JP7432238B2 - Object suspension stabilization device - Google Patents

Description

The present invention relates to an object suspension and stabilization device that suppresses the swinging of a suspended object that is held suspended from a swinging base.

The technology related to conventional object suspension and stabilization devices is a variable camera support mechanism that is attached to the bottom of an aircraft and can independently change the direction of the camera in two different planes. a capsule, an inverted U-shaped capsule support member that rotatably supports the capsule in one of the two different surface directions, and a capsule support member that is fixed to the capsule support member and rotates the capsule in accordance with a drive signal. a first motor that moves; a bracket that rotatably supports the capsule support member in the other of the two different plane directions; and a bracket that is fixed to the body of the helicopter; and a bracket that rotates in response to a drive signal; A variable camera support mechanism (see Patent Document 1) has been proposed, which is characterized by comprising a second motor that rotates the capsule support member. According to such a variable camera support mechanism that can freely control the shooting direction of the camera vertically and horizontally, it is possible to control the attitude of the camera, which is a suspended object, by signals from the gyro sensor. As the device becomes more complex and a time lag occurs due to the operation of the drive mechanism, attitude control with extremely high followability becomes difficult.

In addition, other technologies related to conventional object suspension and stabilization devices include a shaft supported via a gimbal so as to be tiltable in any direction, and a GPS device having a GPS antenna provided at the upper end of the shaft. , a photographic device main body provided at the lower end of the shaft, the optical axis of the photographic device main body is always directed vertically downward, and the photographic device main body has an imaging section provided in a known relationship with the GPS antenna; The control device is configured to control the imaging unit so that the imaging unit acquires a still image, and to acquire the imaging position at the time of imaging using a GPS device. A photogrammetry camera or an aerial photography device (see Patent Document 2) has been proposed that can accurately specify the photographing position of the photogrammetry camera no matter how the posture of the body changes.

JP-A-61-91641 (Claim (1)) JP 2014-44067 (Page 1)

The problem to be solved with regard to object suspension and stabilization devices is that with conventional gimbals, it is necessary to lengthen the shaft supported by the gimbal and on which the suspended object is attached to the lower end. As it becomes longer, the amplitude of swing at the end increases in proportion to the length, which makes it difficult to effectively lower the center of gravity of the suspended object further downwards, which reduces the suspended object's own weight. The problem lies in the fact that it is not possible to effectively utilize the inertia caused by the oscillator to more appropriately suppress the rocking motion.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an object suspension and stabilization device that can effectively lower the center of gravity of a suspended object to the lower side and more appropriately suppress the swinging of the suspended object. It's about doing.

The present invention includes the following configuration to achieve the above object.
According to one embodiment of the object suspension and stabilization device according to the present invention, it is an object suspension and stabilization device that suppresses the swinging of a suspended object held in a suspended state from a swinging base, A suspension attachment shaft, which is provided in the shape of a shaft and is disposed vertically and is attached to the base body, is engaged with the suspension attachment shaft, and the suspension attachment shaft is oscillated without rotating around its axis. A hanging center gimbal is provided with a gimbal mechanism constituted by two orthogonal axes so as to be able to move freely, and the hanging center gimbal is held in a central part, and a vertical axis extends in the vertical direction of the center of the central part. an upper link connecting base provided with link connecting parts at three or more equal circumferential positions of a circle drawn on a plane perpendicular to a lower link connecting base that is fixed and has the same number of link connecting parts corresponding to the link connecting parts of the upper link connecting base; and link connections that correspond above and below the upper link connecting base and the lower link connecting base. a link member connected between the parts, and a joint that connects the link member and the link connecting part, the joint being orthogonal so that the link member can swing freely without rotating around an axis. and a link connection gimbal including a gimbal mechanism configured by two axes.

Moreover, according to one form of the object suspension and stabilization device according to the present invention, the number of the link members is three.

Further, according to one embodiment of the object suspension and stabilization device according to the present invention, the suspended object is suspended downward from the upper link connecting base on which the suspension center gimbal is held. The device may be characterized by being provided with a windbreak cover that covers the surrounding area.

Further, according to one embodiment of the object suspension stabilizing device according to the present invention, the windbreak cover may be provided with a sway suppressing mechanism that suppresses the sway of the suspended object. .

Moreover, according to one form of the object suspension and stabilization device according to the present invention, the suspended object may be a camera or a sensor device.

According to the object suspension and stabilization device according to the present invention, the center of gravity of the suspended object can be effectively lowered to the lower side, and the swinging of the suspended object can be suppressed more appropriately. It has a particularly advantageous effect.

1 is a perspective view showing a form example of an object suspension and stabilization device according to the present invention. FIG. 2 is an enlarged perspective view of a portion A of the embodiment of FIG. 1; FIG. 2 is an enlarged perspective view of a portion B of the embodiment of FIG. 1; FIG. 2 is a central vertical cross-sectional view of the embodiment of FIG. 1; 5 is a cross-sectional view taken along the line CC shown in FIG. 4 of the embodiment of FIG. 1. FIG. They are (a) a top view and (b) a side view of the embodiment of FIG. 1 with a windbreak cover removed. They are (a) a perspective view, (b) a top view, and (c) a side view of a suspension center gimbal used in the embodiment of FIG. 1. They are (a) a perspective view, (b) a front view, and (c) a side view of a gimbal for link connection used in the example of Drawing 1. FIG. 1 is a front view showing an example of a drone equipped with an object suspension and stabilization device according to the present invention.

Hereinafter, embodiments of the object suspension and stabilization device according to the present invention will be described in detail based on the accompanying drawings (FIGS. 1 to 9). This object suspension and stabilization device suppresses the swinging of a suspended object 90 that is held suspended from a swinging base. For example, as shown in FIG. 100).

The object suspension and stabilization device according to the present invention is the part surrounded by the two-dot chain line in FIG. , is used to suppress the vibration. The suspended object 90 according to the present invention is an object that is required to eliminate the influence of rocking, and is, for example, a camera or various sensor devices. In addition, according to the laser plumber of this embodiment, when a certain horizontal standard is met, the vertical direction can be automatically adjusted and the laser beam can be irradiated vertically, making it possible to point to a desired point. can. For example, the drone 100 hovering above a point set by a GPS system can point to the set point by emitting a laser beam vertically downward.

Reference numeral 10 denotes a suspension mounting shaft, which is provided in the shape of a shaft so as to be vertically erected and mounted on the base body (in this embodiment, the drone 100 (see FIG. 9)). The suspension mounting shaft 10 of this embodiment is provided in the shape of a bolt, and the part that corresponds to the head of the bolt is arranged as the lower end when mounted, and is engaged with the suspension center gimbal 20 described later. The engaging portion 11 is configured to

The suspension center gimbal 20 is constituted by two orthogonal axes so that the suspension mounting shaft 10 is engaged with the suspension mounting shaft 10 and can swing freely without rotating around the axis of the suspension mounting shaft 10. It has a gimbal mechanism.

As shown in FIG. 7, the suspension center gimbal 20 of this embodiment includes an outer frame 21 fixed to a central portion 31 of an upper link connecting base 30, which will be described later, and a first shaft 22 provided on the outer frame 21. Therefore, it includes a first rotating frame 23 that can be rotated freely, and a second rotating frame 25 that can be rotated freely by a second shaft 24 provided on the first rotating frame 23. There is. Then, the hanging attachment shaft 10 is inserted into the central opening of the second rotating frame 25 and held, thereby fixing both of them. It is designed to work in unison with the.

According to this, the suspension mounting shaft 10 can swing freely in the front-back and left-right directions by the gimbal mechanism constituted by two orthogonal axes, and is regulated by the first shaft 22 and the second shaft 24. Therefore, the suspension attachment shaft 10 is configured to be able to perform rocking motion without rotating (rotating) around the axis. In other words, the suspension center gimbal 20 operates to cancel out the longitudinal and horizontal inclinations of a swinging base such as the drone 100 and keep the suspended object 90 horizontal. Can be done.

The upper link connecting base 30 is in a state in which the suspension center gimbal 20 is held in the central part 31 and fixed together, and is drawn on a plane perpendicular to the vertical axis extending in the vertical direction of the center of the central part 31. The link connecting portions 35 are provided at three or more equally spaced positions on the circumference of the circle. In this embodiment, arm portions 32 are provided at three equal positions on the circumference, extending radially outward from the center portion 31, and a link connecting portion is provided at the tip of each arm portion 32. 35 are provided.

In this embodiment, three arm portions 32 are formed (link connecting portions 35 are provided at three locations), but the present invention is not limited to this. Instead, four or more may be formed so that the suspended object 90 can be suspended three-dimensionally in a well-balanced manner. Further, in the upper link connecting base 30 of this embodiment, the arm portion 32 is provided to reduce the weight, but the present invention is not limited to this, and reinforcement forms may be selected as appropriate to increase the rigidity. Of course, you may also set the following.

Reference numeral 40 denotes a lower link connecting base, which is disposed below the upper link connecting base 30, to which the suspended object 90 is fixed and integrally held, and corresponds to the link connecting part 35 of the upper link connecting base 30. The same number of link connecting portions 45 are provided. Note that the suspended object 90 is fixed to the lower link connecting base 40 so that the center of the lower link connecting base 40 vertically matches the center of gravity of the suspended object 90 in the suspended state. It would be good if it was done.

Like the upper link connecting base 30, the lower link connecting base 40 of this embodiment is linked at three or more equal circumferential positions of a circle drawn on a plane perpendicular to the vertical axis extending in the vertical direction of the center. A connecting portion 45 is provided. In this embodiment, arm portions 42 are provided at three equal positions on the circumference, extending radially outward from the center, and a link connecting portion 45 is provided at the tip of each arm portion 42. It is provided.

Further, although three arm portions 42 are formed in this embodiment, the present invention is not limited to this, like the arm portion 32 of the upper link connecting base 30, and is Four or more may be formed to suspend the suspended object 90 three-dimensionally in a well-balanced manner. Further, in the lower link connecting base 40 of this embodiment, the arm portion 42 is provided to reduce the weight, but the present invention is not limited to this, and the structure is selectively reinforced as appropriate, such as to increase rigidity. Of course, the format etc. may also be set.

Reference numeral 50 denotes a link member, which is connected between corresponding link connecting parts 35 and 45 above and below the upper link connecting base 30 and the lower link connecting base 40. In this embodiment, there are three link members 50, which are provided in the shape of a bar with the same length. Therefore, the intervals between the corresponding upper and lower link connecting parts 35 and 45 are the same, and the lower link connecting base 40 is suspended from the upper link connecting base 30 via the link member 50. 30 and the lower link connecting base 40 are arranged in parallel, so that the four-section parallel links are formed on three sides. According to this, like the three-point support, the structure is minimal, and the suspended object 90 can be suspended in a well-balanced manner. Further, although the link member 50 of this embodiment has a rod-like or shaft-like form, it is not limited to this, and reinforcement forms may be selectively set as appropriate to increase rigidity. Of course it's good.

Reference numeral 60 denotes a link connecting gimbal, which is a joint that connects the link member 50 and the link connecting parts 35 and 45, and is orthogonally connected so that the link member 50 can swing freely without rotating around the axis. It is equipped with a gimbal mechanism consisting of two axes. Note that the axis of the link member 50 overlaps with a line connecting the centers of the upper and lower corresponding link connecting portions 35 and 45, and in the case of a long bar-shaped link member 50 as in this embodiment, , refers to the axis extending in the longitudinal direction.

As shown in FIG. 8, the link connecting gimbal 60 of this embodiment is fitted onto the first shaft 62 and the second shaft 64 so as to be attached to the upper link connecting base 30 and the lower link connecting base 40, respectively. The first rotating piece 63 includes a fitting portion, and the second rotating piece 65 includes a portion fitting into the second shaft 64. In this embodiment, a total of six link connection gimbals 60 are installed, three each on the upper and lower sides.

According to this, the link member 50 can swing freely in the front-back and left-right directions by the gimbal mechanism of the link connection gimbal 60 constituted by two orthogonal axes, and the 64, the link member 50 is configured to be able to swing without rotating (rotating) about its axis. That is, according to this link connection gimbal 60, similar to the operation of the suspension center gimbal 20 described above, the tilt of the swinging base body such as the drone 100 is canceled out, and the tilt is canceled out. It can operate to keep the hanging object 90 horizontal.

According to the object suspension and stabilization device according to the present invention, the center of gravity of the suspended object 90 can be effectively lowered to the lower side, and the swinging of the suspended object 90 can be suppressed more appropriately. It has the particularly advantageous effect of being able to That is, according to this object suspension and stabilization device, since both the suspension center gimbal 20 and the link connection gimbal 60 are constituted by two-axis gimbals, rotational movement (rotation) about the axis is By being blocked, it is possible to prevent swinging due to the twisting action. Therefore, although the suspended object 90 swings parallel to the horizontal plane perpendicular to the vertical line, swinging in other directions different from this is suppressed as much as possible, and the suspended object 90 swings parallel to the horizontal plane perpendicular to the vertical line. Oscillation can be suppressed more precisely. In addition, since the center of gravity of the suspended object 90 can be positioned lower by the link member 50, even if the suspended object 90 swings, a force is easily applied in the direction of suppressing the swing due to the action of the moment. This means that the motion can be quickly attenuated, the swing can be suppressed more effectively, and the stabilization of the suspended object 90 can be promoted.

Further, in this embodiment, a windbreak cover 70 is provided to cover the surrounding area including the suspended object 90 suspended downward from the upper link connection base 30 to which the suspension center gimbal 20 is fixed. . The windbreak cover 70 of this embodiment is held by the suspension attachment shaft 10 via the windbreak cover attachment member 71, and both the windbreak cover 70 and the suspension attachment shaft 10 are integrated. It is placed in a working condition.

According to this windbreak cover 70, when the object suspension and stabilization device according to the present invention is attached to, for example, the drone 100, the main cause of shaking, including the wind received when the drone 100 moves, is eliminated. It acts as a windbreak that removes the wind pressure (air pressure) that occurs, and can suppress rocking.

Note that the mounting position of the windbreak cover 70 is not limited to this embodiment. For example, when mounted on the drone 100, it can be mounted on the main body side of the drone 100. That is, the side on which the suspended object 90 of the object suspension and stabilization device according to the present invention is suspended, and the lower part from the upper link connecting base 30 to which the suspension center gimbal 20 is fixed, are separate from each other. It is mounted on a member above the suspension mounting shaft 10 so as to operate as shown in FIG.

Furthermore, in this embodiment, the windbreak cover 70 is provided with a shaking suppressing mechanism 75 that suppresses shaking of the suspended object 90. As shown in FIG. 1, the shaking suppressing mechanism 75 of this embodiment includes a shaking suppressing plate 76 and a shaking suppressing plate drive solenoid 77, which are arranged at three equal positions on the circumference, and are driven by remote control. It is set up so that you can.

According to this, when moving or when the shaking is large, the shaking suppressing plate drive solenoid 77 can be activated, and the suspended object 90 can be held by the shaking suppressing plate 76 to suppress the shaking. For example, when used attached to the drone 100, when a stable hovering state is achieved, the vibration suppression plate drive solenoid 77 is activated to release the suspended object 90 from being held by the vibration suppression plate 76. By using the inertia of the suspended object 90 due to its own weight, the suspended object 90 can be stabilized to a stationary state. Note that the operation of the vibration suppressing plate 76 is not limited to a solenoid as in this embodiment, and it is of course possible to selectively employ other known drive mechanisms as appropriate.

Although the present invention has been variously explained above using preferred embodiments, the present invention is not limited to these embodiments, and it goes without saying that many modifications can be made without departing from the spirit of the invention. It is about.

10 Hanging installation shaft 11 Engagement part 20 Hanging center gimbal 21 Outer frame 22 First shaft 23 First rotation frame 24 Second shaft 25 Second rotation frame 30 Upper link connection base 31 Central part 32 Arm part 35 Link connection portion 40 Lower link connection base 42 Arm portion 45 Link connection portion 50 Link member 60 Link connection gimbal 62 First shaft 63 First rotation piece 64 Second axis 65 Second rotation piece 70 Wind shield Cover 71 Windbreak cover mounting member 75 Shake suppression mechanism 76 Shake suppression plate 77 Shake suppression plate drive solenoid 90 Suspended object 100 Drone

Claims (5)

An object suspension stabilization device that suppresses the swinging of a suspended object held in a suspended state from a swinging base,
a suspension mounting shaft provided in a shaft shape so as to be placed vertically and mounted on the base;
a suspension center gimbal including a gimbal mechanism constituted by two orthogonal axes so that the suspension mounting shaft is engaged and can swing freely without rotating around the axis;
an upper link in which the suspension center gimbal is held in a central portion, and link connecting portions are provided at three or more equal circumference positions of a circle drawn on a plane perpendicular to a vertical axis extending in the vertical direction from the center of the central portion; a connecting base;
a lower link connecting base disposed below the upper link connecting base, to which the suspended object is fixed, and comprising the same number of link connecting parts corresponding to the link connecting parts of the upper link connecting base;
a link member connected between corresponding link connecting parts above and below the upper link connecting base and the lower link connecting base;
A joint that connects the link member and the link connecting portion, and includes a gimbal mechanism configured by two orthogonal axes so that the link member can swing freely without rotating around an axis. An object suspension and stabilization device characterized by comprising a gimbal for link connection. 2. The object suspension and stabilization device according to claim 1, wherein the number of link members is three. Claim 1 characterized in that a windbreak cover is provided to cover the surroundings of the suspended object including the suspended object suspended downward from the upper link connection base on which the suspension center gimbal is held. Or the object suspension stabilization device according to 2. 4. The object suspension and stabilization device according to claim 3, wherein the windbreak cover is provided with a sway suppressing mechanism for suppressing sway of the suspended object. 5. The object suspension and stabilization device according to claim 1, wherein the suspended object is a camera or a sensor device.