than 360 ° and less than 720 °. In this embodiment, the first rotating member 13 is integrally formed with the main body 121 so that the first rotating member 13 and the main body 121 maintain synchronous rotation. Of course, the first rotating member 13 may be fixed to the main body 121 by other methods such as welding or screws.

  In this embodiment, the first direction A is a counterclockwise direction, and the second direction B is a clockwise direction. Of course, in other embodiments, the first direction A may be clockwise and the second direction B may be counterclockwise.

  The second rotating member 14 is provided in the receiving cavity 116, and the second rotating member 14 is fitted on the rotating shaft 114. Specifically, the second rotating member 14 includes a main body portion 141 and a rotating portion 143. The main body 141 is fitted on the rotating shaft 114. More specifically, the shape of the main body 141 matches the boss 118. In the present embodiment, the main body 141 has an annular structure, the main body 141 is fitted on the boss 118, and the main body 141 is rotated when the main body 141 rotates. Is fitted to the outer peripheral wall of the boss 118 so that the rotating shaft 114 is not rotated simultaneously. The rotating part 143 is provided in the main body part 141. Specifically, the rotating part 143 has a rod-like structure provided on the outer surface of the main body part 141, and the rotating part 143 is integrally formed with the main body part 141 for easy processing. .

  The position restricting member 15 is provided on the fixing assembly 11. Specifically, the position restricting member 15 is projected on the fixed plate 112. In another embodiment, it can be understood that the position restricting member 15 may be provided directly on the base 111.

  6 and 7 together, when the main body 121 of the rotating member 12 rotates in the first direction A or in the second direction B opposite to the first direction A, the first One rotating member 13 rotates around the axis of the rotating shaft 114 to form a first moving track N1. The rotating portion 143 partially enters the first moving track N1, and the first rotating member 13 moves the rotating portion 143 to rotate around the axis of the rotating shaft 114. Thus, the second movement trajectory N2 can be formed. In the present embodiment, the first movement track N1 is a circumferential track. That is, the first rotating member 13 rotates around the axis of the rotating shaft 114 once. Of course, in other embodiments, the first moving trajectory N1 may be a circular arc. Specifically, when the main body 121 moves the first rotation member 13 to rotate until the first rotation member 13 and the rotation unit 143 come into contact with each other, the first rotation is performed. The member 13 moves the second rotating member 14 to rotate together around the rotating shaft 114.

  The position restricting member 15 is located on the outer periphery of the first moving track N1 and partially enters the second moving track N2. Specifically, in the process of rotating the main body 121, the main body 121 rotates together with the first rotating member 13. When the first rotating member 13 rotates until it comes into contact with the rotating portion 143, the rotating portion 143 of the first rotating member 13 is in contact with the position restricting member 15. It rotates according to the rotation. At this time, the first rotation member 13 and the rotation unit 143 both stop rotating.

  Referring to FIGS. 8 and 9 together, when the main body 121 rotates in the first direction A, the main body 121 moves the first rotating member 13 to move the first rotating member 143. Rotate in a direction away from one side. When the first rotating member 13 rotates to the other side of the rotating unit 143 and contacts the rotating unit 143, the first rotating member 13 rotates by a first angle θ1. (See FIG. 7). Next, the first rotating member 13 moves the rotating portion 143 and continues to rotate in the first direction A until the rotating portion 143 contacts the position restricting member 15. At this time, the second rotating member 14 and the first rotating member 13 both stop rotating due to the position restricting action of the position restricting member 15, and the first rotating member 13 The rotating part 143 is moved to rotate together by the second angle θ2 (see FIG. 8). Of course, in the present embodiment, the first angle θ1 and the second angle θ2 are both larger than 180 ° and smaller than 360 °. Therefore, since the first rotation member 13 overlaps two rotation angles (the first angle θ1 and the second angle θ2), the total rotation angle is larger than 360 °. And less than 720 °. When the second turning member 14 and the first turning member 13 both stop turning due to the position restricting action of the position restricting member 15, the second turning member 14 and the first turn The main body 121 starts to rotate in the second direction B by moving the first rotating member 13 until the moving member 13 stops rotating again due to the position restricting action of the position restricting member 15. Circulate like so. The principle that the first rotation member 13 rotates in the second direction B is similar to the principle that the first rotation member 13 rotates in the first direction A, and redundant description will not be repeated here.

  Furthermore, since the distance from the first rotating member 13 to the center of the rotating shaft 114 is shorter than the distance from the position regulating member 15 to the center of the rotating shaft 114, the first rotating member When 13 is not in contact with the second rotating member 14, it is ensured that the position restricting member 15 continues to rotate without receiving the position restricting action. Further, since the distance from the second rotating member 14 to the center of the rotating shaft 114 is longer than the distance from the position restricting member 15 to the center of the rotating shaft 114, the second rotating member When the member 14 is moving, the moving position of the second rotating member 14 is regulated by receiving the position regulating action of the position regulating member 15. Of course, in another embodiment, by defining the height relationship between the first turning member 13, the position restricting member 15 and the second turning member 14, the position restricting in this embodiment is performed. The effect can be achieved.

  The position regulating device 10 further includes at least one fitting member 16, and the fitting member 16 is fitted on the rotating shaft 114, and is rotated between the second rotating member 14 and the rotating shaft 114. Used to reduce dynamic friction force. In the present embodiment, the position regulating device 10 includes two fitting members 16. The two fitting members 16 are both copper sleeves. The two fitting members 16 are sequentially fitted on the rotating shaft 114, and the end surface of one of the fitting members 16 is in close contact with the end surface of the second rotating member 14 far from the fixed plate 112. (See FIG. 6). Therefore, when the first rotating member 13 moves the second rotating member 14 and rotates it around the rotating shaft 114, the fitting member 16 is connected to the second rotating member 14 and the second rotating member 14. The rotational friction force with the rotating shaft 114 can be effectively reduced. Of course, in other embodiments, the fitting member 16 may be a bearing or a guide sleeve.

  The position regulating device 10 further includes a pretension member 17. In this embodiment, the pretension member 17 includes a washer 171 and a grommet 173. Both the washer 171 and the grommet 173 are accommodated in the through-hole 1211, are fitted on the rotating shaft 114, and are provided between the two fitting members 16. That is, one of the fitting members 16, the grommet 173, the washer 171, and the other fitting member 16 are sequentially fitted on the rotating shaft 114. The pretensioning member 17 is used to prevent the rotary shaft 114 from sliding out of the through hole 1211 by providing an axial pretensioning force.

  It should be understood that in other embodiments, the pretensioning member 17 may be omitted to save material.

  The position restricting device 10 further includes one flexible connecting member 18. The flexible connecting member 18 may be a flexible printed circuit (FPC), an electric wire, or a flat cable. The flexible connecting member 18 is provided on the second surface 12 b of the main body 121. Specifically, an accommodation recess 129 is formed on the second surface 12b of the main body 121 (see FIG. 4). The flexible connecting member 18 is accommodated in the accommodating recess 129, one end of which is wound around the rotating shaft 114, and the other end is a controller or processor provided in the fuselage 70 of the unmanned aircraft 100. (Not shown) and used to realize an electrical connection between the load 20 and the controller or processor. In this embodiment, since the flexible connecting member 18 has a substantially spiral shape, when the rotating member 12 rotates, the flexible connecting member 18 is regularly wound around the rotating shaft 114 or It can be loosened and does not form a messy and chaotic trajectory due to the rotation of the rotating member 12, which solves the problem of “lines entangled in disorder” in the related art. Moreover, since the flexible connecting member 18 is wound around the existing space of the position restricting device 10 (that is, inside the housing recess 129), the volume of the position restricting device 10 is not increased.

  Referring back to FIG. 3, the unmanned aerial vehicle 100 further includes a connecting member 30. The connecting member 30 includes a connecting portion 31 and at least one connecting arm 33. In this embodiment, the connecting portion 31 has a circular structure. The connecting member 30 is connected to the rotating member 12 via the connecting portion 31, and the position regulating device 10 is attached to the fuselage 70 of the unmanned aircraft 100 via the connecting arm 33. Specifically, a connection hole 311 is opened in the middle of the connection part 31. A shaft hole 119 corresponding to the connecting hole 311 is formed in the rotating shaft 114 (see FIG. 3). By passing the fastening member 50 sequentially through the connecting hole 311 and the shaft hole 119 of the rotating shaft 114, the position restricting device 10 is connected to the connecting member 30. It can be understood that the fastening member 50 is used to provide an axial pretensioning force and to connect the position regulating device 10 and the connecting member 30 in a fixed manner.

  In the present embodiment, the connecting member 30 includes two connecting arms 33. The connecting arms 33 are provided symmetrically on both sides of the connecting portion 31 and are used to attach the position regulating device 10 to the unmanned aircraft 100. Specifically, the connecting arm 33 includes an arm portion 331, a fitting portion 333, and at least one fastening holding portion 335. The arm portion 331 is connected to one side of the connecting portion 31, and at one end far from the connecting portion 31, a first engagement groove 336 having a substantially U shape and at least one first fastening and holding. A hole 337 is opened. The shape and structure of the fitting part 333 correspond to the arm part 331. Specifically, a second engagement groove 338 corresponding to the first engagement groove 336 and at least one second fastening and holding hole 339 are opened at one end of the fitting portion 333. The first engagement groove 336 fits with the second engagement groove 338 and is used to engage the unmanned aircraft 100, for example, engages the fuselage 70 of the unmanned aircraft 100, and thus the position The regulating device 10 and the load 20 are attached to the unmanned aircraft 100.

  In this embodiment, the number of the fastening holding portions 335 matches the number of the first fastening holding holes 337. The first engagement groove 336 of the arm portion 331 and the second engagement groove 338 of the fitting portion 333 are respectively engaged with the fuselage 70 of the unmanned aircraft 100, and the fastening holding portion 335 is engaged with the second fastening and holding. By sequentially passing through the hole 339 and the first fastening holding hole 337, the connecting member 30 is connected to the unmanned aircraft 100, so that the position restricting device 10 can be quickly attached to and detached from the unmanned aircraft 100. Realize. The number of the fastening and holding portions 335 may be smaller than the number of the first fastening and holding holes 337, that is, the fastening and holding portions 335 are provided in a part of the first fastening and holding holes 337. Is understandable.

  1 and 2 again, in the present embodiment, the load 20 is a camera module. Of course, in other embodiments, the load 20 may be other, such as a microcomputer or a projection device. The load 20 is pivotally connected to the position regulating device 10. Specifically, the load 20 includes a camera 21 and a pan head 23. The pan head 23 realizes the fixation of the camera 21, freely adjusts the posture of the camera 21 (for example, changes the height, tilt angle, and / or direction of the camera 21), and This is used to stably hold the camera 21 in a fixed posture. In the present embodiment, the pan head 23 is provided at one end of the pitch axis holder 230 for mounting the camera 21, the roll axis holder 231, the yaw axis holder 233, and the roll axis holder 231. A pitch motor 235 connected to the pitch axis holder 230, a roll motor 237 connecting the roll axis holder 231 and the yaw axis holder 233, and a yaw (1) provided at one end of the yaw axis holder 233 Yaw) A motor 238 and a mounting body 239 are provided. The yaw shaft holder 233 further includes a first connecting rod 2331 and a second connecting rod 2333 provided perpendicular to each other. The first connecting rod 2331 is connected to the yaw motor 238. One end of the second connecting rod 2333 is connected to the roll motor 237, and the other end is movably mounted on the first connecting rod 2331, thereby adjusting the center of gravity of the pan head 23.

  The attachment body 239 is mounted on the yaw shaft holder 233 and is used for connecting the pan head 23 to the position restricting device 10. In this embodiment, the yaw motor 238 is fixed in the attachment body 239. The yaw motor 238 is usually used to drive and rotate the attachment body 239 connected thereto, but in the present embodiment, the attachment body 239 is fixedly connected to the unmanned aircraft 100. The yaw motor 238 cannot drive and rotate the attachment body 239, but drives the yaw shaft holder 233 to rotate in the horizontal direction.

  It should be understood that in other embodiments, the load 20 may include only the camera 21 or only the pan head 23.

  Referring back to FIGS. 2 and 3, the position restricting device 10 further includes a quick release assembly 40. The quick release assembly 40 is used to detachably fix the pan head 23 on the position restricting device 10. Of course, in other embodiments, the quick release assembly 40 is not limited to fixing and removing the platform 23 on the unmanned aerial vehicle 100, and fixing and removing any fixed holding member on other devices or mechanisms. You may use for.

  The quick release assembly 40 includes a first quick release portion 41, a second quick release portion 43 that is slidably fitted to the first quick release portion 41, and a clamp member 45. In this embodiment, the first quick release portion 41 is provided at one end of the base 111. Specifically, the first quick release portion 41 is a guide groove surrounded by a first protrusion 411 and a second protrusion 413 provided to face one end of the base 111. It's okay. On one side of the base 111, a storage groove 415 that penetrates the first protrusion 411 is further opened.

  In the present embodiment, the second quick release portion 43 is provided at one end of the attachment body 239 and is slid into a guide groove surrounded by the first projection portion 411 and the second projection portion 413. It is a fitting groove to be dynamically fitted. Further, the second quick release portion 43 may be a sliding projection 431 fitted in a guide groove surrounded by the first projection 411 and the second projection 413.

  In the present embodiment, the first quick release portion 41 and the second quick release portion 43 are dovetails fitted to each other. Of course, in other embodiments, the first quick release portion 41 and the second quick release portion 43 may be T-grooves or other quick release structures that fit together.

  The clamp member 45 is provided on the base 111 and has a locked state and a detached state. When the clamp member 45 is in the locked state, the clamp member 45 abuts on the sliding protrusion 431 of the second quick release portion 43. When the clamp member 45 is in the detached state, the clamp member 45 is detached from the sliding protrusion 431 of the second quick release portion 43. Specifically, in this embodiment, the clamp member 45 includes a clamp body 451, a clamp rod 453, and a nut 455. The clamp body 451 is housed in the housing groove 415, and one end thereof abuts on the sliding protrusion 431. One end of the clamp rod 453 is accommodated on one side of the clamp body 451. The nut 455 is fitted on the clamp rod 453. By operating the nut 455, the clamp rod 453 is rotated, and as a result, the clamp member 45 is put into a locked state and a detached state. Among them, when the clamp member 45 is in the locked state, the clamp body 451 slides into the storage groove 415, and one end thereof abuts on the sliding protrusion 431 of the attachment body 239. 239 is fastened and fixed on the base 111. When the clamp member 45 is in the detached state, the clamp body 451 slides out of the storage groove 415 and one end thereof is detached from the sliding protrusion 431 of the attachment body 239, so that the attachment body 239 and the base 111 is allowed to separate.

  Furthermore, a lug 457 is provided outside the nut 455. By operating the lug 457 to move and rotate the nut 455, the nut 455 can be easily operated.

  It can be understood that one end of the rotating holder 125 far from the mounting arm 123 is engaged with the pan head 23 by swinging at a certain angle with respect to the yaw axis holder 233 of the pan head 23 or It is possible to disengage. When the rotation holder 125 is engaged with the first connecting rod 2331 of the yaw shaft holder 233, the rotation holder 125 detachably fixes and holds the pan head 23 on the position regulating device 10. Can assist. Further, when the yaw motor 238 drives and rotates the first connecting rod 2331 of the yaw shaft holder 233, the first connecting rod 2331 of the pan head 23 moves through the rotating holder 125 to the rotating member. By moving and rotating 12, the first rotating member 13 and the second rotating member 14 are moved and rotated.

  Of course, by providing the quick release assembly 40, the pan head 23 and the position regulating device 10 can be quickly assembled and removed. Specifically, when the pan head 23 is assembled to the position restricting device 10, the second quick release portion 43 provided on the pan head 23 is fitted into the first quick release portion 41 on the base 111. By operating the lug 457, the nut 455 is moved in the tightening direction, for example, in the clockwise direction, so that the clamp member 45 enters the locked state. In this way, one end of the clamp body 451 abuts on the sliding protrusion 431, so that the pan head 23 is firmly assembled to the position restricting device 10. Next, by rotating the rotation holder 125, the rotation holder 125 is engaged with the first connecting rod 2331 of the camera platform 23, so that the camera platform 23 is assembled to the position restricting device 10. The yaw motor 238 of the pan head 23 realizes a function of moving and rotating the rotating member 12 via the first connecting rod 2331 and the rotating holder 125.

  When it is necessary to quickly remove the pan head 23 from the unmanned aircraft 100, the rotary holder 125 is lifted with respect to the first connecting rod 2331 so that the rotary holder 125 is moved to the yaw of the pan head 23. It is only necessary to detach from the shaft holder 233. At the same time, by operating the lug 457, the nut 455 is moved in the unlocking direction, for example, in the counterclockwise direction, and as a result, the clamp member 45 is put into the detached state. That is, one end of the clamp body 451 is detached from the sliding protrusion 431 of the attachment body 239, thereby allowing the attachment body 239 and the base 111 to be separated. Thus, the pan head 23 can be easily and quickly removed from the unmanned aircraft 100.

  Further, when the unmanned aerial vehicle 100 is applied to aerial imaging equipment, the yaw motor 238 of the pan head 23 drives the horizontal rotation of the yaw axis holder 233, and the rotation holder 125 moves the yaw axis holder 233. Since it is engaged with the first connecting rod 2331, the yaw shaft holder 233 moves the first rotating member 13 by moving and rotating the rotating member 12 via the rotating holder 125. To rotate in the first direction A. When the first rotating member 13 rotates until it contacts the second rotating member 14, the first rotation until the second rotating member 14 contacts the position regulating member 15. Until the moving member 13 and the second rotating member 14 rotate, the first rotating member 13 moves and rotates together with the second rotating member 14, and the first rotating member 13. Both the second rotating member 14 stops rotating. At this time, the load 20 stops rotating, and when the total rotation angle of the first rotation member 13 is greater than 360 ° and less than 720 °, the total rotation angle of the camera 21 is also 360. It is larger than ° and smaller than 720 °, and as a result, the photographing angle of the camera 21 is made wider. Further, when the first rotating member 13 is rotated, the camera 21 is rotated at least once in the first direction A so that the photographing direction of the camera 21 is the same direction. By avoiding overlapping shooting scenes when returning to the opposite direction, the scenes shot by the camera 21 are made more comprehensive.

  The position regulating device 10 provided by the present invention moves the first rotating member 13 by the main body 121 to first rotate the first angle θ1, and further moves the second rotating member 14 to move the first rotating member 13. The position control member 15 is continuously rotated together with the first rotation member 13 by the second angle θ2, and the position control action of the position control member 15 is achieved by the first rotation member 13 and the second rotation member 14. Therefore, the rotation is stopped. The first rotation member 13 has a total rotation angle of more than 360 ° and less than 720 ° in order to overlap the first angle θ1 and the second angle θ2. The position restricting device 10 has an advantage that the structure is simple, the cost is low, and the transmission signal is not restricted by the structure. Further, the position restricting device 10 further includes the quick release assembly 40, thereby realizing quick attachment / detachment of the position restricting device 10 and the pan head 23.

  The above are only examples of the present invention and are not intended to limit the scope of the claims of the present invention, and all equivalent structures or structures made using the contents of the specification and drawings of the present invention. Any equivalent process transformation, or any direct or indirect use in other related technical fields, is within the scope of patent protection of the present invention for the same reason.

DESCRIPTION OF SYMBOLS 100 Unmanned aerial vehicle 10 Position control apparatus 11 Fixing assembly 111 Base 112 Fixing plate 113 Screw pillar 114 Rotating shaft 115 Screw hole 116 Accommodating cavity 117 Fixing hole 118 Boss 119 Shaft hole 12 Rotating member 121 Main body 12a First surface 12b Second surface 1211 Through-hole 123 Mounting arm 1231 Mounting hole 125 Rotating holder 1251 Fitting hole 127 Mounting column 129 Housing recess 13 First rotating member 14 Second rotating member 141 Main body portion 143 Rotating portion N1 First moving track N2 Second moving track 15 Position restricting member 16 Fitting member 17 Pretension member 171 Washer 173 Grommet 18 Flexible connecting member 20 Load 21 Camera 23 Head 230 Pitch shaft holder 231 Roll shaft holder 233 Yaw shaft holder 2331 First connecting rod 2333 Second connecting rod 235 Pitch motor 237 Roll motor 238 Yaw motor 239 Attachment body 30 Connecting member 31 Connecting portion 33 Connecting arm 331 Arm portion 333 Fitting portion 335 Fastening holding portion 336 First engaging groove 337 First fastening holding hole 338 Second engagement groove 339 Second fastening holding hole 40 Quick release assembly 41 First quick release portion 411 First projection portion 413 Second projection portion 415 Storage groove 43 Second Quick release portion 431 Sliding projection 45 Clamp member 451 Clamp body 453 Clamp rod 455 Nut 457 Lug 50 Fastening member 70 Airframe

Claims (26)

A position regulating device for connecting the pan head,
A fixing assembly;
A rotation member relatively connected to the fixed assembly and provided with a rotation holder for engaging with the pan head on one side ;
The rotating holder, Ri can der removing the or engagement engages the pan head by swing with respect to the pan head, when the rotating holder is engaged with the pan head the camera platform is Ri can der be rotated to move the rotary member via the pivot holder,
The fixed assembly includes a rotating shaft that rotatably supports the rotating member;
The position restricting device further includes a first rotating member, a second rotating member, and a position restricting member,
The first rotating member is fixedly coupled to the rotating member;
The second rotating member is rotatably fitted to the rotating shaft;
When the rotating member is rotated by a first angle, the first rotating member comes into contact with the second rotating member,
The first rotating member rotates together with the second rotating member from the contact with the second rotating member to rotate the second rotating member,
The position restricting member is fixedly connected to the fixing assembly;
The position restricting member is used for restricting continuous rotation of the first rotating member and the second rotating member,
When the rotating member rotates the first rotating member together with the second rotating member by a second angle, the second rotating member comes into contact with the position regulating member, Both the rotating member and the second rotating member are stopped from moving,
Both the first angle and the second angle are greater than 180 ° . Position regulating device according to claim 1, wherein the first angle and the second angle is less than both 360 °. The distance from the first rotating member to the center of the rotating shaft is shorter than the distance from the position regulating member to the center of the rotating shaft, and the distance from the second rotating member to the center of the rotating shaft. The position restricting device according to claim 1 , wherein is longer than a distance from the position restricting member to a center of the rotating shaft. The fixed assembly includes a base, the base has a receiving cavity, the rotating shaft is provided in the receiving cavity, the rotating member has a main body, and the main body has a through hole. , the rotary shaft passes through the through hole, the first rotational member position regulating device according to any one of claims 1 to 3, characterized in that provided at the edge of the through hole . The rotating member further includes two mounting arms and a mounting column, the mounting arm is provided on the outer wall of the main body, and both are provided to face each other at a distance from each other, and the end of the mounting arm far from the main body Mounting holes are formed in the respective portions, and fitting holes are formed on one side of the rotating holder, and the mounting pillars sequentially pass through the fitting holes and the mounting holes. The position restricting device according to claim 4 , wherein a moving holder is connected to one side of the main body and is rotated with respect to the main body or a mounting arm. The fixing assembly further includes a fixing plate, the fixing plate is provided at the center of the receiving cavity, the rotation shaft is provided on the fixing plate, and the position restricting member is provided on the fixing plate. The position restricting device according to claim 4 . The position regulating device further includes a fitting member, and the fitting member is fitted on the rotating shaft, and is used to reduce a rotating frictional force between the second rotating member and the rotating shaft. The position restricting device according to claim 1 , wherein the position restricting device is provided. The position restricting device includes two fitting members, both of the fitting members are fitted on the rotating shaft, and one of the fitting members has an end surface as an end surface of the second rotating member. The position restricting device according to claim 7 , wherein the position restricting device is closely attached to the surface. The position according to claim 8 , wherein the position restricting device further includes a pretension member, and the pretension member is fitted on the rotating shaft and is positioned between the two fitting members. Regulatory device. The said position control apparatus is further equipped with a flexible connection member, The said flexible connection member is wound around the said rotating shaft, and is used in order to implement | achieve the electrical connection of a load and an unmanned aircraft. The position regulating device according to any one of 1 to 9 . The position restricting device according to claim 10 , wherein the flexible connecting member is one of a flexible circuit board, an electric wire, and a flat cable. The position restricting device according to claim 11 , wherein the flexible connecting member has a spring shape. An unmanned aerial vehicle comprising: the position restriction device according to any one of claims 1 to 12 ; and a pan head that is pivotally connected to the position restriction device. The unmanned aircraft further includes a connecting member, the connecting member includes a connecting portion and a connecting arm, the connecting portion is connected to the rotating member, the connecting arm is provided on a side surface of the connecting portion, and the position restricting device. The unmanned aerial vehicle according to claim 13 , wherein the unmanned aerial vehicle is used to attach a to the unmanned aerial vehicle. A connecting hole is formed in the connecting portion, and a shaft hole corresponding to the connecting hole is formed on the rotating shaft, and the fastening member is sequentially passed through the connecting hole and the shaft hole of the rotating shaft. Accordingly, the unmanned aerial vehicle according to claim 14 , wherein the position regulating device is connected to the connecting member. The connection arm includes an arm part, a fitting part, and a fastening holding part, the arm part is connected to one side of the connection part, and a first engagement groove and one end at a far end from the connection part A first fastening and holding hole is provided, and a second engaging groove and a second fastening and holding hole corresponding to the first engaging groove are provided at one end of the fitting portion. The first engagement groove and the second engagement groove are engaged with the unmanned aircraft, respectively, and the fastening holding portion is provided through the second fastening holding hole and the first fastening holding hole. The unmanned aerial vehicle according to claim 14 or 15 . The unmanned aircraft includes a fuselage, the first engagement groove of the arm portion and the second engagement groove of the fitting portion are engaged with the fuselage, and the fastening holding portion is the second fastening hold. The unmanned aerial vehicle according to claim 16 , wherein the unmanned aircraft is penetrated in the hole and the first fastening holding hole. The pan head includes a pitch axis holder, a roll axis holder, a yaw axis holder, a pitch motor provided at one end of the roll axis holder and coupled to the pitch axis holder, the roll axis holder and the yaw axis holder a roll motor for connecting, and a yaw motor which is provided at one end of said yaw axis holder, the pivot holder is any one of claims 13 to 17, characterized in that engaged in the yaw axis holder Unmanned aerial vehicle as described in the section. The yaw shaft holder further includes a first connecting rod and a second connecting rod provided perpendicularly to each other, the first connecting rod is connected to the yaw motor, and one end of the second connecting rod is 19. The unmanned system according to claim 18 , wherein the union is connected to a roll motor, the other end is movably mounted on the first connection rod, and the rotation holder is engaged with the first connection rod. aircraft. The securing assembly includes a base;
A quick release assembly for detachably fixing and holding the camera platform on the base,
The position restricting device according to claim 1, comprising: The quick release assembly includes a first quick release portion and a second quick release portion fitted to the first quick release portion, and the first quick release portion is provided on the base. The position regulating device according to claim 20 , wherein the second quick release portion is provided on the pan head. The first quick release portion is a guide groove that is surrounded by a first projection and a second projection provided at opposite ends of one end of the base, and the second quick release portion The position restricting device according to claim 21 , wherein the position restricting device is a sliding protrusion fitted in a guide groove surrounded by the first protrusion and the second protrusion. The first quick release part and the second quick release part are dovetail grooves fitted together;
Alternatively, the position regulating device according to claim 21 , wherein the first quick release portion and the second quick release portion are T-shaped grooves to be fitted to each other. A receiving groove is formed in a side wall of the base. The quick release assembly further includes a clamp member. The clamp member includes a clamp body, a clamp rod, and a nut. The clamp body includes the storage groove. One end of the clamp rod is housed on one side of the clamp body, the nut is fitted on the clamp rod, and the clamp rod is rotated by operating the nut, and thus the clamp When the clamp body is in the locked state and the clamp body is in the locked state, one end of the clamp body abuts on the sliding protrusion, and when the clamp body is in the detached state, one end of the clamp body is The position restricting device according to claim 21 , wherein the position restricting device is separated from the sliding protrusion. The position according to claim 24 , wherein a lug is provided outside the nut, and the nut can be easily operated by moving and rotating the nut by operating the lug. Regulatory device. An unmanned aerial vehicle comprising: the position restriction device according to any one of claims 20 to 25 ; and a pan head that is pivotally connected to the position restriction device.