WO2022061954A1 - 一种无人机摄像头新型云台结构 - Google Patents

一种无人机摄像头新型云台结构 Download PDF

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Publication number
WO2022061954A1
WO2022061954A1 PCT/CN2020/119221 CN2020119221W WO2022061954A1 WO 2022061954 A1 WO2022061954 A1 WO 2022061954A1 CN 2020119221 W CN2020119221 W CN 2020119221W WO 2022061954 A1 WO2022061954 A1 WO 2022061954A1
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WO
WIPO (PCT)
Prior art keywords
steering
steering member
output shaft
shaft
mounting seat
Prior art date
Application number
PCT/CN2020/119221
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English (en)
French (fr)
Inventor
袁兴平
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袁兴平
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Publication date
Application filed by 袁兴平 filed Critical 袁兴平
Publication of WO2022061954A1 publication Critical patent/WO2022061954A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/126—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and panning
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the technical field of unmanned aerial vehicle pan/tilt, in particular to a novel pan/tilt structure of a drone camera.
  • the traditional steering gear is mainly composed of a casing, a circuit board, a drive motor, a reduction gear and a position detection element. Its working principle is that the receiver sends a signal to the steering gear, the IC on the circuit board drives the coreless motor to start to rotate, and the power is transmitted to the output shaft through the reduction gear, and the output shaft position detector sends back the signal to determine whether Positioning has been reached.
  • the position detector is actually a variable resistor or a rotating magnetic encoder. When the steering gear rotates, the voltage value will also change, and the angle of rotation can be known according to the detected voltage value.
  • the steering gear controller is the actuator of the entire control system, with a central controller inside. , data memory, drive module, etc.
  • the main board of the central controller is a single-chip microcomputer, which can manually write language programs to complete directional control.
  • DC servo servos are used as the gimbal in many drone products, so that the images taken by the drone are stable and clear, but the existing In some of the DC servo servo gimbal, some of the servos of the gimbal are large in size, difficult to install and position, and the gimbal has a complex structure, low performance and high cost, which makes the servo gimbal have certain limitations in the use process. , and the captured image is blurred and blurred.
  • the steering gear gimbal is an important part of drone aerial photography. It is used to install and fix the camera and control the rotation and shooting angle of the camera, which plays a role of balance and stability.
  • PTZs There are various forms of PTZs on the market, and the existing technology has the following technical defects:
  • the steering gear head on the market uses 1 or 2 steering gears or gears to be installed on the outer output shaft of the gearbox.
  • the gear on the shaft engages with the second gear to drive the upper and lower casings of the camera.
  • the camera chip assembly is large in size. The structure is complex, and the installation and positioning accuracy is extremely low.
  • the invention provides a new type of pan/tilt structure for the camera of an unmanned aerial vehicle.
  • By technically transforming the existing equipment it solves the problems of the poor installation and positioning effect of the motor of the pan/tilt of the steering gear of the existing drone, and the stability and angle adjustment of the shooting pan/tilt. The way needs to be improved.
  • a new type of pan/tilt structure for a drone camera comprising: a camera chip mount, a steering mechanism, a housing, an output shaft, and a motor component, a PCBA circuit board, a deceleration device and a position detection component installed in the housing, the motor component
  • the position detection component is electrically connected to the PCBA circuit board respectively, and the deceleration device is drivingly connected to the motor component;
  • a steering mechanism mounting seat is arranged above the housing, the steering mechanism is rotatably mounted on the steering mechanism mounting seat, the output shaft is located above the housing and a push rod is extended, and the steering mechanism is connected to the output shaft.
  • One end of the push rod is drivingly connected, and one end of the steering mechanism away from the steering mechanism mounting seat is also installed with a camera chip mounting seat, and the camera chip mounting seat is used for mounting the camera chip;
  • the housing is provided with positioning post holes for accommodating motor components, the motor components are directly mounted on the positioning post holes of the housing, and the motor brushes are directly processed on the PCBA circuit board;
  • the deceleration device includes a deceleration gear set, the deceleration gear set is drivingly connected with the rotating shaft of the motor component, an output shaft gear is sleeved on the outer periphery of the output shaft, and an internal thread is arranged in the output shaft gear to be connected with the output shaft threadedly, the The output shaft meshes with the gear of the reduction gear set through the output shaft gear;
  • the position detection assembly includes an output shaft gear, a magnet and a Hall element, the Hall element is directly processed on the PCBA circuit board, a magnet mounting hole is opened at the lower end of the output shaft, and a magnet is installed in the magnet mounting hole,
  • the output shaft gear drives the output shaft to move up and down, the magnet moves in a linear direction above the Hall element to realize position detection.
  • the steering mechanism includes a first torsion spring, a first steering shaft and a first steering member, the first steering member is fixedly arranged below the camera chip mounting seat, and the first steering shaft is fixedly installed on the steering mechanism mounting seat , and the first steering member is rotatably mounted on the first steering shaft, the first steering shaft is also sleeved with a first torsion spring, and the first torsion spring is connected to the housing and the first torsion spring respectively.
  • the steering members collide so that the first steering member is always in close contact with the push rod of the output shaft, the lower end of the first steering member is provided with a first steering member groove, and the steering mechanism mounting seat is also provided with a shell
  • the housing positioning column is located between the groove walls on both sides of the groove of the first steering member to prevent the first steering member from moving axially along the first steering shaft.
  • the steering mechanism includes a first torsion spring, a first steering shaft, a first steering member, a first steering member mounting seat, a second torsion spring, a second steering shaft and a second steering member, the first steering member
  • the first steering member is fixedly arranged under the camera chip mounting seat, and the first steering member is rotatably mounted on the first steering shaft, the upper end of the second steering member is fixedly provided with a first steering member mounting seat, and the first steering member
  • the shaft is fixedly connected with the first steering member mounting seat, a first steering member positioning column is provided between the first steering member mounting seat at the upper end of the second steering member, and a first steering member groove is provided at the lower end of the first steering member , the first positioning column is located between the groove walls on both sides of the first steering member groove to prevent the first steering member from moving axially along the first steering shaft, and the first steering shaft is sleeved with A first torsion spring, the first torsion spring is in conflict with the second steering member and the first steering member
  • the second steering shaft is also sleeved with a second torsion spring, the second torsion spring is in conflict with the housing and the second steering member respectively, and the first steering member and the second steering member are
  • the second steering member is always in close contact with the push rod of the output shaft, the lower end of the second steering member is provided with a second steering member groove, and a housing positioning column is also provided between the steering mechanism mounting seats. Located between the groove walls on both sides of the groove of the second steering member is used to prevent the second steering member from moving axially along the second steering shaft.
  • both the first torsion spring and the second torsion spring are two, and the two first torsion springs are installed on the left and right ends of the first steering member, one positive and the other negative, respectively.
  • the torsion springs are respectively installed on the left and right ends of the second steering member.
  • the push rod includes a first push rod and a second push rod, the rotation direction of the first steering member around the first steering shaft and the rotation direction of the second steering member around the second steering shaft are perpendicular to each other, and the first steering member is perpendicular to each other.
  • a steering member extends outward with a first push surface, the first push rod is in close contact with the first push surface, the second steering member extends outward with a second push surface, and the second push rod is connected to the first push surface.
  • the second pushing surfaces are in close contact with each other.
  • the contact surfaces of the first push surface and the second push surface and the first push rod or the second push rod are arc curved surfaces.
  • signal and power connectors are also provided on one side of the PCBA circuit board.
  • the casing includes an upper cover, a middle cover and a lower cover in order from top to bottom, the PCBA circuit board is fixed in the lower cover, the motor components and the position detection assembly are arranged in the middle cover, and the speed reduction device and the output shaft are arranged in the upper cover, the upper cover, the middle cover and the lower cover are screwed and fixed to the upper cover through bolts from the lower cover in sequence through the middle cover.
  • a current overload protection function is set on the PCBA circuit board through a software system to realize automatic power off when the current is overloaded.
  • the PCBA circuit board is provided with a function of learning and repeating positioning through a software system, so as to learn the positioning for multiple times, and store the data to facilitate the next positioning.
  • the present invention has the following beneficial effects:
  • the present invention miniaturizes the steering gear by improving innovative designs such as motor assembly, Hall elements, magnets, etc., wherein, the present invention forms a potentiometer for detection by moving the magnet in a linear direction above the Hall element, which has a longer life than traditional potentiometers.
  • the cost is low, and the processing is simpler; the motor components are directly assembled on the housing, saving cost and space, and solving the problem of the difficulty of installation and positioning of the micro motor; the motor brushes and Hall elements are directly processed on the PCBA circuit board to solve the problem. It solves the problems of traditional processing technology difficulty and cost control.
  • the current overload protection is added to the software system to protect gears, motor components, and PCBA circuit boards from damage due to overload, and the learning and repeated positioning function is added to the software system, which is more intelligent.
  • the two sets of torsion springs of the present invention keep the lens rotating frame and the push rod in close contact with each other, and the rotation stability of the pan/tilt is better.
  • the rotation angles are more diverse, the potentiometer of the present invention can be positioned and controlled 360 degrees without dead angle, and the traditional steering gear can only control part of the angle.
  • the invention solves the problems that the high-end three-axis gimbal of the small unmanned aerial vehicle is expensive and bulky, while the low-end gimbal is bulky, complicated to install, high cost, and the shooting picture is not clear. Small, easy to install, low cost, and the clarity of the shooting picture can reach the shooting effect of the three-axis gimbal.
  • Fig. 1 is the structural representation of the present invention
  • Fig. 2 is the schematic diagram of the installation of the motor component, the PCBA circuit board and the deceleration device of the present invention
  • FIG. 3 is a schematic view of the structure of the head when the single-axis push rod of the present invention is installed;
  • FIG. 4 is a schematic view of the structure of the head when the two-axis push rod of the present invention is installed;
  • camera chip mount 1 steering mechanism 2, first torsion spring 21, first steering shaft 22, first steering member 23, first pushing surface 231, first steering member groove 232, second torsion spring 24 , the second steering shaft 25, the second steering member 26, the second pushing surface 261, the second steering member groove 262, the first steering member mounting seat 27, the first steering member positioning column 271, the housing 3, the upper cover 31 , middle cover 32, lower cover 33, output shaft 4, push rod 41, first push rod 411, second push rod 412, motor component 5, PCBA circuit board 6, signal and power connector 61, reduction gear 7, reduction Gear set 71 , position detection assembly 8 , output shaft gear 81 , magnet 82 , Hall element 83 , steering mechanism mounting seat 9 , housing positioning column 91 .
  • this embodiment provides a new type of pan/tilt structure for a drone camera, including: a camera chip mount 1 , a steering mechanism 2 , a housing 3 , an output shaft 4 , and a camera mounted in the housing 3 .
  • the motor part 5, the PCBA circuit board 6, the deceleration device 7 and the position detection assembly 8 are respectively electrically connected to the PCBA circuit board 6, and the deceleration device 7 is drivingly connected to the motor part 5 ;
  • a steering mechanism mounting seat 9 is arranged above the housing 3 , the steering mechanism 2 is rotatably mounted on the steering mechanism mounting seat 9 , and a push rod 41 is extended on the output shaft 4 above the housing 3 .
  • the steering mechanism 2 is drivingly connected to one end of the push rod 41 of the output shaft 4, and the end of the steering mechanism 2 away from the steering mechanism mounting seat 9 is also installed with a camera chip mounting seat 1, and the camera chip mounting seat 1 is used for mounting the camera. chip;
  • the housing 3 is provided with a positioning column hole for accommodating the motor component 5, the motor component 5 is directly installed on the positioning column hole of the housing 3, and the motor brush is directly processed on the PCBA circuit board 6;
  • the deceleration device 7 includes a deceleration gear set 71, the deceleration gear set 71 is drivingly connected with the rotating shaft of the motor part 5, the output shaft 4 is sleeved with an output shaft gear 81 on the outer circumference, and the output shaft gear 81 is provided with an internal thread and The output shaft 4 is threadedly connected, and the output shaft 4 meshes with the gear of the reduction gear set 71 through the output shaft gear 81;
  • the position detection assembly 8 includes an output shaft gear 81, a magnet 82 and a Hall element 83.
  • the Hall element 83 is directly processed on the PCBA circuit board 6.
  • the lower end of the output shaft 4 is provided with a mounting hole for the magnet 82.
  • the magnet 82 is installed in the mounting hole of the magnet 82 .
  • the steering mechanism 2 includes a first torsion spring 21 , a first steering shaft 22 and a first torsion spring 21 .
  • a steering member 23, the first steering member 23 is fixedly arranged under the camera chip mounting seat 1, the first steering shaft 22 is fixedly installed on the steering mechanism mounting seat 9, and the first steering member 23 is rotatably installed on the On the first steering shaft 22, the first steering shaft 22 is also sleeved with a first torsion spring 21.
  • the first steering member 23 is always in close contact with the push rod 41 of the output shaft 4 , the lower end of the first steering member 23 is provided with a first steering member groove 232 , and the steering mechanism mounting seat 9 is also provided with a housing.
  • the positioning column 91 is located between the groove walls on both sides of the first steering member groove 232 to prevent the first steering member 23 from moving axially along the first steering shaft 22 .
  • the steering mechanism 2 includes a first torsion spring 21 , a first steering shaft 22 , a first A steering member 23, a first steering member mounting seat 27, a second torsion spring 24, a second steering shaft 25 and a second steering member 26, the first steering member 23 is fixedly arranged under the camera chip mounting seat 1, the first steering member 23
  • the steering member 23 is rotatably mounted on the first steering shaft 22
  • the upper end of the second steering member 26 is fixedly provided with a first steering member mounting seat 27
  • the first steering shaft 22 is fixed to the first steering member mounting seat 27
  • a first steering member positioning column 271 is arranged between the first steering member mounting seat 27 at the upper end of the second steering member 26, and a first steering member groove 232 is arranged at the lower end of the first steering member 23.
  • a positioning column is located between the groove walls on both sides of the first steering member groove 232 to prevent the first steering member 23 from moving axially along the first steering shaft 22.
  • the first steering shaft 22 is sleeved with a The first torsion spring 21, the first torsion spring 21 is in conflict with the second steering member 26 and the first steering member 23 respectively, the second steering member 26 is rotatably mounted on the second steering shaft 25, and the first Two steering shafts 25 are fixedly mounted on the steering mechanism mounting seat 9 , and a second torsion spring 24 is sleeved on the second steering shaft 25 , and the second torsion spring 24 is connected to the housing 3 and the second steering member 26 respectively.
  • first steering member 23 and the second steering member 26 are always in close contact with the push rod 41 of the output shaft 4, and a second steering member groove 262 is provided at the lower end of the second steering member 26.
  • a housing positioning column 91 is also provided between the mechanism mounting bases 9 , and the housing positioning column 91 is located between the groove walls on both sides of the second steering member groove 262 to prevent the second steering member 26 from turning along the second steering member.
  • the shaft 25 moves axially.
  • both the first torsion springs 21 and the second torsion springs 24 are two, the first torsion springs 21 and the second torsion springs 24 are two, the two The two first torsion springs 21 are installed on the left and right ends of the first steering member 23 , respectively, and the two second torsion springs 24 are installed on the left and right ends of the second steering member 26 , respectively. .
  • the push rod 41 includes a first push rod 411 and a second push rod 412 , and the first steering member 23 rotates around the housing 3 .
  • the rotation direction of the first steering shaft 22 and the rotation direction of the second steering member 26 around the second steering shaft 25 are arranged perpendicular to each other.
  • the first steering member 23 has a first push surface 231 extending outward.
  • the first push rod 411 is in close contact with the first push surface 231
  • the second steering member 26 extends outward with a second push surface 261
  • the second push rod 412 is in close contact with the second push surface 261 .
  • the contact surfaces of the first push surface 231 and the second push surface 261 and the first push rod 411 or the second push rod 412 are arc curved surfaces.
  • a signal and power connector 61 is also provided on one side of the PCBA circuit board 6 .
  • the housing 3 includes an upper cover 31 , a middle cover 32 and a lower cover 33 in sequence from top to bottom, the PCBA circuit board 6 is fixed in the lower cover 33 , and the motor component 5 and the position detection assembly 8 are provided In the middle cover 32 , the speed reduction device 7 and the output shaft 4 are arranged in the upper cover 31 , and the upper cover 31 , the middle cover 32 and the lower cover 33 pass through the middle cover 32 and the upper cover 31 sequentially from the lower cover 33 through studs. Screw on.
  • a current overload protection function is set on the PCBA circuit board 6 through the software system, and automatic power-off is realized when the current is overloaded; Positioning is learned, and data is stored to facilitate the next positioning.
  • the motor is directly assembled on the shell, which saves cost and space, and solves the difficulty of installation and positioning of the micro motor;
  • the invention solves the problems that the high-end three-axis gimbal of the small unmanned aerial vehicle is expensive and bulky, while the low-end gimbal is bulky, complicated to install, high cost, and the shooting picture is not clear. Small, easy to install, low cost, and the clarity of the shooting picture can reach the shooting effect of the three-axis gimbal.
  • the standard parts used in the present invention can be purchased from the market, the special-shaped parts can be customized according to the description in the specification and the drawings, and the specific connection methods of each part adopt mature bolts, rivets, welding, etc. in the prior art
  • Conventional means, machinery, parts and equipment all use conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.
  • the terms “installed”, “connected”, “connected” and “fixed” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium, and it can be the internal communication between the two elements or the interaction relationship between the two elements.
  • installed e.g., it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium, and it can be the internal communication between the two elements or the interaction relationship between the two elements.

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

Abstract

本发明提供了一种无人机摄像头新型云台结构，包括：摄像头芯片安装座、转向机构、壳体、输出轴以及安装在壳体内的电机部件、PCBA电路板、减速装置和位置检测组件；所述壳体上方设置有转向机构安装座，所述转向机构可转动的安装在所述转向机构安装座上，所述输出轴位于壳体上方延伸设置有推杆，所述转向机构与输出轴的推杆一端驱动连接，所述转向机构背离转向机构安装座的一端还安装有摄像头芯片安装座。本发明使舵机微型化，且本发明云台转动稳定性更好，转动角度更加多样，云台体积更小，容易安装，成本低，拍摄画面清晰。

Description

一种无人机摄像头新型云台结构 技术领域
本发明涉及无人机云台技术领域，尤其涉及一种无人机摄像头新型云台结构。
背景技术
传统的舵机主要是由外壳、电路板、驱动马达、减速齿轮与位置检测元件所构成。其工作原理是由接收机发出讯号给舵机，经由电路板上的IC驱动无核芯马达开始转动，通过减速齿轮将动力传至输出轴，同时由输出轴位置检测器送回讯号，判断是否已经到达定位。位置检测器其实就是可变电阻或转动磁编器，当舵机转动时电压值也会随之改变，根据检测电压值便可知转动的角度。
目前，市面上流行的舵机形状和种类十分丰富，但是舵机内部的主要功能模块基本相同，其主要的组成和功能如下，舵机控制器是整个控制系统的执行机构，内部有中央控制器、数据存储器、驱动模块等，中央控制器的主板是单片机，可以人工写入语言程序，完成定向控制。
为了提高无人机云台的飞行拍摄图像的稳定性和清晰度性能，许多无人机产品中都使用了直流伺服舵机做云台，使得无人机的拍摄图像的稳定清晰，但是现有的部分直流伺服舵机云台中，一些云台的舵机体积大，安装定位较难，并且云台结构复杂，性能低，成本高，使得舵机云台在使用的过程中存在着一定的局限性，拍摄图像抖动不清晰。
舵机云台是无人机航拍的重要部件，用于安装、固定相机并控制相机的转动以及拍摄角度，起到平衡与稳定作用。现市场上有多种形式云台，现有技术在如下技术缺陷：
1、现有市面上都为三轴云台，价格昂贵：结构复杂：体积较大且均为金属材料，连同镜头一起重量在500克以上，一直受抖动与高故障以及整体续航时间会缩短的困扰。
2、市面上舵机云台是用1个或2个舵机或齿轮箱外输出轴上安装齿轮，轴上齿轮与第二个齿轮齿合再带动摄像头上下壳体，摄像头芯片组件体积大，结构复杂，安装定位精度极低。
发明内容
本发明提供了一种无人机摄像头新型云台结构，通过对现有设备进行技术改造，解决了现有无人机舵机云台电机安装定位效果不佳及拍摄云台稳定性和角度调节方式需要改进的问题。
为解决上述技术问题，本发明具体采用如下技术方案：
一种无人机摄像头新型云台结构，包括：摄像头芯片安装座、转向机构、壳体、输出轴以及安装在壳体内的电机部件、PCBA电路板、减速装置和位置检测组件，所述电机部件与位置检测组件分别与PCBA电路板电性连接，所述减速装置与电机部件驱动连接；
所述壳体上方设置有转向机构安装座，所述转向机构可转动的安装在所述转向机构安装座上，所述输出轴位于壳体上方延伸设置有推杆，所述转向机构与输出轴的推杆一端驱动连接，所述转向机构背离转向机构安装座的一端还安装有摄像头芯片安装座，所述摄像头芯片安装座用于安装摄像头芯片；
所述壳体内设有容纳电机部件的定位柱孔，所述电机部件直接安装在壳体的定位柱孔上，并且电机刷片直接加工在PCBA电路板上；
所述减速装置包括减速齿轮组，所述减速齿轮组与电机部件转轴驱动连接，输出轴外周套设有输出轴齿轮，且所述输出轴齿轮内设置有内螺纹与输出轴螺纹连接，所述输出轴通过输出轴齿轮与减速齿轮组的齿轮啮合；
所述位置检测组件包括输出轴齿轮、磁石和霍尔元件，所述霍尔元件直接加工在PCBA电路板上，所述输出轴下端开设有磁石安装孔，所述磁石安装孔内安装有磁石，所述输出轴齿轮带动输出轴做上下运动时，使得磁石在霍尔元件上方直线方向运动实现位置检测。
优选的，所述转向机构包括第一扭簧、第一转向轴和第一转向件，所述第一转向件固定设置在摄像头芯片安装座下方，第一转向轴固定安装在转向机构安装座上，且所述第一转向件可转动的安装在所述第一转向轴上，所述第一转向轴外还套设有第一扭簧，所述第一扭簧分别与壳体和第一转向件相抵触使得所述第一转向件始终与输出轴的推杆相紧贴，所述第一转向件下端设置有第一转向件凹槽，所述转向机构安装座之间还设置有壳体定位柱，所述壳体定位柱位于所述第一转向件凹槽两侧槽壁之间用于防止第一转向件沿第一转向轴轴向窜动。
优选的，所述转向机构包括第一扭簧、第一转向轴、第一转向件、第一转向件安装座、第二扭簧、第二转向轴和第二转向件，所述第一转向件固定设置在摄像头芯片安装座下方，且所述第一转向件可转动的安装在所述第一转向轴上，第二转向件上端固定设置有第一转向件安装座，所述第一转向轴与第一转向件安装座固定连接，所述第二转向件上端第一转向件安装座之间设置有第一转向件定位柱，所述第一转向件下端设置有第一转向件凹槽，所述第一定位柱位于所述第一转向件凹槽两侧槽壁之间用于防止第一转向件沿第一转向轴轴向窜动，所述第一转向轴外还套设有第一扭簧，所述第一扭簧分别与第二转向件和第 一转向件相抵触，第二转向件可转动的安装在第二转向轴上，且所述第二转向轴固定安装在转向机构安装座上，所述第二转向轴外还套设有第二扭簧，所述第二扭簧分别与壳体和第二转向件相抵触，所述第一转向件与第二转向件始终与输出轴的推杆相紧贴，所述第二转向件下端设置有第二转向件凹槽，所述转向机构安装座之间还设置有壳体定位柱，所述壳体定位柱位于所述第二转向件凹槽两侧槽壁之间用于防止第二转向件沿第二转向轴轴向窜动。
优选的，所述第一扭簧和第二扭簧均为两个，所述两个第一扭簧一正一反分别安装设置在第一转向件的左右两端，所述两个第二扭簧一正一反分别安装设置在第二转向件的左右两端。
优选的，所述推杆包括第一推杆和第二推杆，第一转向件绕第一转向轴的转动方向与第二转向件绕第二转向轴的转动方向相互垂直设置，所述第一转向件向外延伸有第一推动面，所述第一推杆与所述第一推动面相紧贴，所述第二转向件向外延伸有第二推动面，所述第二推杆与所述第二推动面相紧贴。
优选的，所述第一推动面和第二推动面与第一推杆或第二推杆的接触面均为弧形曲面。
优选的，所述PCBA电路板一侧还设有信号及电源连接器。
优选的，所述壳体包括从上至下依次包括上盖、中盖和下盖，所述PCBA电路板固定在下盖内，所述电机部件和位置检测组件设置中盖内，所述减速装置和输出轴设置在上盖中，所述上盖、中盖和下盖通过螺柱从下盖依次贯穿中盖与上盖螺接固定。
优选的，所述PCBA电路板上通过软件系统设置了电流过载保护功能，在电流过载时实现自动断电。
优选的，所述PCBA电路板上通过软件系统设置了学习重复定位功能，对多次的定位进行学习，并且存储数据，方便下一次的定位。
相对于现有技术，本发明具有如下有益效果：
本发明通过改进电机装配、霍尔元件、磁石等创新设计使舵机微型化，其中，本发明通过磁石在霍尔元件上方直线方向运动形成检测用的电位器，比传统电位器的寿命长，成本低，而且加工更加简单；而电机部件直接装配在壳体上，节约成本和空间，重要解决了微型电机安装定位难度的问题；电机刷片以及霍尔元件直接加工在PCBA电路板上，解决了传统加工工艺难度及成本控制的问题。此外，在软件系统中加了电流过载保护，保护齿轮、电机部件、PCBA电路板因过载而损坏，还在软件系统中加了学习重复定位功能，更 加智能化。本发明两组扭簧一直保持镜头旋转架与推杆紧贴，云台转动稳定性更好，通过单轴或两轴推杆转座运动转变旋转运动形成绕一轴或空间十字轴摄像头旋转，转动角度更加多样，本发明电位器可以360度无死角定位控制，传统舵机只能控制部份角度。
本发明解决了一直困扰小型无人机高端三轴云台昂贵，笨重，而低端云台体积大，安装复杂，成本高，拍摄画面抖动不清晰的问题，本发明无人机摄像云台体积小，容易安装，成本低，拍摄画面清晰度能达到三轴云台的拍摄效果。
附图说明
图1为本发明结构示意图；
图2为本发明电机部件、PCBA电路板和减速装置安装示意图；
图3为本发明单轴推杆安装时云台结构示意图；
图4为本发明两轴推杆安装时云台结构示意图；
标号说明：摄像头芯片安装座1、转向机构2、第一扭簧21、第一转向轴22、第一转向件23、第一推动面231、第一转向件凹槽232、第二扭簧24、第二转向轴25、第二转向件26、第二推动面261、第二转向件凹槽262、第一转向件安装座27、第一转向件定位柱271、壳体3、上盖31、中盖32、下盖33、输出轴4、推杆41、第一推杆411、第二推杆412、电机部件5、PCBA电路板6、信号及电源连接器61、减速装置7、减速齿轮组71、位置检测组件8、输出轴齿轮81、磁石82、霍尔元件83、转向机构安装座9、壳体定位柱91。
具体实施方式
下面结合附图和实施例来详细说明本发明的具体内容。
如图1-4所示，本实施例提供了一种无人机摄像头新型云台结构，包括：摄像头芯片安装座1、转向机构2、壳体3、输出轴4以及安装在壳体3内的电机部件5、PCBA电路板6、减速装置7和位置检测组件8，所述电机部件5与位置检测组件8分别与PCBA电路板6电性连接，所述减速装置7与电机部件5驱动连接；
所述壳体3上方设置有转向机构安装座9，所述转向机构2可转动的安装在所述转向机构安装座9上，所述输出轴4位于壳体3上方延伸设置有推杆41，所述转向机构2与输出轴4的推杆41一端驱动连接，所述转向机构2背离转向机构安装座9的一端还安装有摄像头芯片安装座1，所述摄像头芯片安装座1用于安装摄像头芯片；
所述壳体3内设有容纳电机部件5的定位柱孔，所述电机部件5直接安装在壳体3的定位柱孔上，并且电机刷片直接加工在PCBA电路板6上；
所述减速装置7包括减速齿轮组71，所述减速齿轮组71与电机部件5转轴驱动连接，输出轴4外周套设有输出轴齿轮81，且所述输出轴齿轮81内设置有内螺纹与输出轴4螺纹连接，所述输出轴4通过输出轴齿轮81与减速齿轮组71的齿轮啮合；
所述位置检测组件8包括输出轴齿轮81、磁石82和霍尔元件83，所述霍尔元件83直接加工在PCBA电路板6上，所述输出轴4下端开设有磁石82安装孔，所述磁石82安装孔内安装有磁石82，所述输出轴齿轮81带动输出轴4做上下运动时，使得磁石82在霍尔元件83上方直线方向运动实现位置检测。
进一步地，如图3所示，为了实现单轴推杆41推动摄像头芯片安装座11绕一轴相对壳体33旋转，所述转向机构2包括第一扭簧21、第一转向轴22和第一转向件23，所述第一转向件23固定设置在摄像头芯片安装座1下方，第一转向轴22固定安装在转向机构安装座9上，且所述第一转向件23可转动的安装在所述第一转向轴22上，所述第一转向轴22外还套设有第一扭簧21，所述第一扭簧21分别与壳体3和第一转向件23相抵触使得所述第一转向件23始终与输出轴4的推杆41相紧贴，所述第一转向件23下端设置有第一转向件凹槽232，所述转向机构安装座9之间还设置有壳体定位柱91，所述壳体定位柱91位于所述第一转向件凹槽232两侧槽壁之间用于防止第一转向件23沿第一转向轴22轴向窜动。
进一步地，如图4所示，为了实现双轴推杆41推动摄像头芯片安装座11相对壳体33在不同方位旋转，所述转向机构2包括第一扭簧21、第一转向轴22、第一转向件23、第一转向件安装座27、第二扭簧24、第二转向轴25和第二转向件26，所述第一转向件23固定设置在摄像头芯片安装座1下方，第一转向件23可转动的安装在所述第一转向轴22上，第二转向件26上端固定设置有第一转向件安装座27，所述第一转向轴22与第一转向件安装座27固定连接，所述第二转向件26上端第一转向件安装座27之间设置有第一转向件定位柱271，所述第一转向件23下端设置有第一转向件凹槽232，所述第一定位柱位于所述第一转向件凹槽232两侧槽壁之间用于防止第一转向件23沿第一转向轴22轴向窜动，所述第一转向轴22外还套设有第一扭簧21，所述第一扭簧21分别与第二转向件26和第一转向件23相抵触，第二转向件26可转动的安装在第二转向轴25上，且所述第二转向轴25固定安装在转向机构安装座9上，所述第二转向轴25外还套设有第二扭簧24，所述第二扭簧24分别与壳体3和第二转向件26相抵触，所述第一转向件23与第二转向 件26始终与输出轴4的推杆41相紧贴，所述第二转向件26下端设置有第二转向件凹槽262，所述转向机构安装座9之间还设置有壳体定位柱91，所述壳体定位柱91位于所述第二转向件凹槽262两侧槽壁之间用于防止第二转向件26沿第二转向轴25轴向窜动。
进一步地，为了获得更好的稳定性，所述第一扭簧21和第二扭簧24均为两个，所述第一扭簧21和第二扭簧24均为两个，所述两个第一扭簧21一正一反分别安装设置在第一转向件23的左右两端，所述两个第二扭簧24一正一反分别安装设置在第二转向件26的左右两端。
进一步地，为了实现双轴推杆41推动摄像头芯片安装座1绕空间十字轴相对壳体3旋转，所述推杆41包括第一推杆411和第二推杆412，第一转向件23绕第一转向轴22的转动方向与第二转向件26绕第二转向轴25的转动方向相互垂直设置，所述第一转向件23向外延伸有第一推动面231，所述第一推杆411与所述第一推动面231相紧贴，所述第二转向件26向外延伸有第二推动面261，所述第二推杆412与所述第二推动面261相紧贴。
进一步地，为了获得更流畅稳定的转动效果，所述第一推动面231和第二推动面261与第一推杆411或第二推杆412的接触面均为弧形曲面。
进一步地，所述PCBA电路板6一侧还设有信号及电源连接器61。
进一步地，所述壳体3包括从上至下依次包括上盖31、中盖32和下盖33，所述PCBA电路板6固定在下盖33内，所述电机部件5和位置检测组件8设置中盖32内，所述减速装置7和输出轴4设置在上盖31中，所述上盖31、中盖32和下盖33通过螺柱从下盖33依次贯穿中盖32与上盖31螺接固定。
进一步地，所述PCBA电路板6上通过软件系统设置了电流过载保护功能，在电流过载时实现自动断电；所述PCBA电路板6上通过软件系统设置了学习重复定位功能，对多次的定位进行学习，并且存储数据，方便下一次的定位。
本发明具有以下特点：
1.通过螺纹传动形式推杆直线运动、使得磁石霍尔元件上方作直线方向运动形成电位器；
2.电机直接装配在壳体上，节约成本和空间，重要解决了微型电机安装定位难度；
3.马达刷片以及霍尔元件直接加工在PCB板上，解决了传统加工工艺难度及成本控制；
4.在软件中加了电流过载保护，保护齿轮、电机、PCBA因过载而损坏。
5.在软件中加了学习重复定位功能。
6.通过改进电机装配、霍尔元件、磁石等创新设计使舵机微型化。
7.两组扭簧一直保持镜头旋转架与推杆紧贴，云台转动稳定性更好。
8.通过单轴或两轴推杆转座运动转变旋转运动形成绕一轴或空间十字轴摄像头旋转，转动角度更加多样，实用性更强。
本发明解决了一直困扰小型无人机高端三轴云台昂贵，笨重，而低端云台体积大，安装复杂，成本高，拍摄画面抖动不清晰的问题，本发明无人机摄像云台体积小，容易安装，成本低，拍摄画面清晰度能达到三轴云台的拍摄效果。
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。
本发明使用到的标准零件均可以从市场上购买，异形件根据说明书的和附图的记载均可以进行订制，各个零件的具体连接方式均采用现有技术中成熟的螺栓、铆钉、焊接等常规手段，机械、零件和设备均采用现有技术中常规的型号，加上电路连接采用现有技术中常规的连接方式，在此不再详述。
在本发明的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”应作广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。

Claims (10)

  1. 一种无人机摄像头新型云台结构，包括：摄像头芯片安装座、转向机构、壳体、输出轴以及安装在壳体内的电机部件、PCBA电路板、减速装置和位置检测组件，所述电机部件与位置检测组件分别与PCBA电路板电性连接，所述减速装置与电机部件驱动连接，其特征在于：
    所述壳体上方设置有转向机构安装座，所述转向机构可转动的安装在所述转向机构安装座上，所述输出轴位于壳体上方延伸设置有推杆，所述转向机构与输出轴的推杆一端驱动连接，所述转向机构背离转向机构安装座的一端还安装有摄像头芯片安装座，所述摄像头芯片安装座用于安装摄像头芯片；
    所述壳体内设有容纳电机部件的定位柱孔，所述电机部件直接安装在壳体的定位柱孔上，并且电机刷片直接加工在PCBA电路板上；
    所述减速装置包括减速齿轮组，所述减速齿轮组与电机部件转轴驱动连接，输出轴外周套设有输出轴齿轮，且所述输出轴齿轮内设置有内螺纹与输出轴螺纹连接，所述输出轴通过输出轴齿轮与减速齿轮组的齿轮啮合；
    所述位置检测组件包括输出轴齿轮、磁石和霍尔元件，所述霍尔元件直接加工在PCBA电路板上，所述输出轴下端开设有磁石安装孔，所述磁石安装孔内安装有磁石，所述输出轴齿轮带动输出轴做上下运动时，使得磁石在霍尔元件上方直线方向运动实现位置检测。
  2. 根据权利要求1所述的一种无人机摄像头新型云台结构，其特征在于，所述转向机构包括第一扭簧、第一转向轴和第一转向件，所述第一转向件固定设置在摄像头芯片安装座下方，第一转向轴固定安装在转向机构安装座上，且所述第一转向件可转动的安装在所述第一转向轴上，所述第一转向轴外还套设有第一扭簧，所述第一扭簧分别与壳体和第一转向件相抵触使得所述第一转向件始终与输出轴的推杆相紧贴，所述第一转向件下端设置有第一转向件凹槽，所述转向机构安装座之间还设置有壳体定位柱，所述壳体定位柱位于所述第一转向件凹槽两侧槽壁之间用于防止第一转向件沿第一转向轴轴向窜动。
  3. 根据权利要求1所述的一种无人机摄像头新型云台结构，其特征在于，所述转向机构包括第一扭簧、第一转向轴、第一转向件、第一转向件安装座、第二扭簧、第二转向轴和第二转向件，所述第一转向件固定设置在摄像头芯片安装座下方，且所述第一转向件可转动的安装在所述第一转向轴上，第二转向件上端固定设置有第一转向件安装座，所述第一转向轴与第一转向件安装座固定连接，所述第二转向件上端第一转向件安装座之间设置有第一转向件定位柱，所述第一转向件下端设置有第一转向件凹槽，所述第一定位柱位于所述第一转向件凹槽两侧槽壁之间用于防止第一转向件沿第一转向轴轴向窜动，所述第 一转向轴外还套设有第一扭簧，所述第一扭簧分别与第二转向件和第一转向件相抵触，第二转向件可转动的安装在第二转向轴上，且所述第二转向轴固定安装在转向机构安装座上，所述第二转向轴外还套设有第二扭簧，所述第二扭簧分别与壳体和第二转向件相抵触，所述第一转向件与第二转向件始终与输出轴的推杆相紧贴，所述第二转向件下端设置有第二转向件凹槽，所述转向机构安装座之间还设置有壳体定位柱，所述壳体定位柱位于所述第二转向件凹槽两侧槽壁之间用于防止第二转向件沿第二转向轴轴向窜动。
  4. 根据权利要求3所述的一种无人机摄像头新型云台结构，其特征在于，所述第一扭簧和第二扭簧均为两个，所述两个第一扭簧一正一反分别安装设置在第一转向件的左右两端，所述两个第二扭簧一正一反分别安装设置在第二转向件的左右两端。
  5. 根据权利要求3所述的一种无人机摄像头新型云台结构，其特征在于，所述推杆包括第一推杆和第二推杆，第一转向件绕第一转向轴的转动方向与第二转向件绕第二转向轴的转动方向相互垂直设置，所述第一转向件向外延伸有第一推动面，所述第一推杆与所述第一推动面相紧贴，所述第二转向件向外延伸有第二推动面，所述第二推杆与所述第二推动面相紧贴。
  6. 根据权利要求5所述的一种无人机摄像头新型云台结构，其特征在于，所述第一推动面和第二推动面与第一推杆或第二推杆的接触面均为弧形曲面。
  7. 根据权利要求1所述的一种无人机摄像头新型云台结构，其特征在于，所述PCBA电路板一侧还设有信号及电源连接器。
  8. 根据权利要求1所述的一种无人机摄像头新型云台结构，其特征在于，所述壳体包括从上至下依次包括上盖、中盖和下盖，所述PCBA电路板固定在下盖内，所述电机部件和位置检测组件设置中盖内，所述减速装置和输出轴设置在上盖中，所述上盖、中盖和下盖通过螺柱从下盖依次贯穿中盖与上盖螺接固定。
  9. 根据权利要求1所述的一种无人机摄像头新型云台结构，其特征在于，所述PCBA电路板上通过软件系统设置了电流过载保护功能，在电流过载时实现自动断电。
  10. 根据权利要求1所述的一种无人机摄像头新型云台结构，其特征在于，所述PCBA电路板上通过软件系统设置了学习重复定位功能，对多次的定位进行学习，并且存储数据，方便下一次的定位。
PCT/CN2020/119221 2020-09-23 2020-09-30 一种无人机摄像头新型云台结构 WO2022061954A1 (zh)

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