WO2019113775A1

WO2019113775A1 - Unmanned aerial vehicle and pan-tilt shock-absorbing mechanism and pan-tilt assembly therefor

Info

Publication number: WO2019113775A1
Application number: PCT/CN2017/115611
Authority: WO
Inventors: 王平; 王婷
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-12
Filing date: 2017-12-12
Publication date: 2019-06-20
Also published as: CN109562845A; CN109562845B

Abstract

An unmanned aerial vehicle (10) and a pan-tilt shock-absorbing mechanism (30) and a pan-tilt assembly (20) therefor. The pan-tilt shock-absorbing mechanism (30) comprises a connecting frame (31), a shock-absorbing member (32) and an anti-detachment mechanism (33); the connecting frame (31) is configured to connect a pan-tilt (22) of the unmanned aerial vehicle; the shock-absorbing member (32) is connected to a body (11) of the unmanned aerial vehicle and the connecting frame (31) and generates, when the connecting frame (31) moves relative to the body (11) of the unmanned aerial vehicle, an elastic deformation to have a cushioning effect; the anti-detachment mechanism (33) is connected to the body (11) of the unmanned aerial vehicle and the connecting frame (31) to prevent, when the amount of movement of the connecting frame (31) relative to the body (11) of the unmanned aerial vehicle is greater than or equal to a threshold, the connecting frame (31) from continuing to move, so that when the amount of movement of the connecting frame (31) relative to the body (11) of the unmanned aerial vehicle is greater than or equal to the threshold, the shock-absorbing member (32) and the body (11) of the unmanned aerial vehicle and the connecting frame (31) remain connected. Therefore, the shock-absorbing member (32) is prevented from being detached from the body (11) of the unmanned aerial vehicle and the connecting frame (31); the structural stability of the pan-tilt shock-absorbing mechanism (30) is improved; and the safety and reliability of the pan-tilt (22) and a load (21) which are connected to the pan-tilt shock-absorbing mechanism (30) are further improved.

Description

UAV and its pan/tilt mechanism and pan/tilt assembly

Technical field

The invention relates to the technical field of drones, in particular to a drone and a pan/tilt mechanism and a pan/tilt assembly.

Background technique

In the current pan/tilt design, the pan/tilt is generally connected to a connecting frame, and then the connecting frame and the body of the drone are connected by a shock absorbing part. When the body moves, the connecting frame is opposite to the generating machine. In the body movement, the shock absorbing parts are elastically deformed, so that the pan/tilt and the camera connected to the pan/tilt are buffer-damped, but in this case, when the weight of the camera of the gimbal is too large or the amplitude of the drone is too large , the movement of the connecting frame relative to the fuselage is too large, and there is a risk that the shock absorbing parts will be detached from the body or the connecting frame of the drone.

Summary of the invention

The invention mainly provides a UAV and a PTZ damping mechanism and a PTZ component, and aims to solve the problem that the weight of the camera of the PTZ is too large or the UAV is too large when the UAV is running. The risk of the drone's fuselage or connecting frame being detached.

In order to solve the above technical problem, the technical solution adopted by the present invention is: providing the pan-tilt damper mechanism includes: a connecting frame for connecting the pan/tilt of the drone; and a shock absorbing member connecting the drone a fuselage and the connecting frame, and elastically deforming when the connecting frame moves relative to the fuselage of the drone, thereby functioning as a cushioning shock absorber; and a retaining mechanism connecting the drone The airframe and the connecting frame are configured to prevent the connecting frame from continuing to move when the amount of movement of the connecting frame relative to the body of the drone is greater than or equal to a threshold.

Wherein the detachment prevention mechanism includes a protection rope for tightening when the movement amount of the connection bracket relative to the fuselage of the drone is greater than or equal to a threshold value to prevent the connection bracket Continue to exercise.

Wherein the retaining mechanism further comprises a connecting member, the connecting member and The connecting frame is connected, and the protective rope is disposed on the connecting member and the two ends are connected to the body of the drone.

Wherein the connecting member is provided with a sliding slot, the protective rope passes through the sliding slot, and when the amount of movement of the connecting frame relative to the fuselage of the drone is less than the threshold, Movement in the chute.

Wherein, the protection rope is a rigid rope, and the rigid rope is in a relaxed state when the movement amount of the connecting frame relative to the body of the drone is less than the threshold.

The connecting member includes a first sub-connecting member and a second sub-connecting member, and the first sub-connecting member and the second sub-connecting member are fixedly fastened to the connecting on opposite sides of the connecting frame frame.

Wherein, both ends of the protection rope are provided with a fixing portion disposed in an annular shape, and the anti-off mechanism further includes a fixing member, the fixing member passes through the fixing portion and is connected to the fuselage of the drone. So that both ends of the protection cord are connected to the fuselage of the drone.

Wherein, the threshold is set such that when the anti-off mechanism prevents the connecting frame from continuing to move, the shock absorbing member remains in a connected state with the body of the drone and the connecting frame.

Wherein the connecting frame comprises a connecting frame body for connecting the pan/tilt head and a plurality of connecting arms connected to the connecting frame main body and extending radially, the damping member is freely connected to the connecting arm A shock absorbing ball between the end and the body.

Wherein, the damping ball contains a damping liquid.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a pan/tilt head assembly including a load, a pan/tilt head, and the above-mentioned pan/tilt damper mechanism, the load and the pan/tilt head Connected, the pan/tilt is connected to the pan-tilt mechanism.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a drone that includes a fuselage and the above-described pan/tilt assembly, and the pan/tilt assembly is coupled to the fuselage.

The utility model has the beneficial effects that the cloud platform damping mechanism provided by the invention comprises a connecting frame, a damping component and a anti-dropping mechanism, and the connecting frame is used for connecting the gimbal of the drone, and the shock absorption is different from the prior art. The unit connects the fuselage and the connecting frame of the drone, and elastically deforms when the connecting frame moves relative to the body of the drone, thereby buffering and absorbing the shock, and the anti-off mechanism is connected to the body of the drone and a connecting frame for preventing the connecting frame from continuing to move when the amount of movement of the connecting frame relative to the body of the drone is greater than or equal to a threshold value, and further, when the amount of movement of the connecting frame relative to the body of the drone is greater than or equal to a threshold value, The shock absorbing member and the unmanned aerial vehicle body and the connecting frame are still connected, preventing the shock absorbing member from being separated from the unmanned aerial vehicle body and the connecting frame, thereby improving the structural stability of the cloud platform damping mechanism, thereby improving the cloud The safety and reliability of the gimbal and load connected by the shock absorption mechanism.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings may be obtained according to these drawings without any creative work, wherein:

1 is a schematic structural view of an inorganic person embodiment provided by the present invention;

Figure 2 is an exploded perspective view of the pan/tilt mechanism of Figure 1;

Figure 3 is a schematic cross-sectional view of the shock absorbing member of Figure 2; Figure 4 is a schematic cross-sectional view of the shock absorbing member of Figure 3 connected to the body and the connecting frame;

Figure 5 is a schematic view showing the assembly of the pan/tilt mechanism of Figure 2;

Figure 6 is a schematic view showing the structure of the first sub-connecting member of Figure 2;

Detailed ways

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, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of an embodiment of a drone 10 according to the present invention. Optionally, the unmanned aerial vehicle 10 of the present embodiment is an unmanned aerial vehicle, such as a rotorcraft, a fixed-wing aircraft, and the like. The drone 10 of the example includes a body 11 and a pan/tilt assembly 20 connected to the body 11.

The pan/tilt assembly 20 includes a load 21, a pan/tilt head 22, and a pan/tilt damper mechanism 30.

Optionally, the load 21 is a camera, such as a camera, to raise the drone 10 when it is flying. For aerial photography.

The pan/tilt 22 is connected to the load 21 to carry the load 21. Alternatively, 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.

The pan/tilt mechanism 30 is coupled to the pan/tilt 22 to provide cushioning protection for the panhead assembly 20 during operation of the drone 10.

Referring to FIG. 1 and FIG. 2 together, the pan-tilt damping mechanism 30 includes a connecting frame 31, a damping member 32, and a retaining mechanism 33.

The connecting frame 31 is connected to the platform 22 of the drone 10 to carry the pan/tilt assembly 20 . Specifically, the connecting frame 31 includes a connecting frame body 311 for connecting the pan/tilt head 22 and a plurality of connecting frame body 311 Connecting arm 312.

The connecting frame main body 311 is provided with a device space 3111. The gimbal 22 extends at least partially into the device space 3111 to be connected with the connecting frame main body 311. The plurality of connecting arms 312 extend radially. Alternatively, in this embodiment, FIG. For example, three connecting arms 312 extending radially are further provided. Further, the connecting arm 312 is provided with a hollow portion 3121, which can reduce the weight of the entire connecting frame 31.

Referring to FIG. 2, FIG. 3 and FIG. 4 together, the damper member 32 is connected to the body 11 of the unmanned aerial vehicle 10 and the connecting frame 31. In the embodiment, the damper member 32 is located at the connecting arm of the body 11 and the connecting frame 31. The free end of the 312 is connected between the fuselage 11 and the connecting frame 31. It can be understood that the free end of the connecting arm 312 is an end of the connecting arm 312 away from the connecting body 311.

Specifically, as shown in FIG. 3 , the damper member 32 includes a top end 321 , a bottom end 322 , and a peripheral side wall 323 connecting the top end 321 and the bottom end 322 , wherein the side of the peripheral side wall 323 near the top end 321 is first. The engaging portion 3231 has a second engaging portion 3232 disposed on a side of the peripheral side wall 323 near the bottom end 322. As shown in FIG. 4, the connecting arm 312 is provided with a third engaging portion 3122, and the body 11 is provided with a fourth portion. The engaging portion 111, the first engaging portion 3231 is engaged with the third engaging portion 3122, and the second engaging portion 3232 is engaged with the fourth engaging portion 111 so that the shock absorbing member 32 and the connecting arm 312 and The body 11 is snap-fitted, and after the snap-fit connection, the adhesive can be applied at the position of the engagement to increase the fastness of the shock absorbing member 32 to the connecting arm 312 and the body 11.

Optionally, the first engaging portion 3231 and the second engaging portion 3232 are card slots, and the third engaging portion 3122 and the fourth engaging portion 111 are protrusions corresponding to the card slots. Wherein, the shock absorbing member 32 is in the connecting frame 31 phase When the body 11 of the drone 10 moves, it undergoes elastic deformation, thereby functioning as a cushioning shock absorber.

Specifically, as shown in FIG. 4, after the shock absorbing member 32 is engaged with the connecting arm 312 and the body 11, the connecting arm 312 is spaced apart from the body 11 to be connected when the connecting frame 31 moves relative to the body 11. The space formed by the arm 312 and the body 11 provides a buffer space for the movement of the connecting frame 31, and then elastically deforms the shock absorbing member 32, and connects the connecting frame 31, the platform 22 connected to the connecting frame 31, and the pan/tilt 22 The auxiliary 21 performs buffer damping.

Further, the shock absorbing member 32 may further be filled with a shock absorbing liquid to improve the cushioning damping effect of the shock absorbing member 32, which is a damping fluid including, but not limited to.

Optionally, the shock absorbing member 32 is a shock absorbing ball.

Referring to FIG. 2 and FIG. 5 together, the anti-drop mechanism 33 connects the body 11 of the drone 10 and the connecting frame 31.

The anti-off mechanism 33 includes a connector 331 and a protection cord 332.

The connecting member 331 is connected to the connecting frame 31. Optionally, the connecting member 331 includes a first sub-connecting member 3311 and a second sub-connecting member 3312. The first sub-connecting member 3311 and the second sub-connecting member 3312 are opposite to the connecting frame 31. The two sides are fixedly fastened to the connecting frame 31.

Optionally, the first sub-connecting member 3311 and the second sub-connecting member 3312 are fixed together by bolts, and the fixing position is located in the hollow portion 3121 of the connecting arm 312. It can be understood that if the first sub-connecting member 3311 The fixed position with the second sub-connecting member 3312 is not in the hollow portion 3121, and the fixed position outside the hollow portion 3121 increases the volume of the first sub-connecting member 3311 and the second sub-connecting member 3312, thereby increasing the connecting member 331. Therefore, the fixed position of the first sub-connecting member 3311 and the second sub-connecting member 3312 in the hollow portion 3121 in the embodiment can reduce the weight of the connecting member 331.

The first sub-connecting member 3311 includes a first connecting portion 3313 and a second connecting portion 3314. The first connecting portion 3313 and the second sub-connecting member 3312 are fixedly fastened to the connecting frame 31 on opposite sides of the connecting frame 31. The two connecting portions 3314 are connected to the first connecting portion 3313 on a side of the first connecting portion 3313 away from the second sub-connecting member 3312.

Referring to FIG. 6, the connecting member 331 is further provided with a sliding slot 3315. In the embodiment, the sliding slot 3315 is disposed on the second connecting portion 3314 of the first sub-connecting member 3311.

Referring further to Figures 2 and 5, the protective cord 332 is threaded through the connector 331 and is unmanned at both ends. The body 11 of the machine 10 is connected. In the present embodiment, the protective string 332 passes through the above-described chute 3315.

The fixing cords 332 are provided with a fixing portion 3321 which is annularly disposed. The fixing portion 3321 may be integrated with the protective cord 332 or may be connected to the protective cord 332 at both ends of the protective cord 332. The retaining mechanism 33 in this embodiment further includes a fixing member 333 that passes through the fixing portion 3321 and is coupled to the body 11 of the drone 10 such that both ends of the protective string 332 and the drone 10 are provided. The fuselage 11 is connected.

Optionally, the fixing member 333 is a bolt, and the bolt is screwed to the body 11 through the fixing portion 3321.

Optionally, the protective cord 332 is a rigid cord, a flexible cord or an elastic cord.

Further, the detachment prevention mechanism 33 in the present embodiment is configured to prevent the connection frame 31 from continuing to move when the amount of movement of the link frame 31 relative to the body 11 is greater than or equal to a threshold value.

Specifically, when the connecting frame 31 moves relative to the body 11, the connecting member 331 connected to the connecting frame 31 follows the connecting frame 31 while moving relative to the body 11, and the amount of movement of the connecting frame 31 relative to the body 11 is greater than or equal to At the threshold value, the protective cord 332 passing through the connecting member 331 is pulled to the connecting member 331 under the restriction of its own length to be pulled to pull the connecting member 331 to prevent the connecting frame 31 from continuing to move.

Wherein, the above threshold is set such that when the retaining mechanism 33 prevents the connecting frame 31 from continuing to move, the shock absorbing member 32 and the body 11 and the connecting frame 31 of the drone 10 remain connected to be pulled by the protective string 332. When the connector 331 is connected, the damper member 32 is prevented from being detached from the body 11 of the drone 10 and the damper member 32 of the connector 31 is detached.

Further, when the amount of movement of the connecting frame 31 relative to the body 11 is less than a threshold value, the protective string 332 is in a relaxed state, for example, when the protective string 332 is a rigid rope, when the amount of movement of the connecting frame 31 relative to the body 11 is less than a threshold value The rigid rope does not need to prevent the shock absorbing member 32 from coming off the fuselage 11 of the drone 10 and the shock absorbing member 32 of the connecting member 31 is detached. At this time, the rigid rope in a relaxed state can make the connecting frame 31 continue to be opposed to the body. The movement of the damper member 32 can continue to be elastically deformed, that is, when the amount of movement of the link frame 31 relative to the body 11 is less than a threshold value, the rigid rope in a relaxed state does not affect the shock absorbing effect of the damper member 32.

Further, when the amount of movement of the connecting frame 31 relative to the body 11 is less than a threshold value, the protective cord 332 can move within the sliding slot 3315, so that the protective cord 332 does not need to prevent the shock absorbing member 32 from being When the body 11 of the man machine 10 is disengaged and the damper member 32 of the connecting member 31 is disengaged, the protective cord 332 that moves in the sliding groove 3315 is not pulled to the connecting member 331, and thus does not prevent the connecting frame 31 from continuing to move. In the tight state, the connecting frame 31 can continue to move relative to the body 11, that is, when the amount of movement of the connecting frame 31 relative to the body 11 is less than a threshold value, the protective cord 332 moving in the sliding slot 3315 does not affect the shock absorbing member 32. Shock absorption buffer effect.

Different from the prior art, the pan/tilt mechanism provided by the present invention comprises a connecting frame, a shock absorbing member and a detachment preventing mechanism. The connecting frame is used for connecting the gimbal of the drone, and the shock absorbing member is connected to the body of the drone and The connecting frame is elastically deformed when the connecting frame moves relative to the body of the drone, thereby functioning as a cushioning shock absorber, and the anti-off mechanism is connected to the body and the connecting frame of the drone for the connecting frame relative to When the movement amount of the airframe of the drone is greater than or equal to the threshold value, the joint frame is prevented from continuing to move, and when the movement amount of the connecting frame relative to the body of the drone is greater than or equal to the threshold value, the body of the shock absorber and the drone And the connecting frame is still connected to prevent the shock absorbing member from being separated from the body and the connecting frame of the drone, thereby improving the structural stability of the pan/tilt mechanism, thereby improving the pan/tilt and load connected to the pan/tilt mechanism. Safety and reliability.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A pan/tilt damper mechanism for a drone, characterized in that the pan/tilt damper mechanism comprises:

a connecting frame for connecting the head of the drone;

a shock absorbing member connecting the fuselage of the drone and the connecting frame, and elastically deforming when the connecting frame moves relative to the body of the drone, thereby functioning as a buffering shock absorber;

a detachment mechanism, connecting the body of the drone and the connecting frame, and preventing the connecting frame from continuing when the amount of movement of the connecting frame relative to the body of the drone is greater than or equal to a threshold motion.
The pan/tilt damper mechanism according to claim 1, wherein the detachment prevention mechanism comprises a protection rope, and the protection rope is used for the movement of the connecting frame relative to the body of the drone is greater than When it is equal to the threshold, it is in a tension state to prevent the connecting frame from continuing to move.
The pan/tilt mechanism according to claim 2, wherein the retaining mechanism further comprises a connecting member, the connecting member is connected to the connecting frame, and the protective rope is disposed through the connecting member and Both ends are connected to the body of the drone.
The pan/tilt mechanism according to claim 3, wherein the connecting member is provided with a chute, the protective rope passes through the chute, and the connecting frame is opposite to the drone When the amount of movement of the fuselage is less than the threshold, it can move within the chute.
The pan/tilt damper mechanism according to claim 2, wherein the protection rope is a rigid rope, and the amount of movement of the rigid rope at the connecting frame relative to the body of the drone is less than the threshold At the time, it is relaxed.
The pan/tilt mechanism according to claim 3, wherein the connecting member comprises a first sub-connecting member and a second sub-connecting member, and the first sub-connecting member and the second sub-connecting member are The opposite sides of the connecting frame are fixedly fastened to the connecting frame.
The pan/tilt damper mechanism according to claim 3, wherein both ends of the protection rope are provided with a fixing portion arranged in an annular shape, and the detachment preventing mechanism further comprises a fixing member, and the fixing member passes through the fixing portion The fixing portion is connected to the body of the drone so that both ends of the protection rope are connected to the body of the drone.
The pan/tilt damping mechanism according to claim 1, wherein the threshold is set such that when the retaining mechanism prevents the connecting frame from continuing to move, the shock absorbing member and the drone The body and the connecting frame remain connected.
The pan/tilt mechanism according to claim 1, wherein the connecting frame comprises a connecting frame body for connecting the pan/tilt head, and a plurality of connecting arms connected to the connecting frame main body and extending radially The shock absorbing member is a shock absorbing ball connected between the free end of the connecting arm and the body.
The pan/tilt damper mechanism according to claim 1, wherein the damper ball contains a damping liquid.
A pan/tilt head unit, comprising: a load, a pan/tilt head, and the pan/tilt damper mechanism according to any one of claims 1 to 10, wherein the load is connected to the pan/tilt head The cloud platform is connected to the pan/tilt mechanism.
A drone, characterized in that the drone includes a fuselage and the pan/tilt assembly described in claim 11, the pan-tilt assembly being coupled to the fuselage.