WO2019128116A1 - Élément d'amortissement, dispositif d'amortissement, ensemble caméra et véhicule aérien sans pilote - Google Patents

Élément d'amortissement, dispositif d'amortissement, ensemble caméra et véhicule aérien sans pilote Download PDF

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Publication number
WO2019128116A1
WO2019128116A1 PCT/CN2018/090398 CN2018090398W WO2019128116A1 WO 2019128116 A1 WO2019128116 A1 WO 2019128116A1 CN 2018090398 W CN2018090398 W CN 2018090398W WO 2019128116 A1 WO2019128116 A1 WO 2019128116A1
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WO
WIPO (PCT)
Prior art keywords
damping
connecting portion
belt
vibration
elastic
Prior art date
Application number
PCT/CN2018/090398
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English (en)
Chinese (zh)
Inventor
张文超
Original Assignee
深圳市道通智能航空技术有限公司
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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
Publication of WO2019128116A1 publication Critical patent/WO2019128116A1/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
    • 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
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/025—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant characterised by having a particular shape
    • 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
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/18—Leaf springs
    • F16F1/26—Attachments or mountings

Definitions

  • the present invention relates to the field of unmanned aerial vehicles, and more particularly to a vibration damping component, a vibration damping device having the vibration damping component, an image pickup assembly having the vibration damping device, and an unmanned aerial vehicle.
  • Unmanned aerial vehicles are a new concept equipment that is rapidly developing. It 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. At present, 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 During the flight of the drone, the fuselage generates a higher frequency of vibration and transmits it to the camera assembly.
  • the airframe of the drone when the drone 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 airframe of the drone generates a lower frequency vibration and transmits it to the camera assembly.
  • the vibration damping device between the fuselage and the pan/tilt is reduced by a single damper ball. Vibration; the damper ball can only reduce the vibration of the higher frequency and smaller amplitude vibration, but can not reduce the vibration of the lower frequency and larger amplitude vibration, thus making the vibration damping device reduce vibration The effect is poor, and even the cloud table vibration loss fails and damages the camera.
  • an embodiment of the present invention provides a vibration damping component, a vibration damping device, an image pickup assembly having the vibration damping device, and a drone having the same.
  • the embodiment of the present invention provides the following technical solutions:
  • a damping element comprising:
  • connecting portion connected between the first mounting end portion and the second mounting end portion, the connecting portion being stretchable
  • An elastic vibration damping belt connected to the connecting portion, the elastic vibration damping belt including a first vibration damping belt connected to the connecting portion, and bending from the first vibration damping belt toward a direction close to the connecting portion And a second damper belt extending from the curved portion and connected to the connecting portion.
  • the first damper belt is substantially parallel to the second damper belt and inclined toward the second mounting end when the connecting portion is in an original state.
  • the second damper belt in the first state in which the connecting portion is stretched, is substantially perpendicular to an extending direction of the connecting portion.
  • the first state is a self-weight equilibrium state or a high frequency state.
  • the first damper belt and the second damper belt are at an acute angle.
  • the second state is a low frequency vibration state.
  • the connecting portion has a cylindrical shape.
  • the connecting portion includes a first connecting portion connected to the first mounting end portion and a second connecting portion connected to the second mounting end portion, the first connecting portion a gap is provided between the second connecting portion and the second connecting portion;
  • One end of the first damper belt is connected to the first connecting portion, and one end of the second damper belt is connected to the second connecting portion.
  • first connecting portion and the second connecting portion are both cylindrical, and the axes of the first connecting portion and the second connecting portion coincide.
  • the number of the elastic vibration damping bands is at least two, and at least two of the elastic vibration damping bands are uniformly disposed along a circumferential direction of the connecting portion.
  • the number of the elastic vibration damping bands is four, and the four elastic damping bands are evenly distributed along the circumferential direction of the connecting portion.
  • the elastic damping band has an arc shape, a wave shape or a tooth shape.
  • the connecting portion is integrally formed with the elastic damping band.
  • an embodiment of the present invention further provides a vibration damping device, which is connected to a cloud platform of an unmanned aerial vehicle, and the vibration damping device includes:
  • damping element as described above, the damping element being mounted to the damping plate.
  • the damper plate is a rectangular frame; the damper elements have four, and the four damper elements are respectively mounted at four corners of the damper plate.
  • the central portion of the vibration damping plate is further provided with a hollowed out area.
  • the present invention further provides a camera assembly.
  • the camera assembly includes:
  • a cloud platform for mounting the camera device and connected to the camera device
  • vibration damping device according to the above, wherein the vibration damping device is connected to the cloud platform.
  • the pan/tilt includes a mounting shaft arm, a first motor assembly, a connecting shaft arm, a second motor assembly, and a third motor assembly; the first motor assembly is mounted through the mounting shaft arm The damper plate; the second motor assembly is mounted to the first motor assembly through the connecting shaft arm; the third motor assembly is mounted to the second motor assembly, the camera device is mounted at the The third motor assembly.
  • the present invention also provides an unmanned aerial vehicle comprising: a body and an image pickup assembly as described above, wherein a second mounting end of the vibration damping element of the camera assembly is mounted to the body.
  • the elastic vibration damping When vibrating at a low frequency, the amplitude of the vibration is large, and the connecting portion undergoes a large elastic deformation, and when the distance between the first mounting end portion and the second mounting end portion is increased to a certain value, the elastic vibration damping The belt is elastically deformed to prevent the distance between the first mounting end portion and the second mounting end portion from being further enlarged, so that the vibration damping effect of the connecting portion and the elastic vibration damping belt is superimposed, that is, the two work together, thereby The damping and rigidity of the damping element are increased, so that the damping element can have a damping effect on both high frequency and low frequency vibration.
  • FIG. 1 is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of an embodiment of an image pickup assembly of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 3 is a schematic structural view of an embodiment of a vibration damping device in the image pickup assembly shown in FIG. 2;
  • FIG. 4 is a schematic structural view of one embodiment of a vibration damping element in the vibration damping device shown in FIG. 3;
  • FIG. 5 is a schematic structural view of another embodiment of the vibration damping element of the vibration damping device shown in Figure 3;
  • Figure 6 is a front elevational view of the damping element of Figure 4, wherein the damping element is in a self-weight and high frequency vibration state;
  • Figure 7 is a front elevational view of the damping element of Figure 4, wherein the damping element is in an original state;
  • Figure 8 is a front elevational view of the damping element of Figure 4, wherein the damping element is in a low frequency vibration state;
  • FIG. 9 is a schematic structural view of another embodiment of an image pickup assembly in the unmanned aerial vehicle shown in FIG. 1.
  • the invention provides an imaging assembly, comprising a vibration damping device, a cloud platform and an imaging device.
  • the cloud platform is equipped with an imaging device to realize fixation of the imaging device or to adjust the posture of the imaging device at random (for example, changing the height, inclination and the imaging device). / or direction) and keep the camera in a stable position.
  • 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 camera 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, an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle.
  • the camera assembly may be installed on an unmanned aerial vehicle for aerial photography; or the camera assembly is mounted on a handle as a handheld camera for photographing, recording, etc., and allows the user to manually operate the pan/tilt to control the camera. The angle at which the device is photographed.
  • an unmanned aerial vehicle 200 includes a body 210 and a camera assembly 100 mounted on the body 210 .
  • the body 210 can carry and connect the camera assembly 100.
  • the body 210 is a carrier that carries the camera assembly 100.
  • the UAV 200 is a quadrotor drone.
  • the UAV 200 can also be a six-rotor, eight-rotor drone.
  • the UAV 200 also includes an arm coupled to the body 210 and a power unit disposed on the arm.
  • the arm and the body 210 may be integrally formed, and the arm may also be coupled to the body in a manner rotatable relative to the body.
  • the power unit includes a motor mounted to the arm and a propeller coupled to the motor, and the propeller is rotated at a high speed by the motor to generate lift for driving the unmanned aircraft.
  • the camera assembly 100 is applied to an unmanned aerial vehicle 200, including: a vibration damping device 10, a cloud platform 20, and an imaging device 30.
  • the vibration damping device 10 is coupled between the fuselage 210 and the platform 20 for reducing or even eliminating vibrations transmitted from the fuselage 210 and/or the power unit to the platform 20.
  • the pan/tilt head 20 is equipped with an imaging device 30.
  • the pan/tilt head 20 can be rotated at least around one axis, so the pan/tilt head 20 can 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 vibration damping plate 11 and a damping element 12.
  • the damper plate 11 is substantially a rectangular frame and includes a hollowed area 111 for fixed connection with the platform 20 .
  • the damper plate 11 may be made of an elastic material such as a plastic material, a rubber material, or a metal material.
  • the shape of the damper plate 11 is not limited to a rectangular frame structure. In some other embodiments, the shape of the damper plate 11 may also be designed as a diamond, a circle or a pentagon according to actual needs.
  • the camera assembly 100 includes four damping elements 12, and the four damping elements 12 are respectively mounted at four corners of the damping plate 11, each of which is reduced.
  • One end of the vibrating element 12 is fixedly mounted to the damper plate 11 and the other end is fixedly mounted to the body 210 of the UAV 200.
  • the damping element 12 includes a first mounting end portion 121, a second mounting end portion 122, a connecting portion 123 connected to the first mounting end portion 121 and the second mounting end portion 122, and elastic damping connected to the connecting portion 123.
  • the connecting portion 123 and the elastic damping band 124 are both connected between the first mounting end portion 121 and the second mounting end portion 122.
  • the connecting portion 123 and the elastic damping band 124 are both made of an elastic material, such as a plastic material, a rubber material or a metal material, and the materials of the connecting portion 123 and the elastic damping band 124 may be the same or different.
  • the connecting portion 123 can be stretched in the axial direction thereof.
  • the first mounting end portion 121 is fixedly mounted to the body 210
  • the second mounting end portion 122 is mounted to the vibration damping plate 11 .
  • each of the damping elements 12 has four elastic damping bands 124.
  • the number of elastic damping bands 124 may be no less than two.
  • the elastic vibration damping belt 124 is curved or bent, and the four elastic damping bands 124 are connected to the connecting portion 123 and located between the first mounting end portion 121 and the second mounting end portion 122. .
  • the four elastic damping bands 124 are evenly distributed along the circumferential direction of the connecting portion 123 (i.e., four of the elastic damping bands 124 are enclosed in one turn, and the sandwich between the adjacent two elastic damping bands 124) The angle is ninety degrees).
  • the number of the elastic vibration damping bands 124 is not limited to four. In some other embodiments, the number of the elastic damping bands 124 may also be designed to be two, three or more according to actual needs.
  • the connecting portion 123 has a cylindrical shape, that is, a circular cross section.
  • the cross-sectional shape of the connecting portion 123 may also be an ellipse, a trapezoid, or the like.
  • the connecting portion 123 may further include a first connecting portion 1231 connected to the first mounting end portion 121 and a second connecting portion 1232 connected to the second mounting end portion 122 .
  • the first connecting portion 1231 and the second connecting portion 1232 are both cylindrical, and the axes of the first connecting portion 1231 and the second connecting portion 1232 are coincident with a gap between the first connecting portion 1231 and the second connecting portion 1232.
  • One end of the first damper belt 1241 is connected to the first connecting portion 1242, and one end of the second damper belt 1242 is connected to the second connecting portion 1232.
  • the elastic damping band 124 has an arc shape as a whole. In some other embodiments, the elastic damping band 124 may also be a curved portion such as a wave shape or a tooth shape.
  • the elastic damper belt 124 includes a first damper belt 1241, a second damper belt 1242, and a bend connected between the first damper belt 1241 and the second damper belt 1242. 1243.
  • the first damper strip 1241 and the second damper strip 1242 are substantially strip-shaped, the curved portion 1243 is substantially curved, and one end of the first damper strip 1241 is connected to the connecting portion 123, and the other end is The bent portion 1243 is connected.
  • the second damper strip 1242 has one end connected to the curved portion 1243 and the other end connected to the connecting portion 123.
  • the first damper belt 1241, the second damper belt 1242, and the curved portion 1243 together with the connecting portion 123 form a closed hole 125.
  • the first vibration damping belt 1241 and the second vibration damping belt 1242 are substantially parallel, and are elastically damped.
  • the first damper belt 1241 and the second damper belt 1242 are inclined toward the second mounting end portion 122 by the gravity of the belt 124.
  • the original state diagram is as shown in FIG.
  • the first vibration-damping belt is stretched as the connecting portion 123 is stretched.
  • the distance between the 1241 and the second damper belt 1242 is enlarged.
  • the rigidity provided by the elastic vibration damping belt 124 is negligible or negative rigidity with respect to the rigidity of the connecting portion 123, achieving the quasi-zero stiffness of the entire damping member 12, thereby improving the high-frequency vibration damping effect.
  • the vibration displacement becomes large, and as the connecting portion 123 is further stretched, the first damper belt 1241 and the second The spacing between the damper strips 1242 is further increased.
  • the first damper strip 1241 and the second damper strip 1242 are at an acute angle, and the connecting portion 123 and the elastic damper strip 124 simultaneously act to reduce The overall stiffness and damping of the vibrating element 12 is increased to reduce the displacement and increase the low frequency resonance frequency, thereby improving the low frequency stabilization effect of the gimbal 20.
  • first mounting end portion 121 and the second mounting end portion 122 and the connecting portion 123 and the elastic damping band 124 are integrally formed.
  • first mounting end portion 121 and the second mounting end portion 122 may also be separately formed and then fixedly connected to the connecting portion 123 by gluing or the like.
  • the elastic vibration damping belt 124 is connected to the connecting portion 123 by gluing or the like.
  • the platform 20 includes a mounting axle arm 21, a first motor assembly 22, a connecting axle arm 23, a second motor assembly 24, and a third motor assembly 25.
  • the pan/tilt head 20 is mounted to the body 210 of the unmanned aerial vehicle 200 by the vibration damping device 10.
  • the first motor assembly 22 is mounted to the damper device 10 via the mounting axle arm 20.
  • the second motor assembly 24 is mounted to the first motor assembly 22 via the connecting axle arm 23.
  • the third motor assembly 25 is mounted to the second motor assembly 24 for mounting the camera device 30.
  • the first motor assembly 22 is for driving the connecting shaft arm 23, the second motor assembly 24, the third motor assembly 25 and the camera device 30 are rotated about a first axis of rotation P.
  • the second motor assembly 24 is configured to drive the third motor assembly 25 and the camera device 30 to rotate about a second axis of rotation Y.
  • the third motor assembly 25 is configured to drive the camera device 30 to rotate about a third axis of rotation R.
  • the first axis of rotation P is perpendicular to the second axis of rotation Y and the third axis of rotation R
  • the second axis of rotation Y is perpendicular to the third axis of rotation R.
  • the first rotation axis P is a pitch axis
  • the second rotation axis Y is a heading axis
  • the third rotation axis R is a roll axis.
  • the third motor assembly 25 can be omitted, and the first motor assembly 22 is used to drive the connecting shaft arm 23, the second motor assembly 24, and the camera device 30.
  • the second motor assembly 24 is configured to drive the camera unit 30 to rotate about the second axis of rotation Y.
  • the camera assembly 30 is suspended from the fuselage 210 of the unmanned aerial vehicle 200, and the unmanned aerial vehicle 200 is rotated during the flight, the fuselage 210 and/or the high speed.
  • the propeller produces a higher frequency vibration that is transmitted to the camera assembly 30.
  • the UAV 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 UAV 200 generates a lower frequency vibration, which is lower in frequency. Vibration is also transmitted to the camera assembly 30.
  • the amplitude of the body 210 is small, and since the connecting portion 123 has elasticity, the connecting portion 123 is stretched in the axial direction thereof, that is, the connecting portion of the damping member 12.
  • the elasticity of 123 allows the second mounting end portion 122 to move relative to the first mounting end portion 121 to filter the higher frequency vibrations, thereby keeping the pan/tilt head 20 and the camera device 30 stable, ensuring that the camera device 30 is photographed. The picture is clear and stable.
  • the elastic vibration damping belt 124 since the amplitude of the elastic vibration damping belt 124 is not elastically deformed due to the small amplitude, the elastic vibration damping belt 124 does not function as a vibration damping.
  • the amplitude of the body 210 is larger, and correspondingly, the elastic deformation of the connecting portion 123 in the damping member 12 is large, the first mounting end portion 121 and the The pitch of the second mounting end portion 122 varies greatly.
  • the elastic damping band 124 is elastically deformed to block the first mounting end portion 121 and the The pitch of the second mounting end portion 122 is further enlarged to provide a vibration damping effect.
  • the vibration damping effect of the connecting portion 123 and the elastic vibration damping belt 124 is superimposed, that is, the two interact together, thereby increasing the damping and rigidity of the vibration damping device 10, reducing the amplitude and improving the low frequency resonance.
  • the frequency thereby improving the low frequency stabilization effect of the camera assembly 100.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Vibration Prevention Devices (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne un élément d'amortissement (12), un dispositif d'amortissement (10), un ensemble caméra (100) et un véhicule aérien sans pilote (200). L'élément d'amortissement (12) comprend : une première partie extrémité de montage (121), une seconde partie extrémité de montage (122), une partie de raccordement (123) et une courroie d'amortissement élastique (124) ; la partie de raccordement (123) est disposée entre la première partie extrémité de montage (121) et la seconde partie extrémité de montage (122), et la partie de raccordement (123) peut être étirée ; la courroie d'amortissement élastique (124) est raccordée à la partie de raccordement (123), et la courroie d'amortissement élastique (124) comprend une première courroie d'amortissement (1241) raccordée à la partie de raccordement (123), une partie de flexion (1243) qui est pliée vers une direction proche de la partie de raccordement (123) à partir de la première courroie d'amortissement (1241), et une seconde courroie d'amortissement (1242) s'étendant à partir de la partie de flexion (1243) et raccordée à la partie de raccordement (123).
PCT/CN2018/090398 2017-12-27 2018-06-08 Élément d'amortissement, dispositif d'amortissement, ensemble caméra et véhicule aérien sans pilote WO2019128116A1 (fr)

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CN201711445075.0A CN107975556B (zh) 2017-12-27 2017-12-27 减震元件、减震装置、摄像组件及无人飞行器
CN201711445075.0 2017-12-27

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WO2019128116A1 true WO2019128116A1 (fr) 2019-07-04

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KR20170083980A (ko) * 2017-05-31 2017-07-19 주식회사 하우앳 촬영 모듈의 방진 구조를 가지는 헬리캠
CN107719685A (zh) * 2017-10-30 2018-02-23 深圳市道通智能航空技术有限公司 云台、拍摄组件及无人飞行器
CN107975556A (zh) * 2017-12-27 2018-05-01 深圳市道通智能航空技术有限公司 减震元件、减震装置、摄像组件及无人飞行器
CN108100284A (zh) * 2018-02-09 2018-06-01 深圳市道通智能航空技术有限公司 一种云台、摄像组件及无人飞行器

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