WO2018023328A1 - Tête de logement et aéronef sans pilote - Google Patents

Tête de logement et aéronef sans pilote Download PDF

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Publication number
WO2018023328A1
WO2018023328A1 PCT/CN2016/092665 CN2016092665W WO2018023328A1 WO 2018023328 A1 WO2018023328 A1 WO 2018023328A1 CN 2016092665 W CN2016092665 W CN 2016092665W WO 2018023328 A1 WO2018023328 A1 WO 2018023328A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
pan
side plate
carrier
tilt
Prior art date
Application number
PCT/CN2016/092665
Other languages
English (en)
Chinese (zh)
Inventor
李进文
余春
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Priority to PCT/CN2016/092665 priority Critical patent/WO2018023328A1/fr
Priority to CN201680000633.XA priority patent/CN106464079B/zh
Publication of WO2018023328A1 publication Critical patent/WO2018023328A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction

Definitions

  • Embodiments of the present invention relate to the field of electrical machinery, and in particular, to a cloud platform and a drone.
  • the head of the drone is provided with a pitch axis motor, a roll axis motor and a translation axis motor respectively for driving the camera to rotate at different angles of the plane.
  • the three motors are arranged around the camera device to ensure the quality is guaranteed. Sufficient rigidity is met under light premise.
  • the existing single-arm pan/tilt head sets the pitch axis motor on one side of the image pickup device, and connects the first of the pitch axis motor and the roll axis motor.
  • the arm arm is long, and the camera device is a cantilever support structure, and the rigidity is poor; the pitch axis motors of the existing two-arms pan/tilt are respectively arranged on the two sides of the gimbal and connected to the roll axis motor through two axial arms, the two-arm cloud Compared with the one-arm pan/tilt, the cantilever support structure increases rigidity, but the two axial arms on both sides are larger in size, which increases the weight of the gimbal and the difficulty of processing. Therefore, how to design a gimbal structure to ensure quality and Satisfying sufficient rigidity as light as possible is a problem to be solved in the prior art.
  • the technical problem that is mainly solved by the embodiments of the present invention is that the existing single-armed gimbal and the double-armed gimbal have poor rigidity and a large weight.
  • a technical solution adopted by the embodiment of the present invention is to provide a pan/tilt head, comprising: a carrier; a first motor, one end of the first motor is disposed on the first side plate of the carrier The other end of the first motor is disposed on the second side plate of the carrier, and the first motor is used to drive the carrier to rotate.
  • the image bearing device is disposed on the carrier, and the first motor drives the camera to rotate when the carrier rotates.
  • the camera device is disposed on a connecting plate of the carrier, and the first side plate and the second side plate are connected by the connecting plate.
  • first side plate, the connecting plate and the second side plate enclose a U-shaped groove
  • the first motor is located within the U-shaped groove.
  • the pan/tilt further includes a second motor, and the second motor is connected to a side of the first motor through a first axle arm.
  • the first axle arm is a linear axle arm.
  • the second motor is located at the opening of the U-shaped slot.
  • the pan/tilt head further includes a motor control board, and the motor control board is connected to the first motor for controlling the first motor.
  • the cloud platform further includes an imaging control board, and the imaging control board is connected to the imaging device for controlling the imaging device.
  • the pan/tilt further comprises a third motor, and the third motor is connected to the second motor via a second axle arm.
  • the second axle arm comprises a vertical connecting shaft and a horizontal connecting shaft, one end of the horizontal connecting shaft is fixed to the vertical connecting shaft, and the other end is fixed to the third motor, the vertical connection The other end of the shaft is fixed to the second motor.
  • the first motor includes a motor shaft, one end of the motor shaft is fixed to the first side plate, the motor shaft is used to drive the first side plate to rotate; and the carrier further includes a bearing; The bearing is fixed to the second side plate, and the other end of the motor shaft is fixed to the bearing.
  • another technical solution adopted by the embodiment of the present invention is to provide a drone including a flying fuselage and a pan/tilt according to the present invention; the pan/tilt is fixed to the flying fuselage.
  • the beneficial effects of the embodiments of the present invention are: different from the prior art, the gimbal structure design of the present invention is reasonably compact, so that the camera device can rotate at different angles of the plane, has good rigidity, and is light in weight. To achieve sufficient rigidity under the premise that the quality of the gimbal is as light as possible.
  • FIG. 1 is a schematic structural view of a pan/tilt head according to the present invention.
  • FIG. 2 is a partial schematic view of a pan/tilt head according to the present invention.
  • Figure 3 is a bottom plan view of a gimbal of the present invention.
  • FIG. 4 is a schematic structural view of a detachable portion of a pan/tilt head according to the present invention.
  • an embodiment of the present invention provides a cloud platform including: a carrier 10; a first motor 20, one end 21 of the first motor 20 is disposed on the first side plate 101 of the carrier 10, and the first motor 20 The other end 22 is disposed on the second side plate 102 of the carrier 10, and the first motor 20 is used to drive the carrier 10 to rotate.
  • the first motor 20 is a pitch axis motor of a three-axis pan/tilt. The first motor 20 is used to control the rotation of the carrier 10 about the X-axis with reference to a Cartesian right-hand coordinate system.
  • One end 21 of the first motor 20 is fixed to the first side plate 101 of the carrier 10, and the other end 22 of the first motor 20 is fixed to the second side plate 102 of the carrier 10.
  • This design makes the fixing of the motor more secure.
  • the PTZ based on this design enables the camera to rotate at different plane angles. At the same time, it has better rigidity and lighter weight, and has sufficient rigidity under the premise that the pan/tilt quality is as light as possible.
  • the embodiments of the present invention do not limit the shapes of the first side plate 101 and the second side plate 102, and may be rectangular, square, circular, semi-circular, elliptical or semi-elliptical.
  • an image capturing device 30 is disposed on the carrier 10, and the first motor 20 drives the camera device 30 to rotate when the carrier 10 is rotated.
  • the camera device 30 Since the first motor 20 is located between the first side plate 101 and the second side plate 102 of the carrier 10, the camera device 30 is again located in the direction of the carrier 10 away from the first motor 101, and the first motor 20 is configured with this structure.
  • the center of gravity of the imaging device 30 is on the same straight line, and the straight line is always located in the plane of rotation of the imaging device 30.
  • the two sides of the first motor 20 of this structure do not generate side moments that cause them to be inclined to both sides, so that the first motor 20 controls the rotation of the camera unit 30 more accurately.
  • the imaging device 30 is disposed on the connecting plate 103 of the carrier 10, and the first side plate 101 and the second side plate 102 are connected by the connecting plate 103.
  • the carrier 10 includes: a connecting plate 103, a first side plate 101 and a second side plate 102, wherein The one side plate 101 and the second side plate 102 are respectively fixed at two ends of the connecting plate 103, and the first side plate 101 and the second side plate 102 extend in the same direction.
  • the carrier 10 adopts this structure, which not only ensures good rigidity of the carrier 10, but also reduces the quality of the gimbal due to the minimal structure.
  • the first side plate 101, the connecting plate 103 and the second side plate 102 enclose a U-shaped groove, and the first motor 20 is located in the U-shaped groove.
  • the design saves the space occupied by the first motor 20, and the structure is reasonable and compact.
  • the U-shaped groove also has the effect of protecting the first motor 20 and preventing dust from falling into the first motor 20;
  • the first side plate 101 and the second The side plates 102 are respectively located at the same direction of the edge of the connecting plate 103, and the shape of the side of the first side plate 101 and the second side plate 102 away from the connecting plate 103 is curved, which is advantageous for the design.
  • the material is saved to reduce the weight of the gimbal itself, and at the same time, it has an aesthetic effect to prevent the corners from causing damage to the user.
  • the pan/tilt further includes a second motor 40 that is coupled to the side portion 23 of the first motor 20 via the first axle arm 50.
  • the second motor 40 is specifically a roll axis motor in the three-axis pan/tilt.
  • the second motor 40 is used to control the rotation of the camera device 30 about the Z axis with reference to the Cartesian right hand coordinate system.
  • the second motor 40 is connected to the side portion 23 of the first motor 20 through the first shaft arm 50.
  • the first motor 20 is located at an intermediate position of the U-shaped groove, so that the first motor arm 20 and the first shaft arm 50 of the second motor 40 are connected. Shorter, and because the first shaft arm 50 connecting the first motor 20 and the second motor 40 is shorter, the torque between the second motor 40 and the first motor 20 is shorter, which reduces the second motor 40.
  • the lateral torque enables the second motor 40 to more easily adjust the direction of the camera unit 30.
  • the first axle arm 50 is a linear axle arm.
  • the principle of the straight line between the two points is the shortest, and the design of the linear arm is advantageous for reducing the first motor 20 and the second motor 40.
  • the distance between them makes the pan/tilt structure more compact.
  • the second motor 40 is located at the opening of the U-shaped groove. This design also shortens the distance between the first motor 20 and the second motor 40, making the pan/tilt structure more compact.
  • the pan/tilt further includes a motor control board 60 that is coupled to the first motor 20 for controlling the first motor 20.
  • the motor control board 60 may be fixed to the first side panel 101.
  • the pan/tilt further includes a first cover plate 80 and a first screw set 100.
  • the outer surface of the first side plate 101 is provided with a first groove and a first screw hole, and the first cover plate 80 is provided with a first through hole, and the motor is controlled.
  • the plate 60 is received in the first recess, and the motor control board 60 is located between the first side plate 101 and the first cover 80, and the first set of screws 100 passes through the first through hole and And the first cover plate 80 and the first side plate 101 are clamped and fixed to the motor control board 60, and the first groove is disposed inside the first side plate 101 to facilitate the placement of the motor control board 60.
  • the layout of the wires reduces the structure of the peripherals and reduces the volume of the pan/tilt.
  • the pan/tilt further includes an imaging control panel 70 that is coupled to the imaging device 30 for controlling the imaging device 30.
  • the camera control panel 70 may be fixed to the second side panel 102.
  • the pan/tilt further includes a second cover plate 90 and a second screw set 110.
  • the outer surface of the second side plate 102 is provided with a second recess and a second screw hole, and the second cover plate 90 is provided with a second through hole, and the camera control The board 70 is received in the second recess, and the camera control board 70 is located between the second side plate 102 and the second cover 90.
  • the second set of screws 110 passes through the second through hole and is screwed into the second screw hole.
  • the second cover plate 90 and the second side plate 102 clamp and fix the camera control panel 70.
  • the second groove disposed inside the second side plate 102 facilitates the placement and routing of the camera control panel 70. Reduce the structure of the peripherals and reduce the size of the pan/tilt.
  • the motor control board 60 is encapsulated in a first recess disposed inside the first side panel 101, and the second recess disposed in the second side panel 102 of the camera control panel 70 is only an embodiment. In a practical application, the motor control board 60 can also be packaged in a second recess disposed inside the second side panel 102.
  • the camera control panel 70 is encapsulated in a first recess disposed inside the first side panel 101.
  • the motor control board 60 and the camera control board 70 can also be integrated. The embodiment of the present invention does not limit the position where the motor control board 60 and the camera control board 70 are placed.
  • the pan/tilt further includes a third motor 120 that is coupled to the second motor 20 via the second axle arm 130.
  • the third motor 120 is specifically a translational axis motor in the three-axis pan/tilt.
  • the third motor 120 is used to control the rotation of the camera device 30 around the Y axis, and the third motor 120 passes.
  • the second axle arm 130 is coupled to the second motor 20.
  • the second axle arm 130 includes a vertical connecting shaft 1301 and a horizontal connecting shaft 1302. One end of the horizontal connecting shaft 1302 is fixed to the vertical connecting shaft 1301, and the other end of the horizontal connecting shaft 1302 is fixed to the third motor 120, and the shaft 1301 is vertically connected. The other end is fixed to the second motor 40.
  • the angle between the vertical connecting shaft 1301 and the horizontal connecting shaft 1302 is 90 degrees.
  • a circular hole is formed in the middle of the vertical connecting shaft 1301, and the circular hole can reduce the weight of the pan/tilt, and is also convenient for the user to hold.
  • the imaging device 30 includes an imaging lens 301 and a camera barrel 302, and the imaging device 30 is fixedly coupled to the connection plate 103.
  • the lens end of the camera lens 301 is coaxially set on the camera In the lens barrel 302, the connecting end of the image capturing lens 301 is fixedly connected to the connecting plate 103 of the carrier 10, and the camera barrel 302 protects the image capturing lens 301.
  • a telescopic focusing motion is performed inside the camera barrel 302 in a direction toward or away from the camera barrel 302 in accordance with shooting requirements.
  • the first motor 20 includes a motor shaft 201.
  • One end of the motor shaft 201 is fixed to the first side plate 101, and the motor shaft 201 is used to drive the rotation of the first side plate 101.
  • the carrier 10 further includes The bearing 104, the bearing 104 is fixed to the second side plate 102, and the other end of the motor shaft 201 is fixed to the bearing 104.
  • the motor rotor of the first motor 20 is fixed on the same motor shaft 201 through the bearing 104, so that the first motor 20 has good coaxiality, and the sides of the camera 30 are controlled to cause the sides thereof to be inclined to both sides.
  • the torque controls the rotation of the image pickup device 30 more easily.
  • the side of the carrier 10 on which the camera device 30 is mounted is provided with a socket 140
  • the socket 140 includes a first socket 141 and a second socket 142.
  • the first socket 141 and the first socket The two sockets 142 are respectively located at opposite sides of the connecting plate 103.
  • the connecting side of the corresponding camera device 30 and the carrier 10 is provided with a connecting portion (not shown) that cooperates with the socket 140, and the socket 140 is inserted.
  • the setting enables the camera device 30 to be detachably connected to the carrier 10, so that the user can disassemble and separate the camera device 30 from the pan/tilt.
  • the detachable movable device between the image pickup device 30 and the carrier 10 is not limited thereto.
  • the camera device 30 is detachably connected to the pan/tilt head based on the first motor 40, that is, the pitch axis motor is not directly connected to the camera device 30.
  • the pitch axis and the camera device 30 are fixedly connected.
  • the mode connection is because the detachable connection between the motor and the imaging device is adopted, and the long-term disassembly easily causes the connection between the imaging device 30 and the pan-tilt motor to be worn, and the use of the pan-tilt motor and the imaging device 30 cannot be closely matched, and looseness occurs.
  • the first motor 40 and the camera device 30 are connected by the carrier 10, so that the camera device 30 can be connected to the carrier 10 by a detachable method in the prior art, and is not limited to the above embodiment.
  • the embodiment provides a cloud platform.
  • the structure of the cloud platform of the present invention is reasonably compact, so that the camera device can rotate at different angles of the plane, has better rigidity, and is lighter in weight, and realizes the pan/tilt quality as much as possible. It is rigid enough under light conditions.
  • An embodiment of the present invention further provides a drone, including a flying fuselage and a pan/tilt according to Embodiment 1 of the present invention; the pan/tilt is fixed to the flying fuselage.
  • An embodiment of the present invention provides a drone, including a flying fuselage and a pan/tilt.
  • the pan/tilt is the pan/tilt head described in Embodiment 1, and the gimbal structure is designed to be reasonably compact, so that the camera device can be at different plane angles. At the same time of rotation, it has better rigidity and lighter weight, and it has sufficient rigidity under the premise that the mass of the gimbal is as light as possible.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

Les modes de réalisation de la présente invention concernent une tête de suspension et un aéronef sans pilote. La tête de logement comprend : un élément support ; et un premier moteur, dont l'extrémité avant est disposée sur une première plaque latérale de l'élément support, et dont l'extrémité arrière est disposée sur une seconde plaque latérale de l'élément support, et est conçue pour entraîner l'élément support en rotation. La tête de logement selon la présente invention a une structure raisonnable et compacte, une rigidité améliorée, et est légère, tout en permettant à un dispositif de prise d'images de tourner selon un certain angle dans des plans différents, ce qui a pour effet que la tête de logement a une rigidité suffisante tout en étant aussi légère que possible.
PCT/CN2016/092665 2016-08-01 2016-08-01 Tête de logement et aéronef sans pilote WO2018023328A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/092665 WO2018023328A1 (fr) 2016-08-01 2016-08-01 Tête de logement et aéronef sans pilote
CN201680000633.XA CN106464079B (zh) 2016-08-01 2016-08-01 一种云台及无人机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/092665 WO2018023328A1 (fr) 2016-08-01 2016-08-01 Tête de logement et aéronef sans pilote

Publications (1)

Publication Number Publication Date
WO2018023328A1 true WO2018023328A1 (fr) 2018-02-08

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PCT/CN2016/092665 WO2018023328A1 (fr) 2016-08-01 2016-08-01 Tête de logement et aéronef sans pilote

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CN (1) CN106464079B (fr)
WO (1) WO2018023328A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109828426A (zh) * 2019-03-14 2019-05-31 广州市红鹏直升机遥感科技有限公司 具备全景拍摄功能的航空倾斜摄影云台
CN110939841A (zh) * 2018-09-21 2020-03-31 游卫群 微型二轴/三轴单反云台稳定器

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107124534B (zh) * 2017-03-29 2020-11-27 歌尔股份有限公司 一种三轴云台、拍摄设备、拍摄系统及无人拍摄系统
CN108995820B (zh) * 2017-06-07 2020-09-11 深圳市道通智能航空技术有限公司 云台、具有该云台的拍摄装置及无人机
CN107176305A (zh) * 2017-06-16 2017-09-19 上海未来伙伴机器人有限公司 一种飞行器云台阻尼装置及飞行机器人
CN110908223B (zh) 2017-07-31 2022-03-18 深圳市大疆灵眸科技有限公司 云台拍摄器

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JP2003090490A (ja) * 2001-09-17 2003-03-28 Mitsubishi Heavy Ind Ltd パンチルト機構及びパンチルトシステム
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CN202392373U (zh) * 2011-09-09 2012-08-22 深圳市大疆创新科技有限公司 陀螺式动态自平衡云台
CN203799269U (zh) * 2014-04-11 2014-08-27 中科六合(厦门)电子科技有限公司 一种数字云台
CN105691628A (zh) * 2016-04-15 2016-06-22 吉林大学 一种机载云台

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US5058842A (en) * 1990-08-17 1991-10-22 Burle Technologies, Inc. Low torque tilting platform
CN201597525U (zh) * 2009-12-04 2010-10-06 常州硕欣电子科技有限公司 便携式车载云台摄像机
CN102096282B (zh) * 2009-12-09 2014-07-30 天津天地伟业数码科技有限公司 重载云台

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Publication number Priority date Publication date Assignee Title
JP2003090490A (ja) * 2001-09-17 2003-03-28 Mitsubishi Heavy Ind Ltd パンチルト機構及びパンチルトシステム
CN101915341A (zh) * 2010-07-20 2010-12-15 周惠兴 一种两自由度云台机构
CN202392373U (zh) * 2011-09-09 2012-08-22 深圳市大疆创新科技有限公司 陀螺式动态自平衡云台
CN203799269U (zh) * 2014-04-11 2014-08-27 中科六合(厦门)电子科技有限公司 一种数字云台
CN105691628A (zh) * 2016-04-15 2016-06-22 吉林大学 一种机载云台

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110939841A (zh) * 2018-09-21 2020-03-31 游卫群 微型二轴/三轴单反云台稳定器
CN109828426A (zh) * 2019-03-14 2019-05-31 广州市红鹏直升机遥感科技有限公司 具备全景拍摄功能的航空倾斜摄影云台

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Publication number Publication date
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CN106464079A (zh) 2017-02-22

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