WO2019105117A1 - 减振装置、具有此减振装置的云台组件及无人机 - Google Patents

减振装置、具有此减振装置的云台组件及无人机 Download PDF

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Publication number
WO2019105117A1
WO2019105117A1 PCT/CN2018/106871 CN2018106871W WO2019105117A1 WO 2019105117 A1 WO2019105117 A1 WO 2019105117A1 CN 2018106871 W CN2018106871 W CN 2018106871W WO 2019105117 A1 WO2019105117 A1 WO 2019105117A1
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WIPO (PCT)
Prior art keywords
connecting member
vibration damping
bottom wall
damping device
hole
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PCT/CN2018/106871
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English (en)
French (fr)
Inventor
余春
张文超
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深圳市道通智能航空技术有限公司
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Publication of WO2019105117A1 publication Critical patent/WO2019105117A1/zh

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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
    • F16F15/129—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon characterised by friction-damping means

Definitions

  • the invention relates to the technical field of drones, in particular to a vibration damping device, a cloud platform assembly and a drone with the vibration damping device.
  • the drone referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements.
  • UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of drones has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order.
  • the field of anti-terrorism and other fields are widely used.
  • the fuselage will generate higher frequency vibrations and transmit to the pan/tilt assembly.
  • the fuselage of the drone will generate lower frequency vibrations and transmit to the pan/tilt assembly.
  • the vibration damping device between the fuselage and the pan/tilt is only damped by a single damper ball; the damper ball can only be used for vibrations with higher frequency and smaller amplitude. To reduce the vibration, it can not reduce the vibration of the lower frequency and larger amplitude vibration, so that the vibration damping effect of the vibration damping device is worse, and even the vibration loss of the gimbal is invalid and the camera device is damaged.
  • an embodiment of the present invention provides a vibration damping device with good vibration damping effect, a cloud platform assembly having the vibration damping device, and a drone having the same.
  • the embodiment of the present invention provides the following technical solutions:
  • a vibration damping device for connecting a pan/tilt to a carrier, the vibration damping device comprising:
  • a second connecting member configured to be connected to the pan/tilt
  • the second damping element is disposed through the first connecting member and the second connecting member, and the second damping member is axially at the first connecting member Reciprocating movement with the second connecting member;
  • a first damping element is disposed on the second damping element and disposed between the first connecting member and the second connecting member, and two ends of the first damping element are respectively associated with the first
  • the connector is connected to the second connector.
  • the first connector comprises:
  • first mounting portion extending from the first connector body in a direction away from the first connector body, the first mounting portion including a first bottom wall and away from the first bottom wall a first annular side wall extending in a direction of the two connectors;
  • the first connecting hole penetrates the first bottom wall.
  • the first connector body is a rectangular frame structure.
  • the first mounting portion has four, and the four first mounting portions are respectively disposed at four corners of the first connector body.
  • the second connector comprises:
  • a second mounting portion extending from the second connector body in a direction away from the second connector body, the second mounting portion including a second bottom wall and the second bottom a second annular sidewall of the wall that extends away from the first connector;
  • the second connector body is a rectangular frame structure.
  • the second mounting portion has four, and the four second mounting portions are respectively disposed at four corners of the second connector body.
  • the second damping element comprises:
  • first blocking portion and the second blocking portion are respectively disposed at two ends of the connecting rod, and the connecting rod passes through the first connecting hole and the second connecting hole when the first connection
  • the first blocking portion abuts against the first bottom wall
  • the second blocking portion abuts against the second bottom wall.
  • the length of the connecting rod is greater than the height of the first damping element when it is not compressed or stretched.
  • the first damping element includes a main body portion, a first connecting portion and a second connecting portion respectively disposed at two ends of the main body portion;
  • the first connecting portion is located in a receiving space surrounded by the first bottom wall and the first annular side wall, and the first connecting portion abuts the first bottom wall
  • the second The connecting portion is located in a receiving space surrounded by the second bottom wall and the second annular side wall, and the second connecting portion abuts against the second bottom wall.
  • the main body portion is spherical, and the first through hole and the second through hole are opened, wherein the first through hole and the second through hole are perpendicular to the opening direction, and An intersection of a center line of the first through hole and a center line of the second through hole coincides with a center point of the main body portion.
  • the present invention also provides a pan/tilt head assembly comprising: a pan/tilt head, an image pickup device mounted on the pan/tilt head, and the vibration damping device as described above, the vibration damping device and the pan/tilt head connection.
  • the present invention also provides a drone, comprising: a fuselage, an arm connected to the fuselage, a power device disposed on the arm, and a pan/tilt assembly as described above
  • the pan/tilt assembly is mounted to the fuselage.
  • the vibration damping device of the present invention when the vibration is high-frequency, the vibration amplitude is small, and the first vibration-damping member connected to the first connecting member and the second connecting member can perform the vibration damping effect;
  • the vibration amplitude is large, the first damping element is elongated such that the second damping element can abut the first connecting member and the second connecting member and block the between the first connecting member and the second connecting member
  • the spacing is greater than the preset spacing to achieve the effect of damping, such that the damping effects of the first damping element and the second damping element are superimposed, ie, the two work together, thereby increasing the damping and rigidity of the damping device,
  • the vibration damping device can reduce the vibration effect on both high frequency and low frequency vibration.
  • FIG. 1 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a pan/tilt assembly in the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 3 is a schematic structural view of a vibration damping device in the pan/tilt assembly shown in FIG. 2;
  • Figure 4 is a partial cross-sectional view of the vibration damping device of the pan/tilt assembly shown in Figure 3;
  • Fig. 5 is a schematic exploded view showing the structure of a vibration damping device in the pan/tilt assembly shown in Fig. 3.
  • the invention provides a cloud platform assembly, which comprises a vibration damping device, a cloud platform and an imaging device.
  • the cloud platform is equipped with an imaging device to realize the fixing of the imaging device or to adjust the posture of the imaging device at random (for example, changing the height and inclination of the imaging device). And/or direction) and keeping the camera stably in the set posture.
  • the vibration damping device connects the pan/tilt to the carrier, which can reduce the vibration to keep the picture taken by the camera device clear and stable.
  • the imaging device may specifically be a camera, a camera, a camera, or the like.
  • the pan/tilt assembly can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be applied to, but not limited to, a hand-held photographing device, a drone, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt head component may be installed on the drone for aerial photography; or the pan/tilt head component is mounted on a handle as a hand-held photographing device for photographing, recording, etc., and allows the user to manually operate the pan/tilt to control The shooting angle of the camera.
  • a drone 200 includes: a body 210, a arm 220 connected to the body 210, a power unit 230 disposed on the arm 220, and a mounting device
  • the body 210 can carry and connect the pan/tilt assembly 100.
  • the body 210 is a carrier that carries the pan-tilt assembly 100.
  • the arm 220 can be fixedly coupled to the body 210, integrally formed, or foldable relative to the body 210.
  • the power unit 230 includes a motor 231 mounted on the arm 220 away from one end of the body 210 and a propeller 232 connected to the motor shaft of the motor 231.
  • the motor shaft of the motor 231 rotates to drive the propeller 232 to rotate, thereby providing the drone 200 with the power of flight.
  • the drone is a quadrotor drone.
  • the drone may also be a six-rotor drone, an eight-rotor drone, an industrial machine, or the like.
  • the pan/tilt assembly 100 includes a vibration damping device 10, a pan/tilt head 20, and an imaging device 30.
  • the vibration damping device 10 is connected between the body 210 and the platform 20 for reducing or even eliminating vibrations from the drone 200 received by the camera device 30.
  • the pan/tilt head 20 is equipped with an imaging device 30.
  • the pan/tilt head 20 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head. In this embodiment, the pan/tilt head 20 is a three-axis pan/tilt head.
  • the vibration damping device 10 includes a first connecting member 11 connected to the body 210, a second connecting member 12 connected to the pan/tilt head 20, a first damping element 13 and Second damping element 14.
  • the first damping element 13 and the second damping element 14 are both connected between the first connecting member 11 and the second connecting member 12, and the first damping element 13 is sleeved on the first
  • the second damping element 14 and the first damping element 13 allow the second connecting member 12 to move relative to the first connecting member 11 by elastic deformation to achieve the purpose of vibration damping.
  • the number of the first damping element 13 and the second damping element 14 is four.
  • the number of the first damping element 13 and the second damping element 14 is not limited to four, which can be designed as one, two, three according to actual needs. One or four or more.
  • the first connecting member 11 includes a first connecting body 111 and a first mounting extending from the first connecting body 111 away from the first connecting body 111.
  • the first connector body 111 is a rectangular frame structure, and the first mounting portions 112 are shared by four, respectively disposed at four corners of the first connector body 111. .
  • the first connector body 111 is fixedly coupled to the body 210.
  • the first mounting portion 112 includes a first bottom wall 1122 , a first annular sidewall 1123 extending from the first bottom wall 1122 in a direction away from the second connecting member 12 , and a through-the first bottom
  • the first connection hole 1121 of the wall 1122 makes the first bottom wall 1122 have an annular shape.
  • the first connecting member 11 is screwed to the body 210. It can be understood that, in some other embodiments, the first connecting member 11 and the body 210 may be connected by other means, such as, for example, engaging, gluing, and interference fit; A connector 11 can also be integrally formed with the body 210.
  • the second connecting member 12 includes a second connecting body 121 and a second mounting portion 122 of the second connecting body 121 extending away from the second connecting body 121 .
  • the second connector body 121 is a rectangular frame structure, and the second mounting portions 122 are shared by four, and are respectively disposed at four corner positions of the second connector body 121.
  • the second mounting portion 122 includes a second bottom wall 1222 , a second annular sidewall 1223 extending from the second bottom wall 1222 in a direction away from the first connecting member 11 , and a second bottom through the second bottom
  • the second connection hole 1221 of the wall 1222 makes the second bottom wall 1222 have an annular shape.
  • the shapes of the first connector body 111 and the second connector body 121 are not limited to the rectangular frame structure. In some other embodiments, the shape of the first connector body 111 and the second connector body 121 may also be a diamond shape, a circle shape, a pentagon shape, or the like according to actual needs.
  • the first damping element 13 includes a main body portion 133, a first connecting portion 132, a second connecting portion 134, and a through-the-body portion 133, a first connecting portion 132, and a second connection.
  • the first connecting portion 133 and the second connecting portion 134 are respectively connected to opposite ends of the main body portion 132.
  • the first connecting portion 133 is received in the receiving space surrounded by the first bottom wall 1122 and the first annular side wall 1123 and is in contact with the first bottom wall 1122. It can be understood that the outer diameter of the first connecting portion 132 is larger than the diameter of the first connecting hole 1121.
  • the second connecting portion 134 is received in the receiving space surrounded by the second bottom wall 1222 and the second annular side wall 1223 and is in contact with the second bottom wall 1222. Similarly, the outer diameter of the second connecting arm 134 is larger than the diameter of the second connecting hole 1221.
  • the main body portion 133 has elasticity, the main body portion 133 can be stretched or compressed along its axial direction, and when the first connecting member 11 and the second connecting member 12 move relative to each other (ie, the drone vibrates), The main body portion 132 exhibits a vibration damping effect.
  • the first damping element 13 is a damper ball.
  • the main body portion 132 is substantially spherical, and defines a first through hole and a second through hole, wherein the first through hole and the second through hole are substantially perpendicular to the opening direction, and An intersection of a center line of the first through hole and a center line of the second through hole coincides with a center point of the main body portion 132.
  • a plurality of through holes are formed in one of the main body portions 132 to further enhance the vibration damping effect.
  • the body portion 132 is made of an elastic material such as rubber, silica gel or the like. It can be understood that in other embodiments, the body portion 132 can also have other shapes, such as a polyhedron, an ellipsoid, and the like.
  • the first through hole and the second through hole may be omitted, or the through hole may be opened on the main body portion 132 except the first through hole and the second through hole.
  • first connecting portion 133 and the second connecting portion 134 and the main body portion 132 are integrally formed. In some other embodiments, the first connecting portion 133 and the second connecting portion 134 may also be separately formed and fixedly connected to the main body portion 132 by gluing or the like.
  • the second damping element 14 has elasticity, including a first blocking portion 141, a connecting rod 142 and a second blocking portion 143.
  • the first blocking portion 141 and the second blocking portion 143 are respectively disposed on the connecting rod 142. Both ends.
  • the first blocking portion 141 has a truncated cone shape, and the connecting rod 142 sequentially passes through the first connecting hole 1121, the through hole 131, and the second connecting hole 1221.
  • the second damping element 14 is reciprocally movable between the first connecting member 11 and the second connecting member 12 along its axial direction.
  • the length of the connecting rod 142 is greater than the height of the first damping element 13 (the first damping element 13 and the second damping element 14 are both in a non-stressed state), in other words, the connecting rod 142 is in turn Through the first connecting member 11, the first damping element 13 and the second connecting member 12, and the distance between the first blocking portion 141 and the second blocking portion 143 is larger than the first connecting member 11 and the first The spacing of the two connectors 12.
  • the first connecting member 11 is movable relative to the second connecting member 12 along an axis of the connecting rod 142.
  • the second blocking portion 143 has a truncated cone shape, and the diameter of the first blocking portion 141 is larger than the diameter of the first connecting hole 1121; and the diameter of the second blocking portion 143 is larger than the diameter of the second connecting hole 1221.
  • the second damping element 14 is configured to block the first connecting member 11 and the second connecting during the relative movement of the first connecting member 11 and the second connecting member 12 along the axis of the connecting rod 142
  • the spacing between the members 12 is greater than a preset spacing (the predetermined spacing is: when the second connecting member 12 abuts the blocking portion 143, the first connecting member 11 and the second connecting member 12 The spacing between them) to achieve enhanced damping.
  • the connecting rod 142 has a circular cross-sectional shape.
  • the first connecting hole 1121, the second connecting hole 1221, and the through hole 131 have a circular shape.
  • the cross-sectional shape of the connecting rod 142 can also be designed as a rectangle, an ellipse or a triangle, etc. according to the actual situation.
  • the shape of 131 is adapted to it.
  • the first blocking portion 141 is fixedly connected to the second mounting portion 122, and the connecting rod 142 sequentially passes through the first connecting hole 1121, the through hole 131, and the second.
  • the hole 1221 is connected.
  • the length of the connecting rod 142 is greater than the height of the first damping element 13 in an unstretched or compressed state (unstressed state), in other words, the connecting rod 142 sequentially penetrates the first connecting member 11 , A damping element 13 and a second connecting member 12, and the second blocking portion 143 has a spacing from the first mounting portion 112 of the first connecting member 11.
  • the pan/tilt assembly 100 is suspended from the body 210 of the drone, and the airframe 210 generates a high frequency during the flight. Vibration is transmitted to the pan/tilt assembly 100.
  • the drone 200 changes the flight state in the air (such as changing the flight direction or changing the tilt angle of the fuselage) or is affected by the airflow, the fuselage 210 of the drone 200 generates a lower frequency vibration, and The cloud platform component 100 is delivered.
  • the amplitude of the body 210 is smaller, and the first damping element 13 allows the second connecting member 12 to move relative to the first connecting member 11 by elastic deformation to filter
  • This higher frequency vibration causes the pan/tilt head 20 and the camera unit 30 to remain stable, thereby ensuring that the picture captured by the camera unit 30 is clear and stable.
  • the amplitude of the body 210 is larger, and correspondingly, the elastic deformation of the first damping element 13 is larger; the first connecting member 11 and the second connecting member 12 are The spacing of the first connecting member 11 and the second connecting member 12 is increased to a certain value, the second blocking portion 143 abuts the second connecting member 12 to block the first The spacing between a connecting member 11 and the second connecting member 12 is further enlarged to provide a vibration damping effect.
  • the damping effects of the first damping element 13 and the second damping element 14 are superimposed, that is, the two interact together, thereby increasing the damping and rigidity of the damping device 10, thereby filtering out the frequency. Low vibration.

Abstract

一种减振装置、具有此减振装置的云台组件及无人机，该减振装置（100）包括：第一连接件（11）、第二连接件（12）、设置于第一连接件（11）和第二连接件（12）之间的第一减振元件（13）和第二减振元件（14），其中，第一减振元件（13）的两端分别与第一连接件（11）和第二连接件（12）连接，并且第一减振元件（13）套设于第二减振元件（14）；第二减振元件（14）穿过第一连接件（11）和第二连接件（12），在第一连接件（11）和第二连接件（12）相对运动的过程中，第二减振元件（13）可阻止第一连接件（11）和第二连接件（12）之间的间距大于预设间距。通过以上方式，第一减振元件（13）和第二减振元件（14）的减振效果叠加，从而增加了减振装置的阻尼和刚性，进而使减振装置能够对高频和低频振动均有减振效果。

Description

减振装置、具有此减振装置的云台组件及无人机
【相关申请的交叉引用】
本申请要求申请号为201711213628.X，申请日为2017年11月28日的中国专利申请的优先权，其全部内容通过引用结合于本文。
【技术领域】
本发明涉及无人机技术领域，尤其涉及一种减振装置、具有此减振装置的云台组件及无人机。
【背景技术】
无人驾驶飞机，简称无人机(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人机通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人机的使用范围已经扩宽到军事、科研、民用三大领域，具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
无人机在飞行过程中，机身会产生频率较高的振动，并向云台组件传递。此外，在无人机在空中改变飞行状态(如改变飞行方向或改变机身倾斜角度)或者受到空中气流影响时，无人机的机身会产生频率较低的振动，并向云台组件传递。
在现有的无人机中，位于机身和云台之间的减振装置，仅通过单一的减振球进行减振；该减振球仅能对频率较高、振幅较小的振动起到减振作用，而不能对频率较低、振幅较大的振动起到减振作用，从而使得减振装置的减振效果较差，甚至造成云台减振失效并损坏摄像装置。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种减振效果佳的减振装置、具有此减振装置的云台组件及具有此云台组件的无人机。
为解决上述技术问题，本发明实施例提供以下技术方案：
一种减振装置，用于将云台连接至载体，所述减振装置包括：
第一连接件，用于与所述载体连接；
第二连接件，用于与所述云台连接；
第二减振元件，所述第二减振元件穿设于所述第一连接件和所述第二连接件，且所述第二减振元件可沿其轴向在所述第一连接件与所述第二连接件之间往复移动；
第一减振元件，套设于所述第二减振元件，且设置于所述第一连接件和第二连接件之间，所述第一减振元件的两端分别与所述第一连接件和第二连接件连接。
在本发明的一实施例中，所述第一连接件包括：
第一连接件主体；
第一安装部，自所述第一连接件主体向远离所述第一连接件主体的方向延伸，所述第一安装部包括第一底壁和自所述第一底壁向远离所述第二连接件的方向弯折延伸的第一环形侧壁；以及
第一连接孔，贯通所述第一底壁。
在本发明的一实施例中，所述第一连接件主体为矩形框架结构。
在本发明的一实施例中，所述第一安装部有四个，四个所述第一安装部分别设于所述第一连接件主体的四个角位处。
在本发明的一实施例中，所述第二连接件包括：
第二连接件主体；
第二安装部，所述第二安装部自所述第二连接件主体向远离所述第二连接件主体的方向延伸，所述第二安装部包括第二底壁和自所述第二底壁向远离所述第一连接件弯折延伸的第二环形侧壁；以及
第二连接孔，所述第二连接孔贯通所述第二底壁。
在本发明的一实施例中，所述第二连接件主体为矩形框架结构。
在本发明的一实施例中，所述第二安装部有四个，四个所述第二安装部分别设于所述第二连接件主体的四个角位处。
在本发明的一实施例中，所述第二减振元件包括：
第一阻挡部；
连接杆；
第二阻挡部；
其中，所述第一阻挡部和所述第二阻挡部分别设置于所述连接杆的两端，所述连接杆穿过所述第一连接孔和第二连接孔，当所述第一连接件和第二连接件相对运动至所述第一底壁至所述第二底壁的距离等于所述连接杆的长度时，所述第一阻挡部与所述第一底壁抵接，所述第二阻挡部与所述第二底壁抵接。
在本发明的一实施例中，所述连接杆的长度大于所述第一减振元件在未被压缩或拉伸时的高度。
在本发明的一实施例中，所述第一减振元件包括主体部、分别设于所述主体部两端的第一连接部和第二连接部；
所述第一连接部位于由所述第一底壁和所述第一环形侧壁围成的收容空间内，且所述第一连接部与所述第一底壁抵接，所述第二连接部位于由所述第二底壁和所述第二环形侧壁围成的收容空间内，且所述第二连接部与所述第二底壁抵接。
在本发明的一实施例中，所述主体部为球形，其开设有第一贯孔和第二贯孔，其中，所述第一贯孔和第二贯孔的开孔方向垂直，且所述第一贯孔的中心线和第二贯孔的中心线的交点与所述主体部的中心点重合。
为解决其技术问题，本发明还提供了一种云台组件，包括云台、搭载于所述云台的摄像装置和如上述所述的减振装置，所述减振装置与所述云台连接。
为解决其技术问题，本发明还提供了一种无人机，包括：机身、与所述机身相连的机臂、设于所述机臂的动力装置和如上述所述的云台组件，所述云台组件安装于所述机身。
本发明的减振装置，在高频振动时，振动幅值很小，通过与第一连接件和第二连接件连接的第一减振元件就可以起到减振的效果；在低频振动时，振动幅值很大，第一减振元件被拉长使得第二减振元件可以与第一连接件和 第二连接件抵接并阻止所述第一连接件和第二连接件之间的间距大于预设间距以起到减振的效果，这样第一减振元件和第二减振元件的减振效果叠加，即，两者共同起作用，从而增加了减振装置的阻尼和刚性，进而使减振装置能够对高频和低频震动均有减振效果。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的一种无人机的结构示意图；
图2为图1所示的无人机中云台组件的结构示意图；
图3为图2所示的云台组件中减振装置的结构示意图；
图4为图3所示的云台组件中减振装置的局部剖视图；
图5为图3所示的云台组件中减振装置的结构示意分解图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“电连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
本发明提供一种云台组件，包括减振装置、云台和摄像装置，云台搭载摄像装置，以实现摄像装置的固定、或随意调节摄像装置的姿态(例如，改变摄像装置的高度、倾角和/或方向)以及使摄像装置稳定保持在设定的姿态上。减振装置将云台连接到载体，可起到减振作用，以保持摄像装置拍摄的画面清晰和稳定。摄像装置具体可以是：相机、摄影机、摄像头等。该云台组件可作为摄影、照相、监测、采样的辅助装置，其可应用在但不限于，手持拍摄设备、无人机、无人船或者无人车等载体上。例如，上述云台组件可安装于无人机上，以进行航拍工作；或者，上述云台组件安装于一手柄上作为手持式拍摄设备进行拍照、录像等工作，并允许用户手动操作云台来控制摄像装置的拍摄角度。
以下将以上述云台组件应用于无人机为例，对云台组件的具体结构进行详细描述。
如图1所示，本发明其中一实施例提供的一种无人机200包括：机身210、与机身210相连的机臂220、设于所述机臂220的动力装置230和安装于机身210上的云台组件100。该机身210能够承载和连接所述云台组件100，在实际工作中，机身210为承载云台组件100的载体。机臂220可以与机身210固定连接、一体成型或可相对于所述机身210折叠。动力装置230包括安装于所述机臂220远离所述机身210一端的电机231和与电机231的电机轴相连的螺旋桨232。所述电机231的电机轴转动以带动所述螺旋桨232旋转，从而给所述无人机200提供飞行的动力。在本实施例中，该无人机为四旋翼无人机。在其他可能的实施例中，该无人机还可以是六旋翼无人机、八旋翼无人机、行业机等。
如图2所示，所述云台组件100包括：减振装置10、云台20和摄像装置30。所述减振装置10连接于所述机身210和云台20之间，用于减少甚至消除摄像装置30受到的来自于无人机200的振动。所述云台20搭载摄像装置30。所述云台20可为单轴云台、双轴云台或三轴云台。在本实施例中，所述云台20为三轴云台。
如图3和4所示，所述减振装置10包括与所述机身210连接的第一连接 件11、与所述云台20连接的第二连接件12、第一减振元件13和第二减振元件14。所述第一减振元件13和所述第二减振元件14均连接于所述第一连接件11和第二连接件12之间，所述第一减振元件13套设于所述第二减振元件14，并且所述第一减振元件13通过弹性形变允许所述第二连接件12相对于第一连接件11运动，以达到减振的目的。在本实施例中，所述第一减振元件13和第二减振元件14的数量均为四个。
可以理解的是，在一些其它实施例中，所述第一减振元件13和第二减振元件14的数量不限于四个，其可以根据实际情况的需要，设计成一个、两个、三个或四个以上。
具体的，如图5所示，所述第一连接件11包括第一连接件主体111和自所述第一连接件主体111向远离所述第一连接件主体111的方向延伸的第一安装部112。在本发明的一实施例中，所述第一连接件主体111为矩形框架结构，所述第一安装部112共有四个，分别设置于所述第一连接件主体111的四个角位处。所述第一连接件主体111与所述机身210固定连接。所述第一安装部112包括第一底壁1122、自所述第一底壁1122向远离所述第二连接件12的方向弯折延伸的第一环形侧壁1123以及贯通所述第一底壁1122的第一连接孔1121。第一连接孔1121使得所述第一底壁1122呈圆环状。
在本实施例中，所述第一连接件11与所述机身210螺纹连接。可以理解的是，在其它一些实施例中，所述第一连接件11与所述机身210之间可以通过其它方式连接，例如，卡合、胶合以及过盈配合等；另外，所述第一连接件11还可以与所述机身210一体成型。
所述第二连接件12包括第二连接件主体121和子所述第二连接件主体121向远离所述第二连接件主体121方向延伸的第二安装部122。所述第二连接件主体121为矩形框架结构，所述第二安装部122共有四个，分别设置于所述第二连接件主体121的四个角位处。所述第二安装部122包括第二底壁1222、自所述第二底壁1222向远离所述第一连接件11的方向弯折延伸的第二环形侧壁1223以及贯通所述第二底壁1222的第二连接孔1221。所述第二连接孔1221使得所述第二底壁1222呈圆环状。
可以理解的是，所述第一连接件主体111和第二连接件主体121的形状不限于矩形框架结构。在其它一些实施例中，所述第一连接件主体111和第 二连接件主体121的形状还可以是根据实际需求设计为菱形、圆形或者五边形等。
在本发明的一实施例中，所述第一减振元件13包括主体部133、第一连接部132、第二连接部134和贯通所述主体部133、第一连接部132和第二连接部134的通孔131。所述第一连接部133和第二连接部134分别连接于所述主体部132相对的两端。所述第一连接部133收容于由第一底壁1122和第一环形侧壁1123围成的收容空间内且与所述第一底壁1122抵接。可以理解的，第一连接部132的外径尺寸大于第一连接孔1121的直径。第二连接部134收容于有第二底壁1222和第二环形侧壁1223围成的收容空间内且与所述第二底壁1222抵接。同样的，第二连接臂134的外径尺寸大于所述第二连接孔1221的直径。所述主体部133具有弹性，所述主体部133可沿其轴向被拉伸或压缩，所述第一连接件11和第二连接件12发生相对运动时(即无人机发生振动)，所述主体部132发挥减振作用。在本发明的一实施例中，所述第一减振元件13为一减振球。
在其它一些实施例中，所述主体部132大致为球形，其开设有第一贯孔和第二贯孔，其中所述第一贯孔和第二贯孔的开孔方向大致垂直，且所述第一贯孔的中心线和第二贯孔的中心线的交点与所述主体部132的中心点重合。在一个所述主体部132上开设多个贯孔，可以进一步提升其减振效果。所述主体部132为弹性材料制成，例如橡胶、硅胶等。可以理解，在其它一些实施例中，所述主体部132还可以为其它形状，例如多面体、椭球体等。所述第一贯孔和第二贯孔可以省略，或者所述主体部132上还可以开设有除所述第一贯孔和第二贯孔以外的其它贯孔。
在本实施例中，所述第一连接部133及第二连接部134与所述主体部132为一体成型结构。在其它一些实施例中，所述第一连接部133和第二连接部134也可分别成型，通过胶合等方式与所述主体部132固定连接。
所述第二减振元件14具有弹性，包括第一阻挡部部141、连接杆142和第二阻挡部143，所述第一阻挡部141和第二阻挡部143分别设置于所述连接杆142的两端。所述第一阻挡部部141呈圆台状，所述连接杆142依次穿过第一连接孔1121、通孔131和第二连接孔1221。第二减振元件14可沿其轴向在所述第一连接件11和第二连接件12之间往复移动。所述连接杆142的 长度大于所述第一减振元件13的高度(所述第一减振元件13和第二减振元件14均处于非受力状态)，换言之，所述连接杆142依次贯穿第一连接件11、第一减振元件13和第二连接件12，并且所述第一阻挡部141和所述第二阻挡部143的间距大于所述第一连接件11和所述第二连接件12的间距。所述第一连接件11可沿所述连接杆142的轴线相对于所述第二连接件12运动。所述第二阻挡部143呈圆台状，并且所述第一阻挡部141的直径大于所述第一连接孔1121的直径；和第二阻挡部143的直径大于所述第二连接孔1221的直径。所述第二减振元件14用于在所述第一连接件11和第二连接件12沿所述连接杆142的轴线相对运动的过程中，阻止所述第一连接件11和第二连接件12之间的间距大于预设间距(所述预设间距为：当所述第二连接件12与所述阻挡部143抵接时，所述第一连接件11和第二连接件12之间的间距)，以实现增强减振的效果。即，当所述第一连接件11和第二连接件12相对运动至所述第一底壁1122至所述第二底壁1222的距离等于所述连接杆142的长度时，所述第一阻挡部141与所述第一底壁1122抵接，所述第二阻挡部143与所述第二底壁1222抵接。
在本实施例中，所述连接杆142的横截面形状为圆形，相对应的，所述第一连接孔1121、第二连接孔1221和通孔131的形状均为圆形。在其它一些实施例中，所述连接杆142的横截面形状还可以根据实际情况的需要，设计为矩形、椭圆形或者三角形等，所述第一连接孔1121、第二连接孔1221和通孔131的形状与其相适配。
可以理解的是，在其它一些实施例中，所述第一阻挡部141与所述第二安装部122固定连接，所述连接杆142依次穿过第一连接孔1121、通孔131和第二连接孔1221。所述连接杆142的长度大于所述第一减振元件13在未被拉伸或压缩状态下(未受力状态)的高度，换言之，所述连接杆142依次贯穿第一连接件11、第一减振元件13和第二连接件12，并且所述第二阻挡部143与所述第一连接件11的第一安装部112之间具有间距。
在使用上述无人机200进行航拍的过程中，所述云台组件100悬挂于所述无人机的机身210上，无人机200在飞行过程中，机身210会产生频率较高的振动，并向所述云台组件100传递。此外，在无人机200在空中改变飞行状态(如改变飞行方向或改变机身倾斜角度)或者受到空中气流影响时， 无人机200的机身210会产生频率较低的振动，并向所述云台组件100传递。当机身210产生频率较高的振动时，机身210的振幅较小，所述第一减振元件13通过弹性形变允许所述第二连接件12相对于第一连接件11运动，以过滤该频率较高的振动，从而使得云台20和摄像装置30保持平稳，从而确保摄像装置30拍到的画面清晰并平稳。当机身210产生频率较低的振动时，机身210的振幅较大，相应的，所述第一减振元件13的弹性形变较大；所述第一连接件11和第二连接件12的间距变化较大，所述第一连接件11和第二连接件12的间距增大至一定数值时，所述第二阻挡部143抵接所述第二连接件12，以阻止所述第一连接件11和第二连接件12的间距进一步扩大，从而起到减振作用。在此过程中，第一减振元件13和第二减振元件14的减振效果叠加，即，两者共同发生作用，从而增加了减振装置10的阻尼和刚性，进而过滤掉该频率较低的振动。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (13)

  1. 一种减振装置(10)，用于将云台(20)连接至载体，其特征在于，所述减振装置(10)包括：
    第一连接件(11)，用于与所述载体连接；
    第二连接件(12)，用于与所述云台(20)连接；
    第二减振元件(14)，所述第二减振元件(14)穿设于所述第一连接件(11)和所述第二连接件(12)，且所述第二减振元件(14)可沿其轴向在所述第一连接件(11)与所述第二连接件(12)之间往复移动；
    第一减振元件(13)，套设于所述第二减振元件(14)，且设置于所述第一连接件(11)和第二连接件(12)之间，所述第一减振元件(13)的两端分别与所述第一连接件(11)和第二连接件(12)连接。
  2. 根据权利要求1所述的减振装置(10)，其特征在于，所述第一连接件(11)包括：
    第一连接件主体(111)；
    第一安装部(112)，自所述第一连接件主体(111)向远离所述第一连接件主体(111)的方向延伸，所述第一安装部(112)包括第一底壁(1122)和自所述第一底壁(1122)向远离所述第二连接件(12)的方向弯折延伸的第一环形侧壁(1123)；以及
    第一连接孔(1121)，贯通所述第一底壁(1122)。
  3. 根据权利要求2所述的减振装置(10)，其特征在于，所述第一连接件主体(111)为矩形框架结构。
  4. 根据权利要求3所述的减振装置(10)，其特征在于，所述第一安装部(112)有四个，四个所述第一安装部(112)分别设于所述第一连接件主体(111)的四个角位处。
  5. 根据权利要求2-4中任一项所述的减振装置(10)，其特征在于，所述 第二连接件(12)包括：
    第二连接件主体(121)；
    第二安装部(122)，所述第二安装部(122)自所述第二连接件主体(121)向远离所述第二连接件主体(121)的方向延伸，所述第二安装部(122)包括第二底壁(1222)和自所述第二底壁(1222)向远离所述第一连接件(11)弯折延伸的第二环形侧壁(1223)；以及
    第二连接孔(1221)，所述第二连接孔(1221)贯通所述第二底壁(1222)。
  6. 根据权利要求5所述的减振装置(10)，其特征在于，所述第二连接件主体(121)为矩形框架结构。
  7. 根据权利要求5或6所述的减振装置，其特征在于，所述第二安装部(122)有四个，四个所述第二安装部(122)分别设于所述第二连接件主体(121)的四个角位处。
  8. 根据权利要求2-7中任一项所述的减振装置(10)，其特征在于，所述第二减振元件(14)包括：
    第一阻挡部(141)；
    连接杆(142)；
    第二阻挡部(143)；
    其中，所述第一阻挡部(141)和所述第二阻挡部(143)分别设置于所述连接杆(142)的两端，所述连接杆(142)穿过所述第一连接孔(1121)和第二连接孔(1221)，当所述第一连接件(11)和第二连接件(12)相对运动至所述第一底壁(1122)至所述第二底壁(1222)的距离等于所述连接杆(142)的长度时，所述第一阻挡部(141)与所述第一底壁(1122)抵接，所述第二阻挡部(143)与所述第二底壁(1222)抵接。
  9. 根据权利要求8所述的减振装置(10)，其特征在于，所述连接杆(142)的长度大于所述第一减振元件(13)在未被压缩或拉伸时的高度。
  10. 根据权利要求2-9中任一项所述的减振装置(10)，其特征在于，
    所述第一减振元件(13)包括主体部(133)、分别设于所述主体部(133)两端的第一连接部(132)和第二连接部(134)；
    所述第一连接部(132)位于由所述第一底壁(1122)和所述第一环形侧壁(1123)围成的收容空间内，且所述第一连接部(132)与所述第一底壁(1122)抵接，所述第二连接部(134)位于由所述第二底壁(1222)和所述第二环形侧壁(1123)围成的收容空间内，且所述第二连接部(134)与所述第二底壁(1222)抵接。
  11. 根据权利要求10所述的减振装置(10)，其特征在于，
    所述主体部(133)为球形，其开设有第一贯孔和第二贯孔，其中，所述第一贯孔和第二贯孔的开孔方向垂直，且所述第一贯孔的中心线和第二贯孔的中心线的交点与所述主体部(133)的中心点重合。
  12. 一种云台组件(100)，其特征在于，包括云台(20)、搭载于所述云台(20)的摄像装置(30)和如权利要求1-11中任一项所述的减振装置(10)，所述减振装置(10)与所述云台(20)连接。
  13. 一种无人机(200)，其特征在于，包括：机身(210)、与所述机身(210)相连的机臂、设于所述机臂的动力装置和如权利要求12所述的云台组件(100)，所述云台组件(100)安装于所述机身(210)。
PCT/CN2018/106871 2017-11-28 2018-09-21 减振装置、具有此减振装置的云台组件及无人机 WO2019105117A1 (zh)

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