WO2018082065A1 - Bloc panoramique et basculant et aéronef sans pilote - Google Patents

Bloc panoramique et basculant et aéronef sans pilote Download PDF

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Publication number
WO2018082065A1
WO2018082065A1 PCT/CN2016/104780 CN2016104780W WO2018082065A1 WO 2018082065 A1 WO2018082065 A1 WO 2018082065A1 CN 2016104780 W CN2016104780 W CN 2016104780W WO 2018082065 A1 WO2018082065 A1 WO 2018082065A1
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WO
WIPO (PCT)
Prior art keywords
connecting arm
motor
pan
shaft
heading
Prior art date
Application number
PCT/CN2016/104780
Other languages
English (en)
Chinese (zh)
Inventor
张正力
潘相熙
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 CN201680028784.6A priority Critical patent/CN108064210B/zh
Priority to PCT/CN2016/104780 priority patent/WO2018082065A1/fr
Publication of WO2018082065A1 publication Critical patent/WO2018082065A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the invention relates to the technical field of drone design, in particular to a cloud platform and a drone.
  • 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.
  • the hanging pan/tilt structure currently used is very complicated. When combined with the drone, it can only be hung under the drone, which limits the setting of the shooting lens, such as the shooting angle, the number of shooting lenses, etc., especially for When shooting AR (Augmented Reality)/VR (Virtual Reality) video, the shooting angle is very high, and the existing pan/tilt and drone can no longer meet the needs of current shooting.
  • AR Augmented Reality
  • VR Virtual Reality
  • 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, comprising: a first lens connecting arm 101, a tilting motor 109, a rollover motor 110, a roll axis connecting arm 103, and a heading axis 106;
  • the first end of the pitch motor 109 is fixedly connected to the roll shaft connecting arm 103;
  • the second end of the pitch motor 109 is fixedly connected to the first lens connecting arm 101;
  • the first end of the roll motor 110 and the heading shaft 106 are fixedly connected;
  • the second end of the roll motor 110 is fixedly coupled to the roll shaft connecting arm 103.
  • the embodiment of the invention further provides a drone, comprising a body and a cloud platform, forming a machine cavity inside the body, the cloud platform being located in the machine cavity and connected to the body.
  • the pan/tilt in the above-mentioned UAV can adopt the pan/tilt proposed in the embodiment of the present invention.
  • the pan/tilt provided by the embodiment of the invention has a simple structure, and the free adjustment of the pan/tilt is realized by the roll-over shaft connecting arm.
  • the camera device can be conveniently fixed by providing the first lens connecting arm and the heading axis.
  • the drone provided by the embodiment of the invention creatively places the gimbal in the unmanned aircraft body, and the aircraft fuselage adopts a structural inner hollow design, thereby minimizing the size of the drone, and at the same time, passing the drone
  • the heading motor is fixed on the fuselage body, which realizes the combination of the drone and the pan/tilt, which greatly facilitates the shooting of the drone.
  • Embodiment 1 is a structural diagram of a gimbal provided by Embodiment 1 of the present invention.
  • FIG. 2 is a structural diagram of a gimbal provided by Embodiment 2 of the present invention.
  • Embodiment 3 is a structural diagram of a gimbal provided by Embodiment 3 of the present invention.
  • Embodiment 4 is a structural diagram of a gimbal provided by Embodiment 4 of the present invention.
  • Figure 5 is a structural diagram of a gimbal provided by Embodiment 5 of the present invention.
  • FIG. 6 is a structural diagram of a gimbal provided by Embodiment 6 of the present invention.
  • FIG. 7 is a disassembled diagram of a gimbal structure according to Embodiment 6 of the present invention.
  • Figure 8 is a cross-sectional view showing a structure of a gimbal provided in Embodiment 6 of the present invention.
  • FIG. 9 is a structural diagram of a pan/tilt head according to Embodiment 6 of the present invention.
  • FIG. 10 is a structural diagram of a pan/tilt head according to Embodiment 7 of the present invention.
  • Figure 11 is a structural diagram of a drone according to Embodiment 8 of the present invention.
  • FIG. 12 is a disassembled diagram of a drone according to Embodiment 8 of the present invention.
  • FIG. 13 is a structural diagram of a drone according to Embodiment 9 of the present invention.
  • FIG. 15 is a schematic diagram of an additional mounting frame of a drone according to Embodiment 10 of the present invention.
  • FIG. 16 is a disassembled diagram of an additional mounting bracket of a drone according to Embodiment 10 of the present invention.
  • FIG. 17 is a schematic diagram of an additional installation frame of a drone according to Embodiment 11 of the present invention.
  • Damping plate 603 First shock plate 214 Damping plate 6031 Heading shaft connecting hole 215 Damping plate 6032 Damping plate twenty two Second damping device 6033 Damping plate 221 Damping plate 6034 Damping plate 222 Damping plate 6035 Damping plate 223 Damping plate 7 Yuntai 224 Damping plate 701 First lens connecting arm 225 Damping plate 702 Second lens connecting arm twenty three Machine cavity 703 Heading axis twenty four Body 704 Heading motor 3 Mount 705 Pitch motor 8 Mount
  • the "fixed connection” described in the following embodiments may be fixed by welding or screwing or the like.
  • active connection means that the two components are relatively rotatable.
  • 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.
  • the stator of the motor is fixed, and the object that is fixedly connected to the rotor of the motor will follow The rotation of the rotor rotates.
  • 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.
  • a and/or B means any one of the following three cases: A, B, A and B.
  • FIG. 1 is a general effect diagram of the pan-tilt structure.
  • the pan-tilt head 1 includes: a first lens connecting arm 101 , a tilting motor 109 , and a roll motor 110, roll shaft connecting arm 103, heading shaft 106.
  • a first end of the pitch motor 109 is fixedly connected to the roll axis connecting arm 103;
  • a second end of the pitch motor 109 is fixedly connected to the first lens connecting arm 101;
  • One end portion and the heading shaft 106 are fixedly connected; the second end portion of the roll motor 110 is fixedly connected to the roll shaft connecting arm 103.
  • the structure of the above-mentioned roll shaft connecting arm 103 may be circular or semi-circular, square or semi-square, or may be L-shaped or other structures for the purpose of the roll motor 110 and the pitch motor 109. When connected, it is possible to adjust the pan/tilt separately during the tilting and tumbling operations.
  • heading shaft 106 and the first lens connecting arm 101 can be interchanged without affecting the implementation of the embodiments of the present invention.
  • one end of the first lens connecting arm 101 is connected to the lens, and the other end can be stopped at the tilting motor 109, or can be extended to the other end, and the other end can also be connected to the lens, so that the double lens can be used. Effect.
  • the pitch motor 109 rotates to drive the roll axis connecting arm 103 to perform pitch adjustment
  • the roll motor 110 rotates to drive the roll axis connecting arm 103 to perform roll adjustment.
  • the first end of the tumble motor 110 is the stator of the tumble motor 110
  • the second end of the tumble motor 110 is the rotor of the tumble motor 110. That is, the stator of the tumbling motor 110 is fixedly coupled to the heading shaft 106, and the rotor of the tumbling motor 110 is fixedly coupled to the tumbling shaft connecting arm 103. When the rotor of the tumble motor 110 rotates, the roll shaft connecting arm 103 is rotated together.
  • the first end of the pitch motor 109 is the rotor of the pitch motor 109
  • the second end of the pitch motor 109 is the stator of the pitch motor 109.
  • the rotor of the pitch motor 109 is fixedly coupled to the roll shaft connecting arm 103
  • the stator of the pitch motor 109 is fixedly coupled to the first lens connecting arm 101.
  • first end of the pitch motor 109 may also be the stator of the pitch motor 109
  • second end of the pitch motor 109 is the rotor of the pitch motor 109
  • the rotor of the pitch motor 109 and the A lens connecting arm 101 is fixedly coupled
  • a stator of the pitch motor is fixedly coupled to the roll shaft connecting arm 103.
  • the axial direction of the pitch motor 109 is perpendicular to the axial direction of the tumble motor 110.
  • the first lens attachment arm 101 is a linear axial arm.
  • the pan/tilt provided in the first embodiment of the present invention has a simple structure, and the free adjustment of the pan/tilt is realized very skillfully by the roll shaft connecting arm 103.
  • the first lens connecting arm 103 and the heading shaft 106 the fixing of the lens can be easily performed, and the structure is also compact.
  • Embodiment 2 of the present invention provides another PTZ structure, as shown in FIG.
  • Embodiment 2 adds a roll shaft 107 to the first embodiment.
  • One end of the roll shaft 107 is fixedly coupled to the first end of the roll motor 110, and the other end of the roll shaft 107 is fixedly coupled to the heading shaft 106.
  • the first end of the tumble motor 110 may be the rotor of the tumble motor 110
  • the second end of the tumble motor 110 may be the stator of the tumble motor 110.
  • the rotor of the tumble motor 110 is fixedly coupled to one end of the roll shaft 107
  • the stator of the roll motor 110 and the roll shaft connecting arm 103 are fixedly coupled.
  • the stator of the roll motor 110 can also be fixedly connected to one end of the roll shaft 107, and the rotor of the roll motor 110 and the roll shaft connecting arm 103 are fixedly connected.
  • the other end of the roll shaft 107 is movably passed through the roll shaft connecting arm 103 and is fixedly connected to the heading shaft 106.
  • the other end of the roll shaft connecting arm 103 can be fixedly connected to the heading shaft 106 in an L-shape, or Type of fixed connection, you can also The type is fixedly connected. When the connection is fixed in the L-shaped manner, the space occupation can be reduced, and the structure of the gimbal can be more simplified. When The type is fixedly connected, and the other end of the roll shaft 107 can move through the roll shaft connecting arm 103. This increases the support of the roll shaft connecting arm 103 to the roll shaft 107, and can achieve a better stabilizing effect.
  • the fixed connection of the type can increase the range of the roll and expand the roll angle to nearly 180 degrees.
  • the balance of the gimbal can be increased, the weight distribution is more balanced, and the center of gravity is relatively stable.
  • the platform 1 further includes a pitch axis 104.
  • One end of the pitch axis 104 is fixedly connected to the first end of the pitch motor 109, and the other end is fixedly connected to the roll axis connecting arm 103.
  • the first end of the pitch motor 109 is the rotor of the pitch motor 109. That is, the rotor of the pitch motor 109 can be directly connected to the roll shaft connecting arm 103, or can be fixedly connected by adding a pitch axis 104 and the roll shaft connecting arm 103, so that the structure of the pan/tilt can be better adjusted, which can be better. Play a fixed effect.
  • the first end of the pitch motor 109 may also be the stator of the pitch motor 109, and details are not described herein again.
  • the pan/tilt head provided by the embodiment of the present invention ingeniously connects the roll motor, the pitch motor and the heading shaft through the roll shaft connecting arm 103 and the roll shaft 107, and the roll shaft 107 is located in the middle of the roll shaft connecting arm 103, so that the pan/tilt structure More compact, the center of gravity is also located in the center of the gimbal, making it more convenient to use.
  • Embodiment 3 of the present invention provides another PTZ structure, as shown in FIG.
  • the heading motor 108 is added.
  • the rotor of the heading motor 108 is fixedly coupled to the heading shaft 106, and the stator of the heading motor 108 and the heading link arm 111 are fixedly coupled.
  • the heading link arm 111 includes a hand-held handle, or a body of the drone, or a damping device.
  • Embodiment 3 of the present invention upgrades the two-axis pan/tilt to a three-axis pan/tilt by adding a heading motor 108.
  • One end of the heading shaft 106 is fixedly connected to the roll shaft 107, and the other end is fixedly connected to the rotor of the heading motor 108.
  • the stator of the heading motor 108 and the heading link arm 111 are fixedly connected.
  • the heading link arm 111 can be in various forms. When used as a handheld head, the heading link arm 111 can be a hand-held handle; when used with a drone, the heading link arm 111 can be unmanned
  • the body of the machine can also be a shock absorbing device. The body of the drone and the pan/tilt are connected by a shock absorbing device.
  • the heading link arm 111 can also be another connector that connects the head of the pan/tilt and the drone.
  • the axial direction of the heading motor 108 is perpendicular to the axial direction of the tumble motor 110.
  • the pan/tilt provided by Embodiment 3 of the present invention realizes the connection of the motors through the lens connecting arm 101, the pitch axis 104, the roll axis 107, the roll axis connecting arm 103, the heading axis 106 and the heading link arm 111.
  • the three-dimensional lens adjustment of the X, Y, and Z axes is simple and compact.
  • Embodiment 4 of the present invention is further optimized on the basis of Embodiments 1, 2 and 3.
  • the pan/tilt further includes a second lens connecting arm 102, and the second lens connecting arm 102 passes
  • the fixed shaft 1023 is movably connected to the roll shaft connecting arm 103 via the connecting hole 1033.
  • active connection is meant a rotatably connected connection.
  • the second lens connecting arm 102 and the fixed shaft 1023 provide support for the roll shaft connecting arm 103, and the lens is connected to the lens through the two lens connecting arms, thereby making the lens more secure.
  • the roll shaft connecting arm 103 is provided with a rotating hole
  • the second lens connecting arm 102 is fixedly coupled to the fixed shaft 1023, and the fixed shaft 1023 is movably inserted into the rotating hole
  • the second lens connecting arm 102 is provided with a rotating hole
  • the rolling shaft connecting arm 103 is fixedly coupled to the fixed shaft 1023, and the fixed shaft 1023 is movably inserted into the rotating hole.
  • the purpose is to provide support for the roll shaft connecting arm 103 through the second lens connecting arm 102, which can make the pan/tilt more firm.
  • the support by the second lens connecting arm 102 also simplifies the structure of the pan/tilt, enabling the lens to be rotated 360 degrees, increasing the angle of shooting.
  • the second lens attachment arm 102 is a linear shaft arm.
  • the roll connecting shaft 103 can be better supported, the structure is simple, and the rotation angle of the pan/tilt is not affected, so that the rolling angle reaches 360 degrees. Better achieve the shooting effect.
  • Embodiment 5 of the present invention is further optimized on the basis of Embodiments 1, 2, and 3.
  • the PTZ further includes a pitch axis connecting arm 105, and the pitch axis connecting arm 105 and the first
  • the lens connecting arm 101 is fixedly connected, and the other end of the pitch axis connecting arm 105 passes through the fixing shaft 1023, passes through the connecting hole 1033, and is movably connected to the roll shaft connecting arm 103.
  • the pitch axis connecting arm 105 may be directly welded to the first lens connecting arm 101, or may be fixed between the first lens connecting arm 101 and the roll axis connecting arm 103, and the pitch axis 104 passes through the pitch axis connecting arm 105.
  • the roll shaft connecting arm 103 is supported by the pitch axis 104 alone, and is converted to be supported by the pitch shaft connecting arm 105, so that the roll shaft connecting arm 103 can be made stronger.
  • the roll shaft connecting arm 103 is provided with a rotating hole, the pitch axis connecting arm 105 and the fixed shaft 1023 are fixedly connected, and the fixed shaft 1023 is movably inserted into the rotating hole; or the pitching
  • the shaft connecting arm 105 is provided with a rotating hole, and the rolling shaft connecting arm 103 is fixedly coupled to the fixed shaft 1023, and the fixed shaft 1023 is movably inserted into the rotating hole.
  • the interval between the roll axis connecting arm 103 and the pitch axis connecting arm 105 is large.
  • the roll shaft connecting arm 103 can be freely rotated by the roll motor 110 in the pitch axis connecting arm 105, thereby further expanding the angle of the lens.
  • the roll shaft connecting arm 103 is circular or square.
  • the pitch axis connecting arm 105 has a semicircular arc shape or a semicircular arc shape.
  • the pitch axis connecting arm 105 when the roll axis connecting arm 103 is circular, the pitch axis connecting arm 105 has a semicircular arc shape; when the roll axis connecting arm 103 is square, the pitch axis connecting arm 105 has a semicircular arc shape.
  • the shape of the roll shaft connecting arm 103 is not limited to a circular or semi-circular shape, and the shape of the roll shaft connecting arm 103 may be other shapes.
  • the pitch axis connecting arm 105 when the roll connecting arm 103 is square, the pitch axis connecting arm 105 may have a semicircular arc shape; when the roll axis connecting arm 103 is circular, the pitch axis connecting arm 105 may be a half square arc.
  • the roll shaft connecting arm 103 can be better supported, and at the same time, there is no more weight increase of the pan/tilt, which is very good in practical applications. Effect.
  • Embodiment 6 of the present invention is further improved on the basis of Embodiments 1, 2, 3, 4, and 5.
  • the PTZ includes both a pitch axis connecting arm 105 and a second lens connecting arm 102.
  • the pitch axis connecting arm 105 and the second lens connecting arm 102 are fixedly coupled together, and are movably connected by the fixed shaft 1023 and the roll shaft connecting arm 103.
  • the roll shaft connecting arm 103 is supported by the tilt motor 109 alone, and is converted to be supported by the pitch axis connecting arm 105 and the lens connecting arm 102, so that the roll shaft connecting arm 103 and The heading shaft 106 can be more secure.
  • Embodiment 6 of the present invention will be further described in detail below with reference to FIGS. 6 and 7.
  • a pan/tilt head includes a first lens connecting arm 101, a second lens connecting arm 102, a pitch motor 109, a pitch axis 104, a roll motor 110, a roll axis 107, a roll axis connecting arm 103, and a heading The motor 108, the heading axis 106, the heading link arm 111, and the pitch axis connecting arm 105.
  • the first lens connecting arm 101 and the second lens connecting arm 102 are connected to the arm 105 by a pitch axis Fixed connection at both ends.
  • a pitch axis Fixed connection at both ends.
  • the pitch motor 109 is the rotor of the pitch motor 109
  • one end of the pitch axis 104 is fixedly coupled to the rotor 1094 of the pitch motor 109, and the other end and the connection hole 1034 on the roll shaft connecting arm 103 are connected.
  • the pitch motor 109 is fixed to the first lens connecting arm 101, and the pitch axis 104 is moved through the pitch axis connecting arm 105.
  • the roll shaft connecting arm 103 Corresponding to the connecting hole 1034, the roll shaft connecting arm 103 has a connecting hole 1033 which is movably connected to the fixed shaft 1023.
  • both ends 1071 and 1072 of the roll shaft 107 move through the connecting hole 1031 and the connecting hole 1032, respectively.
  • the first end of the tumbling motor 110 is the rotor of the tumbling motor 110
  • the tumbling shaft connecting end 1071 and the rotor 1101 of the tumbling motor 110 are fixedly connected, and the stator of the tumbling motor 110 and the connecting hole 1031 are fixedly connected, and the connection manner thereof It can be welded or fixed by screws.
  • the above-mentioned roll shaft connecting end 1072 may not pass through the connecting hole 1032.
  • the pitch axis 104 and the roll axis 107 are horizontally perpendicular, but there is no intersection between the two.
  • the heading shaft 106 has a heading shaft connection end 1063 and a heading shaft connection end 1064, and the heading shaft 106 and the roll shaft 107 are vertically crossed to form an integral body.
  • the heading shaft connection 1063 and the rotor 1083 of the heading motor 108 are fixedly coupled together.
  • the stator of the heading motor 108 and the heading link arm 111 are fixedly coupled together.
  • FIG. 8 a cross-sectional view of the pan/tilt head provided in Embodiment 6 of the present invention, it can be seen that the pitch motor 109 is fixedly connected to the roll axis connecting arm 103 through the pitch axis connecting arm 105 through the pitch axis 104.
  • the interval between the roll axis connecting arm 103 and the pitch axis connecting arm 105 is larger than the thickness of the roll motor 110, so that the roll axis connecting arm 103 can carry the roll motor 110 on the pitch axis connecting arm 105.
  • the free rotation inside can further enlarge the shooting angle of the lens.
  • the roll shaft connecting arm 103 is circular or square.
  • the pitch axis connecting arm 105 has a semicircular arc shape or a semicircular arc shape.
  • the pitch axis connecting arm 105 has a semicircular arc shape; when the roll axis connecting arm 103 is square, the pitch axis connecting arm 105 has a semicircular arc shape.
  • the shape of the roll shaft connecting arm 103 is not limited to a circular or semi-circular shape, and the shape of the roll shaft connecting arm 103 may be other shapes.
  • the pitch axis connecting arm 105 may have a semicircular arc shape; when the roll axis connecting arm 103 is circular, the pitch axis connecting arm 105 may be a half square arc.
  • the first lens connecting arm 101 and the second lens connecting arm 102 may be extended in both directions or may be extended in one direction.
  • the purpose is to better fix the camera lens.
  • the lens can be mounted on one side or on both sides. Two-way stretching enables better multi-lens mounting, and one-way stretching reduces the weight of the gimbal.
  • Embodiment 6 of the present invention With the pan/tilt provided by Embodiment 6 of the present invention, the installation of the photographing lens is better realized, the angle of photographing is better ensured, and the implementation is relatively simple, and the problems existing in the prior art are solved very well.
  • Embodiment 7 of the present invention provides another type of pan/tilt based on Embodiments 1-6. As shown in FIG. 10, the structure is substantially the same as that of Embodiments 1-6, and will not be described in detail herein.
  • the first lens connecting arm 101 and the second lens connecting arm 102 can be more deformed.
  • the lens attachment arm can be bent or an asymmetrical structure.
  • the roll axis connecting arm 103 and the pitch axis connecting arm 105 may also be deformed into a circular arc shape.
  • the roll shaft 107 and the heading shaft 106 are formed The type of fixed connection can also be better flipped and fixed.
  • the heading link arm 112 is coupled to the stator of the heading motor 108 to be connected in a horizontal manner.
  • the pan/tilt provided by the embodiment can better adapt to different drone structures and application environments, and at the same time, the roll shaft 107 and the heading axis 106 are formed.
  • the fixed connection can reduce the weight of the gimbal and achieve better use.
  • Embodiment 8 of the present invention provides a new type of drone, as shown in FIGS. 11-12, the drone includes a pan/tilt 1, a body 24, and a cavity 23 is formed inside the body 24, the pan/tilt 1 is located in the machine cavity 23 and is connected to the body 24.
  • the pan/tilt 1 adopts any one of the pan/tilt heads proposed in the embodiment 1-7 of the present invention.
  • the structure of the gimbal has been described in detail in Embodiments 1-7, and will not be described again in this embodiment, and the focus will be directed to the combination thereof with the UAV.
  • the unmanned aerial vehicle provided by the embodiment of the invention has a hollow body 12 formed by the hollow body 1 in the machine cavity 12, thereby reducing the area occupied by the gimbal and better fixing the lens.
  • the pan/tilt head 1 is fixedly connected to the body 24 via its heading link arm 111 (for example, a damper device).
  • the stator of the heading motor 108 of the pan/tilt 1 is directly connected to the body 24 .
  • the heading link arm 111 is specifically a first damper device 21 .
  • the first damper device 21 includes a damper plate 215 and a damper fixing piece 211-214.
  • the damper plate 215 is fixedly coupled to the stator of the heading motor 108 of the pan/tilt head 1, and the rotor of the heading motor 108 and the heading shaft 106 are fixedly connected.
  • the first damper device 21 is fixed to the outside of the body 24 by the damper fixing pieces 211, 212, 213, 214.
  • the shock absorbing fixing pieces 211-214 may be shock absorbing balls, which are spherical damping devices made of silica gel.
  • the first damper device 21 is located outside the body 24, and the gimbal is enclosed in the machine chamber 23.
  • the shock absorbing effect can be better, the vibration brought by the gimbal during the flight of the drone can be reduced, and the gimbal can be better. Shooting at the ground.
  • stator of the heading motor 108 can be directly connected to the body 24 directly, and the structure is simpler, and the fixed combination of the drone and the pan/tilt can also be realized.
  • the drone further includes a second damper 22, and the second damper 22 includes a damper plate 225 and the damper fixing pieces 221-224, the damper plate 225 of the second damper device 22 and the other end of the heading shaft 106 of the pan/tilt head 1 are movably connected, and the second damper device 22 is damped by the second damper device 22.
  • the fixing pieces 221, 222, 223, 224 are fixed to the outside of the body 24, that is, the second damper device 22 is connected to the side of the body 24 facing the outside of the machine cavity.
  • the second damper device 22 is located on the other side of the first damper device 21 opposite to the corresponding body, and is fixed by the two damper devices respectively at the upper and lower portions of the pan/tilt, the first damper device 21 and the heading motor
  • the stator of the 108 is fixedly connected, and the second damper device 22 and the other end of the heading shaft 106 are movably connected, which better serves to fix the pan/tilt.
  • the body 24 includes an upper cover and a lower cover.
  • the first damper 21 is fixed to the outside of the upper cover, and the second damper 22 is fixed to the outside of the lower cover.
  • the eighth embodiment of the present invention creatively places the gimbal 1 in the unmanned aircraft body, and the aircraft fuselage adopts a four-rotor structure inner space design, thereby minimizing the size of the drone, and at the same time, by heading the drone
  • the motor is fixed on the UAV body through the heading arm of the heading, which realizes the combination of the UAV and the PTZ.
  • a damping device can also be used for damping.
  • Embodiment 1-7 of the present invention is applicable to the unmanned aerial vehicle proposed in Embodiment 8 of the present invention, for example, a single lens connecting arm is adopted, and a lens connecting arm is semi-stretched. The manner in which the arm 105 is connected without the pitch axis and the like is omitted here.
  • the head of the drone does not have a heading motor.
  • the gimbal is a two-axis pan/tilt. In this case, an improvement in the way the shock absorbing device is connected to the gimbal is required.
  • the damper plate 215 of the first damper device 21 and one end of the heading shaft 106 are fixedly connected, and the damper plate 225 of the second damper device 22 and the other end of the heading shaft 106 are fixedly connected.
  • the flat platform is fixed in the interior of the fuselage by a flat pan/tilt fixing method, and the volume of the fuselage is fully utilized, so that the drone is more compact, and the flying center of gravity is also more Add balance.
  • the damping device by increasing the damping device, the vibration of the gimbal relative to the drone is reduced, and the effect of the drone shooting can be better improved.
  • Embodiment 9 of the present invention provides another novel drone, as shown in Figs. 13 and 14, which employs any of the gimbals proposed in Embodiments 1-7 of the present invention.
  • the structure of the gimbal has been described in detail in Embodiments 1-7, and will not be described again in this embodiment, and the focus will be directed to the combination thereof with the UAV.
  • the drone includes a body 5 and a pan/tilt 7, and the drone provided in the embodiment 8 differs in that the pan-tilt 7, and the connecting means of the pan-tilt and the drone are located inside the machine cavity.
  • the body 5 includes an upper cover 501 and a lower cover 502.
  • the damper device 6 includes a first damper plate 603, and the first damper plate 603 is fixedly coupled to the heading motor 704; or the first damper plate 603 is fixedly coupled to one end of the heading shaft 703.
  • the first damper plate 603 is fixed to the inner side of the body 5.
  • the first shock absorbing plate 603 includes shock absorbing fixing pieces 6032-6035.
  • the first damper plate 603 is provided with a heading shaft connecting hole 6031.
  • the heading shaft connecting hole 6031 and the stator of the heading motor 704 are fixedly connected.
  • the pan/tilt head 7 is a two-axis pan/tilt head, that is, when there is no heading motor 704, the heading shaft connecting hole 6031 and the heading axis 703 are fixedly connected.
  • the first damper plate 603 may be fixed to the inside of the body 5 directly or indirectly.
  • first damper plate 603 may be directly fixed to the inner side of the upper cover 501, or may be directly fixed to the inner side of the lower cover 502, or may be fixed to the inner side of the upper cover 501 and the lower cover 502 at the same time.
  • the drone further includes a second shock absorbing plate 601.
  • the second shock absorbing plate 601 is fixed to the inner side of the body 5.
  • the first damper plate 603 is fixedly coupled to the heading motor 704
  • the second damper plate 601 is rotatably and movably connected to the other end of the heading shaft 703; when the first damper plate 603 is at one end and heading
  • the second damper plate 601 is fixedly coupled to the other end of the heading shaft 703.
  • the pan/tilt head When the pan/tilt head is a three-axis pan/tilt head, the pan/tilt head includes a heading motor 704, the first damper plate 603 is fixedly connected with the stator of the heading motor 704, and the second damper plate 601 is rotatably and movably connected with the heading axis 703; Taiwan In the case of a two-axis pan/tilt head, the pan/tilt head does not include a heading motor, the first damper plate 603 is fixedly coupled to the heading axis 703, and the second damper plate 601 is also fixedly coupled to the heading axis 703.
  • the second damper plate 601 may be directly or indirectly fixed to the inside of the body 5.
  • the second damper plate 601 may be directly fixed to the inner side of the upper cover 501, or may be directly fixed to the inner side of the lower cover 502, or may be fixed to the inner side of the upper cover 501 and the lower cover 502 at the same time.
  • the drone provided by the embodiment of the present invention further includes a vibration isolation plate 602, and the vibration isolation plate 602 is fixed to the inner side of the body 5.
  • the vibration isolation plate 602 is located between the first damping plate 603 and the second damping plate 601 to function as a vibration isolation.
  • the two damping plates are respectively fixed on the vibration isolation plate 602.
  • one of the damping plates can be directly fixed to the body, and the other damping plate is directly fixed to the vibration isolating plate 602.
  • the vibration isolation plate 602 includes a vibration isolation plate fixing shaft 6021-6024, and the vibration isolation plate 602 is connected to the body 5 through the vibration isolation plate fixing shaft 6021-6024.
  • the vibration isolation plate 602 is fixed to the inner side of the body 5 through the vibration isolation plate fixing shafts 6021-6024.
  • the vibration isolation plate 602 may be directly fixed to the inner side of the upper cover 501, or may be directly fixed to the inner side of the lower cover 502, or may be fixed to the inner side of the upper cover 501 and the lower cover 502 at the same time.
  • the pan/tilt is fixed inside the fuselage by a flat pan/tilt fixing method, and at the same time, the fixing component is also hidden inside the fuselage, and the volume of the fuselage is fully utilized, so that The drone is more compact and its center of gravity is more balanced.
  • the damping device by increasing the damping device, the vibration of the gimbal relative to the drone is reduced, and the effect of the drone shooting can be better improved.
  • Embodiment 10 of the present invention is based on Embodiments 8 and 9 of the present invention, and provides a drone including a mounting bracket 3 for mounting an image pickup apparatus.
  • the pan/tilt head 1 is fixedly coupled to the mounting bracket 3 through a lens connecting arm, wherein the lens connecting arm includes at least one of the following: a first lens connecting arm 101 and a second lens connecting arm 102.
  • the mounting bracket 3 is added through the lens connecting arm, and the multi-lens installation of the drone is realized, which can help the drone realize the VR multi-lens shooting.
  • the mounting frame 3 is a cage structure.
  • the mounting bracket 3 includes a camera for mounting Mounting holes 33-34 of the device.
  • Both ends of the lens connecting arm are fixedly connected to the fixing shaft 32 above and below the mounting frame 3, respectively. This allows the drone to be placed inside the mounting frame 3 to facilitate mounting of the camera units 331, 341 on the mounting frame. At least one mounting hole 33 is left in the mounting bracket 3, and the at least one mounting hole is dispersedly mounted on the mounting bracket 3.
  • the cage structure of the cage can also protect the drone from the other side.
  • the motor and propeller of the drone can be protected from damage.
  • the imaging devices 331 and 341 are attached to the upper side, the lower side, the front side, the rear side, the left side, and the right side of the mounting frame 3, and mounting holes may be provided at all the intersections, and the imaging device may be installed according to the needs of the user.
  • the mounting bracket 3 has a fixed shaft 32 and a lens fixing shaft 31, and the image pickup devices 331, 341 are fixed in the mounting holes 33, 34 through the lens fixing shaft 31.
  • the first lens connecting arm 101 and the second lens connecting arm 102 are respectively coupled to the fixed shaft 32. Fixing the pan/tilt 1 and the mounting frame 3 together achieves the purpose of shooting at a full angle.
  • the number of the mounting holes 33 is N, where N is an integer greater than or equal to 1, and the N mounting holes 33 are dispersedly mounted on the mounting frame 3.
  • the user can also perform various processing on the mounting frame 3.
  • the camera device can be removed when shooting is not required.
  • the installation of the pan/tilt 1 and the mounting bracket 3 can be performed in various manners.
  • the first lens connecting arm 101 and the second lens connecting arm 102 can be directly fixed on the mounting frame 3 at the same time, or One of the lens connecting arm 101 and the second lens connecting arm 102 is fixedly coupled to the mounting bracket 3.
  • the mounting bracket 3 can be fixedly mounted only by the first lens connecting arm 101 or the second lens connecting arm 102, or can be fixedly mounted through the first lens connecting arm 101 and the second lens connecting arm 102 at the same time. .
  • the embodiment of the invention provides a cage-like mounting frame, on the one hand, achieves the purpose of installing a plurality of camera devices, so that the plurality of camera devices can be distributed anywhere in the aircraft body, such as up and down, left and right, front and rear, etc. On the other hand, it can also protect the drone.
  • Embodiment 11 of the present invention is based on Embodiments 8 and 9 of the present invention, and another drone with a mounting bracket 8 is proposed, as shown in FIG.
  • the mounting bracket 8 is used to mount an image pickup device.
  • the lens connecting arm and the mounting bracket 8 are fixedly connected.
  • the lens connecting arm comprises at least one of the following: a first lens connecting arm 101 and a second lens connecting arm 102.
  • a mounting hole for mounting the image pickup device is provided on the mounting frame 8.
  • the mounting bracket 8 is added through the lens connecting arm, and the multi-lens mounting of the drone is realized, which can help the drone realize the VR multi-lens shooting.
  • the form of the mounting bracket 8 is substantially different from the cage mounting frame of the embodiment 10.
  • the two mounting brackets 8 are respectively mounted on both sides of the body 5 through the lens connecting arms.
  • Each mounting bracket includes one or more mounting holes, each of which can be mounted with one or more camera units. In this way, multi-lens shooting is achieved, which satisfies the shooting requirements of VR content.
  • the mounting manner of the pan/tilt 7 and the mounting bracket 8 can be various.
  • the mounting bracket 8 can be fixed on the first lens connecting arm 101 and the second lens connecting arm 102 of the pan/tilt head 7, or can be fixed only. On the first lens connecting arm 101 or the second lens connecting arm 102.
  • mounting bracket 8 is only one way of installing the camera device, and the camera device may be installed in other manners, and details are not described herein.
  • the mounting brackets are respectively installed on the upper and lower sides of the drone.
  • the camera can be installed on the front, back, left and right, up and down of the mounting frame, thus achieving full-angle panoramic shooting, which solves the problem of VR shooting.
  • the user can also set the mounting bracket on the side of the body of the drone according to his own needs, or freely adjust the number of camera devices installed on the mounting bracket.
  • the problem that the structure of the gimbal existing in the prior art is unreasonable can be well solved, the structure of the gimbal is more compact, and it can adapt to the unused application scenarios and The need for shooting, at the same time, through the drone provided by the embodiment of the present invention, can better perform VR viewing
  • the frequency shooting solves the problem that the VR video shooting in the prior art is difficult.

Landscapes

  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

La présente invention concerne un bloc panoramique et basculant, comprenant un premier bras (101) de liaison de lentille, un moteur à pas (109), un moteur de roulis (110), un bras (103) de liaison d'arbre de roulis et un arbre de direction (106). Une première partie d'extrémité du moteur à pas (109) est reliée à demeure au bras (103) de liaison d'arbre de roulis ; une seconde partie d'extrémité du moteur à pas (109) est reliée à demeure au premier bras (101) de liaison de lentille ; une première partie d'extrémité du moteur de roulis (110) est reliée à demeure à l'arbre de direction (106) ; et une seconde partie d'extrémité du moteur de roulis (110) est reliée à demeure au bras (103) de liaison d'arbre de roulis. La structure du bloc panoramique et basculant est simple, et le réglage libre du bloc panoramique et basculant peut être réalisé de manière fine au moyen du bras de liaison d'arbre de roulis. En même temps, en disposant le premier bras de liaison de lentille et l'arbre de direction, la fixation d'une caméra peut être pratique, et des problèmes existants dans l'état de la technique peuvent être mieux résolus.
PCT/CN2016/104780 2016-11-04 2016-11-04 Bloc panoramique et basculant et aéronef sans pilote WO2018082065A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680028784.6A CN108064210B (zh) 2016-11-04 2016-11-04 一种云台和无人机
PCT/CN2016/104780 WO2018082065A1 (fr) 2016-11-04 2016-11-04 Bloc panoramique et basculant et aéronef sans pilote

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/104780 WO2018082065A1 (fr) 2016-11-04 2016-11-04 Bloc panoramique et basculant et aéronef sans pilote

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CN203819501U (zh) * 2014-04-15 2014-09-10 深圳市大疆创新科技有限公司 飞行器
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