WO2018113519A1

WO2018113519A1 - Pan-tilt for unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2018113519A1
Application number: PCT/CN2017/114812
Authority: WO
Inventors: 陈翔斌
Original assignee: 陈翔斌
Priority date: 2016-12-21
Filing date: 2017-12-06
Publication date: 2018-06-28
Also published as: CN106428598B; CN106428598A

Abstract

A pan-tilt (1) for an unmanned aerial vehicle, and an unmanned aerial vehicle. The pan-tilt (1) for an unmanned aerial vehicle comprises a first fixed device used for being fixedly mounted on an unmanned aerial vehicle body, a first connection device rotatably mounted on the first fixed device, a second fixed device used for mounting a load, and a second connection device rotatably mounted on the second fixed device. The second connection device is mounted on the first connection device; the rotation axis of the first connection device relative to the first fixed device and the rotation axis of the second connection device relative to the second fixed device are perpendicular to each other. The pan-tilt (1) for an unmanned aerial vehicle enables a load freely move around an unmanned aerial vehicle in a range of angles; when the unmanned aerial vehicle tilts, the load can be kept vertically downward; thus, a resistance torque generated at the center of a lifting surface due to tilting of the load along with the unmanned aerial vehicle body is avoided. The unmanned aerial vehicle comprises the pan-tilt (1) for an unmanned aerial vehicle; in the case that the unmanned aerial vehicle flies in a tilting state when carrying a load, the resistance torque is reduced and energy can be saved.

Description

UAV pan/tilt and drone

Technical field

The invention relates to an aircraft, in particular to an unmanned aerial platform and a drone.

Background technique

At present, most of the drones have a mounting function, and the load is generally hung on the bottom of the drone's fuselage, and the load is generally fixedly connected to the bottom of the drone's fuselage, which causes a problem. When the drone is tilted, the load is also It will tilt so that the load will have a resistance moment in the direction of the lift of the drone. To offset this resistance torque, the drone needs to consume more energy.

technical problem

The technical problem to be solved by the present invention is to provide a drone head and a drone capable of keeping the load vertically downward.

Technical solution

In order to solve the above problems, the present invention provides a UAV pan/tilt head, comprising a first fixing device for fixedly mounting with a UAV body, and a first connecting device rotatably mounted on the first fixing device, for a second fixing device for loading the load and a second connecting device rotatably mounted on the second fixing device, the second connecting device being mounted on the first connecting device, the axis of rotation of the first connecting device relative to the first fixing device The second articulating means are perpendicular to each other with respect to the axis of rotation of the second securing means.

Preferably, the first fixing device comprises two first bearing seats, the first connecting device comprises a first rotating shaft, the second connecting device comprises two second bearing seats, and the second fixing device comprises a second rotating shaft, the unmanned aerial platform further includes a connecting rod cross-connected with the first rotating shaft, two first bearing seats are respectively disposed at two ends of the first rotating shaft, and two second bearings The seat is mounted at two ends of the connecting rod, and two second bearing seats are disposed at both ends of the second rotating shaft.

Preferably, the first fixing device is a first rotating shaft, the first connecting device is a first bearing seat, the second connecting device is a second bearing seat, and the second fixing device is a second rotating shaft.

Preferably, the first fixing device comprises two first bearing seats, the first connecting device comprises a first rotating shaft, the second connecting device comprises a second bearing seat, and the second fixing device comprises a a second rotating shaft, two first bearing seats are respectively disposed at two ends of the first rotating shaft, the second bearing seat is disposed at a center of the first rotating shaft, and the second rotating shaft is matched with the second bearing seat.

Preferably, the second bearing seat is rotatably mounted at both ends of the connecting rod.

Preferably, further comprising a rotation axis rotation control device, wherein the rotation shaft rotation control device is mounted on the first rotation shaft and/or the second rotation shaft, the rotation shaft rotation control device includes a clamp ring for being sleeved on the rotation shaft, The clamping ring has an opening, and at the opening, a first clip and a second clip for driving the clamping ring itself to be clamped or loosened are extended to the outside of the ring, and further includes a first clip and/or a second clip. a first sensor and/or a second sensor corresponding to the sheet for detecting the pressure generated by the swing of the first clip and/or the second clip, and a signal after receiving the signal of the first sensor and/or the second sensor a drive control mechanism for clamping or releasing the first clip and the second clip, further comprising a sensor mount on which the first sensor and/or the second sensor are mounted, the sensor mounting The seat is mounted on a bearing housing corresponding to the shaft.

Preferably, the drive control mechanism includes a first control component that is retractable and stretchable, a second control component, and a control component mount, the movable end of the first control component is in contact with the outer side of the first clip, and the second control The movable end of the component is in contact with the outside of the second clip, and the fixed ends of the first control component and the second control component are fixed on the control component mount, and the control component mount is fixed on the clamp ring.

Preferably, the sensor mount is provided with a recess for the clip to oscillate, and the sensor is mounted on the inner wall of the recess.

Preferably, the drive control mechanism further includes a control processor, the control processor receives data of the first sensor and the second sensor, and the control processor controls the first control component and the first Two control components.

Preferably, the movable ends of the first control component and the second control component are provided with magnets, and the fixed ends of the first control component and the second control component are provided with electromagnets.

There is also provided a drone comprising the drone head of any of the above.

Beneficial effect

The unmanned aerial platform and the drone provided by the invention have the following beneficial effects:

Since the unmanned aerial platform provided by the present invention comprises a first fixing device for fixed installation with the unmanned aerial vehicle body, the first connecting device rotatably mounted on the first fixing device is used for the second fixing of the mounting load And a second connecting device rotatably mounted on the second fixing device, the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the rotating axis of the first fixing device The rotation axes of the two fixtures are perpendicular to each other. This design allows the load to freely move around the drone within a certain angle. When the drone is tilted, the load will not tilt, which saves the energy of the drone. . Since the drone adopts the above-mentioned drone head, it can reduce energy consumption with respect to other drones under load.

The invention is further described in detail below with reference to the accompanying drawings.

DRAWINGS

Figure 1 is an exploded view of a rotary shaft rotation control device according to Embodiment 1 of the present invention;

Figure 2 is a perspective view of the unmanned aerial platform of the embodiment 1 of the present invention;

Figure 3 is a perspective view of a drone of Embodiment 1 of the present invention;

Reference mark:

1. Unmanned aerial platform, 10, first bearing seat, 11, first rotating shaft, 12, second bearing seat, 13, second rotating shaft, 14, connecting rod, 15, rotating shaft rotation control device, 110, first Clip, 120, second clip, 210, first control component, 211, active end of the first control component, 212, fixed end of the first control component, 220, second control component, 221, second control component The active end, 222, the fixed end of the second control component, 230, the control component mount, 240, the control processor, 300, the first sensor, 310, the second sensor, 320, the sensor mount.

BEST MODE FOR CARRYING OUT THE INVENTION

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present invention.

Example 1:

The embodiment provides an unmanned aerial platform and a drone, and the unmanned aerial platform includes a first fixing device for fixedly mounting with the unmanned aerial vehicle body, and is rotatably mounted on the first fixed device. a connecting device, a second fixing device for mounting a load, and a second connecting device rotatably mounted on the second fixing device, the second connecting device is mounted on the first connecting device, and the first connecting device is opposite to the first The axis of rotation of the fixture is perpendicular to the axis of rotation of the second interface relative to the second fixture. Specifically, the first fixing device comprises two first bearing blocks 10, the first connecting device comprises a first rotating shaft 11, and the second connecting device comprises two second bearing seats 12, the second The fixing device includes a second rotating shaft 13 , and the unmanned aerial platform further includes a connecting rod 14 which is cross-connected with the first rotating shaft 11 , and two first bearing housings 10 are respectively disposed on the first rotating shaft 11 . At both ends, two second bearing blocks 12 are rotatably mounted at both ends of the connecting rod 14, and two second bearing blocks 12 are disposed at both ends of the second rotating shaft 13.

The unmanned aerial platform of the embodiment includes a first rotating shaft 11 and a second rotating shaft 13, and the two rotating shafts are perpendicular to each other, so that the load mounted on the second rotating shaft 13 can be wound around the two first bearing seats. The center of 10 is freely movable within a range of angles, and two second bearing blocks 12 are rotatably mounted at both ends of the connecting rod 14, such that the angle of the load can be moved around the center of the two first bearing blocks 10 Increase. When used on a drone, the load connected to the second rotating shaft 13 can be kept in a vertical state, so that when the drone is tilted, the load does not tilt obliquely, but the load center of gravity and the fuselage rack are kept. The connection has been in a vertical state, avoiding the load being randomly tilted to generate a resistance moment at the center of the lift surface, reducing the energy consumption of the drone during flight. The drone using the unmanned aerial platform of the present embodiment can fly a farther distance or carry a heavier load than the existing designed drone under the same capacity battery condition.

The unmanned aerial platform of the embodiment further includes a rotation axis rotation control device 15, and the rotation shaft rotation control device 15 includes a clamp ring for being sleeved on the rotation shaft, the clamp ring has an opening, and at the opening A first clip 110 and a second clip 120 for driving the clamping ring itself to be clamped or loosened are extended to the outside of the ring, and further includes a first clip 110 corresponding to the first clip 110 for detecting the swing of the first clip 110 The first sensor 300 and the second sensor 310 generating pressure, and the drive control mechanism that controls the clamping and releasing of the first clip 110 and the second clip 120 after receiving the signals of the first sensor 300 and the second sensor 310. The rotating shaft rotation control device 15 further includes a sensor mounting base 320. The sensor mounting base 320 is provided with a groove for swinging the first clip 110, and the first sensor 300 and the second sensor 310 are mounted on the inner wall of the groove. The sensor mount 320 is mounted on a bearing housing corresponding to the rotating shaft.

The drive control mechanism includes a first control component 210, a second control component 220, and a control component mount 230 that are collapsible and extendable. The movable end 211 of the first control component is in contact with the outer side of the first clip 110. The movable end 221 of the second control component is in contact with the outer side of the second clip 120. The fixed ends of the first control component 210 and the second control component 220 are fixed on the control component mount 230. The first control component 210 The movable end of the second control component 220 is provided with a magnet, and the fixed end 212 of the first control component and the fixed end 222 of the second control component are provided with an electromagnet. The control component mount 230 is fixed on the clamp ring, the drive control mechanism further includes a control processor 240, and the control processor 240 receives data of the first sensor 300 and the second sensor 310. The control processor 240 controls the first control component 210 and the second control component 220.

In this embodiment, the first rotating shaft 11 and the second rotating shaft 13 are provided with the rotating shaft rotation control device 15, and the second rotating shaft 13 is sleeved with a clamping ring at the center thereof, and the corresponding sensor mounting seat 320 is installed at The center of the first shaft 11 is at the center. First The end of a rotating shaft 11 is sleeved with a clamping ring, and the corresponding sensor mounting seat 320 is mounted on the first bearing housing 10 at the same end. In this embodiment, the first rotating shaft 11 and the second rotating shaft 13 are simultaneously disposed. The rotation rotation control device 15 simultaneously controls the rotation of the first rotating shaft 11 and the second rotating shaft 13 to control the unmanned aerial platform. In other embodiments, the spindle rotation control device 15 can be provided on only one of the rotating shafts.

Because the sensor mount 320 is mounted on the bearing seat corresponding to the rotating shaft, when the clamping ring completely clamps the rotating shaft, the first sensor 300 and the second sensor 310 block the swing of the first clip 110, and the first clip 110 Only in the first The sensor 300 and the second sensor 310 swing, and the rotating shaft can only rotate within a certain range of angles. When the clamping ring is completely loosened, the rotating shaft can be rotated arbitrarily, when the clamping ring is completely clamped and completely released. There is a certain friction between the clamp ring and the rotating shaft, and different braking effects can be exerted on the rotating shaft according to the tightness of the clamping ring.

When the rotating shaft rotates, the initial state of the clamping ring is the clamping rotating shaft, and the rotating shaft drives the clamping ring to also rotate. When the clamping ring rotates, the tail end of the first clip 110 may touch the first sensor 300 or the second sensor 310. At this time, the sensor transmits the detected pressure to the control processor 240, and the control processor 240 can obtain the rotation state of the rotating shaft by calculating a simple physical formula, and the control processor 240 controls the control component according to the situation, specifically, the electromagnet is passed. By changing the current in the electromagnet, the force of the electromagnet on the magnet can be changed, and the clamping force of the control assembly on the clip group can be adjusted. When the repulsive force of the electromagnet to the magnet is increased, the clamping force of the control assembly to the clip group is increased, and the clamping force of the clamp ring against the rotating shaft is also increased, and the braking effect on the rotating shaft is enhanced at this time. When the repulsive force of the electromagnet to the magnet is reduced, the clamping force of the control assembly on the clip group is reduced, and the clamping force of the clamp ring against the rotating shaft is also reduced, thereby reducing the braking effect on the rotating shaft.

In the process of flying, the unmanned aerial vehicle of the unmanned aerial platform of the embodiment can freely move around the drone within a certain angle range. If a strong wind is encountered during the flight, the load will swing. This situation is not expected. The installation of the rotation control device 15 on the unmanned aerial platform can effectively control the rotation of the rotating shaft, thereby achieving stable flight of the drone and the load.

The embodiment further provides a drone, wherein the drone includes the unmanned aerial platform 1 , and the drone is equipped with the above-mentioned unmanned aerial platform 1 The machine is tilted and the load is always kept vertically downwards, which avoids the load from being tilted randomly and generates a resistance moment in the center of the lifting surface, which helps to reduce the energy consumption of the drone during flight, so that the drone can fly further. Distance or carry a heavier load.

Example 2:

The embodiment provides a UAV pan/tilt head, comprising a first fixing device for fixedly mounting with the UAV body, and a first connecting device rotatably mounted on the first fixing device, for mounting the load a second fixing device and a second connecting device rotatably mounted on the second fixing device, wherein the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the axis of rotation of the first fixing device The axes of rotation of the second fixture are perpendicular to each other. Specifically, the first fixing device is a first rotating shaft, the first connecting device is a first bearing seat, the second connecting device is a second bearing seat, and the second fixing device is a second rotating shaft. In the embodiment, the first rotating shaft and the second rotating shaft are further mounted with the rotating shaft rotation control device described in Embodiment 1, and of course, in other embodiments, the first rotating shaft or only the second rotating shaft may not be installed. The shaft rotation control device is installed.

The first rotating shaft connected to the unmanned aerial vehicle and the second rotating shaft connected to the load are perpendicular to each other, and are connected by two vertical bearing seats, so that the load can freely move around the drone within a certain angle range, when no one When the machine is tilted, the direction of the load always coincides with the direction of gravity, which avoids the load being randomly tilted to generate a resistance moment at the center of the lift surface, which reduces the energy consumption of the drone during flight. Such a UAV pan/tilt has a simple structure and can realize that when the UAV body is tilted, the load does not tilt.

Example 3:

The embodiment provides a UAV pan/tilt head, comprising a first fixing device for fixedly mounting with the UAV body, and a first connecting device rotatably mounted on the first fixing device, for mounting the load a second fixing device and a second connecting device rotatably mounted on the second fixing device, wherein the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the axis of rotation of the first fixing device The axes of rotation of the second fixture are perpendicular to each other. Specifically, the first fixing device includes two first bearing seats, the first connecting device is a first rotating shaft, the second connecting device is a second bearing seat, and the second fixing device is a second rotating shaft. Two first bearing seats are respectively disposed at two ends of the first rotating shaft, the second bearing seat is disposed at a center of the first rotating shaft, and the second rotating shaft is matched with the second bearing seat. In the embodiment, the first rotating shaft and the second rotating shaft are further mounted with the rotating shaft rotation control device described in Embodiment 1, and of course, in other embodiments, the first rotating shaft or only the second rotating shaft may not be installed. The shaft rotation control device is installed.

The first rotating shaft and the second rotating shaft connected to the load are perpendicular to each other, so that the load connected to the second rotating shaft can freely move around the drone connected to the first bearing seat within a certain angle range, when the drone is tilted, The direction of the load always coincides with the direction of gravity, avoiding the load being randomly tilted to generate a resistance moment at the center of the lift surface, reducing the energy consumption of the drone during flight. Such a UAV pan/tilt has a simple structure and can realize that when the UAV body is tilted, the load does not tilt.

The above description of an unmanned aerial vehicle head and a drone provided by the embodiments of the present invention is described in detail. The principles and embodiments of the present invention are described in the following. The description of the above embodiments is only used for To help understand the core idea of the present invention; at the same time, for those skilled in the art, according to the ideas and methods of the present invention, there will be changes in the specific embodiments and application scopes. It should be understood that the invention is limited.

Claims

An unmanned aerial platform comprising: a first fixing device for fixedly mounting with a drone body, and a first connecting device rotatably mounted on the first fixing device for mounting a load a second fixing device and a second connecting device rotatably mounted on the second fixing device, wherein the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the axis of rotation of the first fixing device The axes of rotation of the second fixture are perpendicular to each other.
The drone head according to claim 1, wherein said first fixing means comprises two first bearings Seat, the first connecting device comprises a first rotating shaft, the second connecting device comprises two second bearing seats, the second fixing device comprises a second rotating shaft, and the unmanned aerial platform further comprises a a connecting rod cross-connected with the first rotating shaft, two first bearing seats are respectively disposed at two ends of the first rotating shaft, two second bearing seats are installed at two ends of the connecting rod, two second bearings The seat is disposed at both ends of the second rotating shaft.
The drone head according to claim 1, wherein said first fixing device is a first rotating shaft, said The first connecting device is a first bearing seat, the second connecting device is a second bearing seat, and the second fixing device is a second rotating shaft.
The drone head according to claim 1, wherein said first fixing means comprises two first bearings a first connecting device comprising a first rotating shaft, the second connecting device comprises a second bearing seat, the second fixing device comprises a second rotating shaft, and the two first bearing seats are respectively disposed at the At both ends of the first rotating shaft, the second bearing seat is disposed at a center of the first rotating shaft, and the second rotating shaft is matched with the second bearing seat.
The drone head according to claim 2, wherein said second bearing housing is rotatably mounted on said joint Both ends of the post.
The UAV pan/tilt head according to claim 2 or 3 or 4, further comprising a rotation axis rotation control device, wherein the rotation shaft rotation control device is mounted on the first rotation shaft and/or the second rotation shaft The rotating shaft rotation control device includes a clamping ring for being sleeved on a rotating shaft, the clamping ring has an opening, and at the opening, a first clip and a second clip for driving the clamping ring itself to be clamped or loosened are extended to the outside of the ring, A first sensor and/or a second sensor corresponding to the first clip and/or the second clip and for detecting a pressure generated by the swing of the first clip and/or the second clip, and receiving the first a sensor and/or a second sensor signal to control the first clip and the second clip to clamp or release the drive control mechanism, further comprising a sensor mount, the first sensor and / or the second sensor mounted On the sensor mount, the sensor mount is mounted on a bearing housing corresponding to the shaft.
The drone head according to claim 6, wherein said drive control mechanism comprises a contractible extension a first control component, a second control component and a control component mount, the movable end of the first control component is in contact with the outer side of the first clip, and the movable end of the second control component is in contact with the outer side of the second clip The fixed ends of the first control component and the second control component are fixed on the control component mount, and the control component mount is fixed on the clamp ring.
The drone head according to claim 6, wherein said sensor mount is provided with a clip for swinging A groove, the sensor is mounted on the inner wall of the groove.
The drone head according to claim 7, wherein said drive control mechanism further comprises control processing The control processor receives data of the first sensor and the second sensor, and the control processor controls the first control component and the second control component.
The UAV pan/tilt head according to claim 7, wherein said first control component and said second control The movable end of the assembly is provided with a magnet, and the fixed ends of the first control component and the second control component are provided with an electromagnet.
A drone characterized by comprising the drone head according to any one of claims 1 to 10.