WO2018082057A1

WO2018082057A1 - Pan-tilt and unmanned aerial vehicle

Info

Publication number: WO2018082057A1
Application number: PCT/CN2016/104764
Authority: WO
Inventors: 张正力; 彭淮; 吉志鹏
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2016-11-04
Filing date: 2016-11-04
Publication date: 2018-05-11
Also published as: CN107735320B; CN107735320A

Abstract

Disclosed is a pan-tilt, comprising a first support arm (101), a first motor (103), a second support arm (102), a second motor (105) and a third support arm (104), wherein a first end portion of the first motor (103) is fixedly connected to the second support arm (102), the second support arm (102) is fixedly connected to the first support arm (101), a second end portion of the first motor (103) is fixedly connected to the third support arm (104), and a first end portion of the second motor (105) is fixedly connected to the third support arm (104). The pan-tilt connects a pitch motor and a roll motor together by means of a pitch motor fixed shaft, a rotating shaft and a camera connecting arm to form a new type of pan-tilt, having the advantages of compact structure and simple implementation. Further disclosed is an unmanned aerial vehicle with the pan-tilt, wherein the vehicle body can apply a hollow structure design, thereby reducing the size of the unmanned aerial vehicle to facilitate unmanned aerial vehicle filming.

Description

PTZ and drone

Technical field

The invention relates to the technical field of drone design, in particular to a cloud platform and a drone.

Background technique

At present, the PTZ is widely used in the field of UAV photography. The common UAV aerial photography system adopts the under-mounted PTZ. The PTZ is located below the UAV. The PTZ adjusts the shooting angle of the UAV to achieve the best. Shooting effect.

However, when the hanging pan/tilt and the drone are used together, the combination mode is relatively simple, and can only be hung under the drone. On the one hand, the center of gravity of the drone is turned down, and on the other hand, the setting of the camera device is limited. For example, the shooting angle, the number of camera devices, etc., especially when shooting AR (Augmented Reality)/VR (Virtual Reality) video, the shooting angle is very high, and the existing drone has already Can not meet the needs of the current shooting.

Summary of the invention

In order to solve the problems in the prior art, the embodiments of the present invention provide a cloud platform and a drone, which can solve the problem that the structure of the cloud platform is unreasonable in the prior art.

The embodiment of the present invention provides a pan/tilt head, including a first support arm 101, a first motor 103, a second support arm 102, a second motor 105, and a third support arm 104;

The first end of the first motor 103 is fixedly connected to the second support arm 102, and the second support arm 102 is fixedly connected to the first support arm 101. The second end and the third support arm of the first motor 103 104 fixed connection;

The first end of the second motor 105 is fixedly coupled to the third support arm 104.

The embodiment of the invention also provides a drone, including a cloud platform 1 and a body 3;

A cavity 303 is formed inside the body 3, and the platform 1 is located in the machine cavity 303 and connected to the body 3.

Preferably, the pan/tilt head in the above-mentioned UAV can adopt the gimbal structure proposed by the embodiment of the present invention.

Compared with the prior art, the beneficial effects of the present invention are:

The pan/tilt provided by the embodiment of the present invention, through the first support arm 101, the second support arm 102 and the third support arm 104, the first motor 103 and the second motor 105 are skillfully connected together to form a novel cloud. The platform is compact and easy to implement.

The unmanned aerial vehicle provided by the embodiment of the invention creatively places the gimbal in the body of the drone, and the airframe of the aircraft adopts the inner space design of the structure, thereby minimizing the volume of the drone and realizing the unmanned The combination of the machine and the pan/tilt greatly facilitates the shooting of the drone.

DRAWINGS

1 is a cloud platform according to Embodiment 1 of the present invention;

2 is a PTZ disassembly diagram according to Embodiment 1 of the present invention;

3 is a combination diagram of a pan/tilt head according to Embodiment 2 of the present invention;

4 is a cross-sectional view of a gimbal provided by Embodiment 2 of the present invention;

Figure 5 is a disassembled diagram of a drone according to a third embodiment of the present invention;

FIG. 6 is a schematic diagram of an unmanned aerial vehicle according to Embodiment 3 of the present invention.

Reference mark:

11	云台Yuntai	204204	减震球 Shock absorber ball
101101	第一支撑臂 First support arm	205205	固定轴 Fixed axis
102102	第二支撑臂 Second support arm	206206	固定轴 Fixed axis
103103	第一电机 First motor	33	无人机 Drone
104104	第三支撑臂 Third support arm	301301	上盖 Upper cover
105105	第二电机 Second motor	302302	下盖lower lid

106106	第一固定板 First fixing plate	303303	机腔 Machine cavity
107107	第二固定板 Second fixing plate	44	安装架 Mount
22	减震装置 Damping device	401401	固定架 Fixing frame
201201	减震板 Damping plate	402402	固定架 Fixing frame
202202	减震板 Damping plate	40114011	摄像装置 Camera
203203	减震板 Damping plate	40124012	安装孔Mounting holes

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Further, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

By way of example and not limitation, the "fixed connection" described in the following embodiments may be fixed by welding or screwing or the like.

By way of example and not limitation, "active connection" as used in the following embodiments means that the two components are relatively rotatable.

In an embodiment of the invention, the motor includes a stator and a rotor, and the rotor is one end of the motor with a rotating shaft, and the stator is a stationary end of the motor. Driven by electrical energy, the rotor of the motor will rotate. In a general scenario, the stator of the motor is stationary, and the object that is fixedly coupled to the rotor of the motor rotates as the rotor rotates. In some special cases, the rotor of the motor can also be fixed. At this time, when the motor starts to work, the stator will rotate because the rotor is fixed.

In the embodiment of the present invention, the term "A and/or B" includes one of the following three cases: A, B, A, and B.

Example 1:

Embodiment 1 of the present invention provides a cloud platform. As shown in FIG. 1-2, the cloud platform includes a first support arm 101, a first motor 103, a second support arm 102, a second motor 105, and a third support. The first end of the first motor 103 is fixedly connected to the second support arm 102, the second support arm 102 is fixedly connected to the first support arm 101, and the second end of the first motor 103 is The three support arms 104 are fixedly connected; the first end of the second motor 105 is fixedly connected to the third support arm 104.

The first motor 103 and the second motor 105 are usually common brushless motors, and can also be other types of motors. The two motors are skillfully connected by three support arms, and the structure is simple and compact, and the pan/tilt is realized. Pitch and roll and other operations.

Optionally, the third support arm 104 has various shapes such as a ring shape, a circular arc shape, a square shape, or an L shape, and can be changed according to the use environment. Generally, when the third support arm 104 is square or L-shaped, the second end of the first motor 103 and the first end of the second motor 105 are respectively fixed to adjacent sides of the third support arm 104, usually The axial direction of the first motor 103 is perpendicular to the axial direction of the second motor 105.

When the third support arm 104 is annular or circular, the second end of the first motor 103 and the first end of the second motor 105 are respectively fixed on the third support arm 104, and the axis of the first motor 103 The direction is perpendicular to the axial direction of the second motor 105.

It should be noted that the third support arm 104 may have other shapes. Regardless of the shape of the third support arm 104, generally, the axial direction of the first motor 103 is perpendicular to the axial direction of the second motor 105.

The first end of the first motor 103 is generally the rotor of the first motor 103, and the second end of the first motor 103 is the stator of the first motor 103.

In an embodiment of the invention, the motor may be a brushless motor including a stator and a rotor, wherein the rotor is one end of the motor with a rotating shaft, and the stator is a stationary end of the motor. Driven by electrical energy, the rotor of the motor will rotate. In a general scenario, the stator of the motor is stationary, and the object that is fixedly coupled to the rotor of the motor rotates as the rotor rotates. In some special cases, the rotor of the motor can also be fixed. At this time, when the motor starts to work, the stator will rotate because the rotor is fixed. Therefore, the first end of the first motor 103 may also be the stator of the first motor 103, and the second end of the first motor 103 may be the rotor of the first motor 103.

Typically, the first end of the second motor 105 is the rotor of the second motor 105, and the rotor of the second motor 105 is fixedly coupled to the third support arm 104. The second end of the second motor 105 is the stator of the second motor 105, and the stator of the second motor 105 is fixedly coupled to other devices such as a drone or a damper.

Of course, the first end of the second motor 105 may also be the stator of the second motor 105, and the second end of the second motor 105 is the rotor of the second motor 105. At this time, the stator of the second motor 105 is fixedly coupled to the third support arm 104, and the rotor of the second motor 105 is fixedly coupled to other devices such as a drone or a damper. Since the rotor of the second motor 105 is connected to the drone or the damper and cannot be rotated, the stator of the second motor 105 drives the support arm 104 to rotate.

Optionally, the first support arm 101 is a linear axial arm, and the first support arm 101 passes through a plane where the third support arm 104 is located, and a gap is left between the first support arm 101 and the third support arm 104.

Usually the first support arm 101 and the second support arm 102 are on both sides of the first motor 103. In this way, the first support arm 101 is located at the middle of the planes of the two motor shafts, so that the space can be better utilized, and at the same time, the center of gravity of the pan/tilt is located at the center of the pan/tilt head, and on the one hand, the structure of the pan/tilt is compact, and On the one hand, it ensures the stability of the gimbal.

In one embodiment, the second support arm 102 has a U shape, and the U-shaped bottom of the second support arm 102 is fixedly connected to the first end of the first motor 103, and the second Both ends of the support arm 102 are fixedly connected to the first support arm 101, respectively. The second support arm 101 is designed in a U shape, and the first motor 103 can be wrapped to better achieve the effect of fixing the first motor 103.

In another embodiment, the second support arm 102 is L-shaped, one end of the second support arm 102 is fixedly connected to the first end of the first motor, and the other end of the second support arm 102 is A support arm 101 is fixedly coupled. The second support arm 102 is designed in an L shape, which can reduce the weight of the gimbal and also achieve a better fixing effect.

In the first embodiment of the present invention, the two motors are skillfully connected by three support arms, and the structure is simple and compact, and the pan and tilting operations of the pan/tilt are realized.

Example 2:

Embodiment 2 of the present invention provides a pan/tilt head. As shown in FIG. 3, the pan/tilt head further includes a damper device 2, a second end portion of the second motor 105, and a damper device. 2 fixed connection.

The second motor 105 can be connected to the damper device 2 in multiple ways. One is that the second end of the second motor 105 is directly connected to the damper device 2, which is simple and can effectively reduce the weight of the gimbal. . Another way is to connect through the first fixing plate 106, as shown in FIG. The second end of the second motor 105 is fixedly connected to the first fixing plate 106, and the first fixing plate 106 is fixedly connected to the damper device 2. The first fixing plate 106 can be fixedly connected to the damper device 2 and the second motor 105 by screws or welding.

Preferably, one end of the third support arm 104 opposite to the second motor 105 is movably connected to the damper device 2. As an example and not by way of limitation, a second fixing plate 107 may be provided on the opposite side of the second motor 106. The second fixing plate 107 is movably linked with the third support arm 104 and is fixedly coupled to the damper device 2. By setting two fixing plates, the gimbal is better fixed on the damper device 2, so that the gimbal is more firm.

Optionally, in one embodiment, the second fixing plate 107 is provided with a rotating hole, and the third supporting arm 104 is provided with a rotating shaft, and the rotating shaft is rotatably inserted into the rotating hole. In another embodiment, the second fixing plate 107 is provided with a rotating shaft, and the third supporting arm 104 is provided with a rotating hole, and the rotating shaft is rotatably inserted into the rotating hole.

The shape of the damper device 2 is square or circular. The damper device 2 includes at least two damper plates 201 and at least three damper balls 204. As shown in FIG. 4, the damper device 2 includes

shock absorbing plates

201, 202, 203, a shock absorbing ball 204, and the like. The shock absorbing ball may be a spherical shock absorbing device made of silicone. The damping plates are connected together by a damping ball.

4 is a cross-sectional view of a pan/tilt head according to an embodiment of the present invention, including a first support arm 101, a second support arm 102, a first motor 103, and a third support arm 104. As can be seen from the figure, the first support arm 101 passes through the plane in which the third support arm 104 is located, and the second support arm 102 has a certain distance from the damper device 2. That is to say, there is a gap between the second support arm 102 and the damper device 2, and there is no connection.

By providing a damper device, the stability of the gimbal is further increased, and the frequent adjustment of the gimbal due to the vibration can be reduced, thereby ensuring the shooting effect.

Example 3:

Embodiment 3 of the present invention proposes a drone, as shown in FIG. 5-6. The drone uses the pan/tilt 1 described in the first embodiment and the second embodiment. In addition to the pan/tilt 1, the drone also includes a body 3. A cavity 303 is formed inside the body 3, and the platform 1 is located in the machine cavity 303 and connected to the body 3.

The second end of the second motor 105 in the pan/tilt 1 is fixedly coupled to the body 3. In one of the embodiments, the second end of the second motor 105 is directly fixedly coupled to the body 3. In another embodiment, the second end of the second motor 105 is fixedly coupled to the damper device 2, and the damper device 2 is fixedly coupled to the body 3.

As described in the first embodiment, the second end of the second motor 105 may be the stator of the second motor or the rotor of the second motor 105, and details are not described herein.

As shown in FIG. 5, the body 3 includes an upper cover 301 and a lower cover 302, and the damper device 2 is fixed to the upper cover 301 or the lower cover 302. Of course, in order to be firm, it can also be fixed to the upper cover 301 and the lower cover 302 at the same time. In the embodiment of the present invention, on the upper side and the lower side of the damper device 2, fixed shafts 205-206 are respectively provided, and the damper device 2 is fixed inside the body 3 through the fixed shafts 205-206.

It should be noted that the damper device 2 can also adopt other types of damper devices, such as adding a vibration isolation plate, changing the damper device into a circular shape, etc., and the same applies in this embodiment, and is no longer here. Narration.

Of course, the pan/tilt 1 can also be directly connected to the body 3, for example, the stator of the second motor 105 can be fixedly connected to the body 3, or can be fixedly connected to the body 3 by the first fixing plate 106 and the second fixing plate 107. Removing the damper 2 can further reduce the weight of the drone, and the same can be achieved when the drone is relatively stable.

Further, the drone further includes a mounting bracket 4 for mounting an image pickup device, and the mounting bracket 4 is fixedly coupled to the first support arm 101 of the pan/tilt head 1.

The mounting bracket 4 includes a mounting hole 4012 for placing an image pickup device. The imaging device 4011 is mounted in the mounting hole 4012.

Optionally, the mounting bracket 4 further includes a fixing bracket 401-402, and the mounting hole 4012 is mounted on the fixing bracket 401.

In one embodiment, the drone includes two mounting brackets 4 that are fixedly coupled to both ends of the first support arm 101, respectively. The two mounting brackets 4 are respectively located on upper and lower sides of the body 3 . In this manner, the two mounting brackets 4 are respectively disposed outside the body 3. The shape of the mounting bracket 4 may be spherical or hemispherical.

In another embodiment, the mounting bracket 4 can also adopt a cage structure, the drone Located inside the mounting bracket. I will not repeat them here.

The mounting bracket 4 includes a mounting hole 4012 for placing the imaging device 4011. The number of the mounting holes 4012 is N, where N is an integer greater than or equal to 1. The N mounting holes 4012 are dispersedly mounted on the mounting frame 4. .

The embodiment of the invention adds a mounting bracket to the drone, and uses a single supporting arm to connect the mounting bracket, and the implementation manner is relatively simple, and the installation of the multi-mounting frame can conveniently realize the shooting of the multi-camera device, and better meet the VR video. The need for shooting. At the same time, by adding a shock absorbing device to fix the gimbal inside the drone, the volume of the fuselage is fully utilized, the drone is more compact, and the flying center of gravity is more balanced.

The pan/tilt and the drone according to the embodiment 1-3 of the present invention, the first motor 103 and the second motor 105 are smartly connected by the first support arm 101, the second support arm 102 and the third support arm 104. Together, they form a new type of pan/tilt head, which is compact and simple to implement. At the same time, by inserting the pan/tilt into the machine cavity of the drone, and connecting the support arm and one or more mounting brackets, the shooting of the multi-camera device is realized, which better satisfies the needs of VR video shooting.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

a pan/tilt head, comprising: a first support arm (101), a first motor (103), a second support arm (102), a second motor (105), and a third support arm (104);

The first end of the first motor (103) is fixedly connected to the second support arm (102), and the second support arm (102) is fixedly connected to the first support arm (101), the first motor (103) The second end is fixedly connected to the third support arm (104);

The first end of the second motor (105) is fixedly coupled to the third support arm (104).
The platform according to claim 1, wherein the third support arm (104) is annular or circular or square or L-shaped.
The pan/tilt head according to claim 2, wherein when the third support arm (104) is square or L-shaped, the second end of the first motor (103) and the first end of the second motor (105) The ends are respectively fixed to adjacent sides of the third support arm (104).
The platform according to claim 2, wherein when the third support arm (104) is annular or circular, the second end of the first motor (103) and the second motor (105) One end portion is respectively fixed to the third support arm (104), and the axial direction of the first motor (103) is perpendicular to the axial direction of the second motor (105).
The pan/tilt head according to claim 1 or 2, characterized in that the axial direction of the first motor (103) is perpendicular to the axial direction of the second motor (105).
A platform according to any one of claims 1 to 5, wherein the first support arm (101) is a linear type of axle arm, and the first support arm (101) passes through the third support arm (104). In the plane, a gap is left between the first support arm (101) and the third support arm (104).
The platform according to any one of claims 1 to 6, wherein the second support arm (102) has a U shape, and the U-shaped bottom of the second support arm (102) is coupled to the first motor ( 103) the first end is fixedly connected, and the two ends of the second support arm (102) are respectively and first The support arm (101) is fixedly connected.
The platform according to any one of claims 1 to 6, wherein the second support arm (102) has an L shape, and one end of the second support arm (102) and the first motor (103) One end is fixedly connected, and the other end of the second support arm (102) is fixedly connected to the first support arm (101).
A pan/tilt head according to any one of claims 1-8, characterized in that the first end of the first motor (103) is the rotor of the first motor (103) and the second end of the first motor (103) The end is the stator of the first motor (103).
A pan/tilt head according to any one of claims 1-8, characterized in that the first end of the first motor (103) is the stator of the first motor (103) and the second end of the first motor (103) The end is the rotor of the first motor (103).
A pan/tilt head according to any of the claims 1-10, characterized in that the first end of the second electric machine (105) is the rotor of the second electric machine (105).
The platform according to any one of claims 1 to 11, further comprising a damping device (2), a second end of the second motor (105) and the damping device (2) ) Fixed connection.
The platform according to claim 12, further comprising a first fixing plate (106), the second end of the second motor being fixedly connected to the first fixing plate (106), the first fixing plate ( 106) Fixed connection with the damping device (2).
A platform according to claim 12 or 13, wherein one end of the third support arm (104) opposite the second motor (105) is movably coupled to the damper (2).
The pan/tilt head according to claim 14, further comprising a second fixing plate (107) disposed on a side opposite to the second motor (106), the second fixing The plate (107) is movably connected to the third support arm (104) and is coupled to the damping device (2) Fixed connection.
The pan/tilt head according to claim 15, wherein the second fixing plate (107) is provided with a rotating hole, and the third supporting arm (104) is provided with a rotating shaft, and the rotating shaft is rotatably inserted In the rotating hole; or,

The second fixing plate (107) is provided with a rotating shaft, and the third supporting arm (104) is provided with a rotating hole, and the rotating shaft is rotatably inserted into the rotating hole.
A pan/tilt head according to any one of claims 12-16, wherein the damper device (2) is square or circular in shape, and the damper device (2) comprises at least two damper plates (201) and at least 3 shock absorbing balls (204).
A drone, comprising the pan/tilt (1) according to any one of claims 1-17, and a body (3);

The inside of the body (3) forms a machine cavity (303), and the platform (1) is located in the machine cavity (303) and is connected to the body (3).
The drone according to claim 18, characterized in that the stator of the second motor (105) of the pan/tilt (1) is fixedly connected to the body (3).
The drone according to claim 19, characterized in that the stator of the second motor (105) is fixedly connected to the damper device (2), and the damper device (2) is fixedly connected to the body (3).
The drone according to claim 20, wherein said body (3) comprises an upper cover (301) and a lower cover (302), said damping device (2) and upper cover (301) and / Or the lower cover (302) is fixedly connected.
The drone according to any one of claims 18 to 21, further comprising a mounting bracket (4) for mounting the camera device, the mounting bracket (4) and the pan/tilt head (1) The first support arm (101) is fixedly connected.
A drone according to claim 22, wherein said mounting bracket (4) In the case of a cage structure, the drone is located within the mounting bracket (4).
The drone according to claim 22, characterized in that the number of the mounting brackets (4) is two, and the two mounting brackets (4) are respectively located on both sides of the body (3).
The drone according to any one of claims 22 to 24, characterized in that the mounting bracket (4) comprises a mounting hole (4012) for placing an image pickup device.
The drone according to claim 25, further comprising an image pickup device (4011) mounted in the mounting hole (4012).
The drone according to claim 25 or 26, wherein the number of the mounting holes (4012) is N, wherein N is an integer greater than or equal to 1, and the N mounting holes (4012) are dispersedly mounted. On the shelf (4).