CN105882992B - A kind of unmanned plane fixation holder - Google Patents

Abstract

The invention relates to an unmanned aerial vehicle fixed platform, comprising a fixed frame, the fixed frame includes a fixed platform, four support panels are symmetrically welded on the outer side of the upper end surface of the fixed platform, and the upper ends of the four support panels are welded with ring-shaped The circular platform, the supporting panel plays the role of supporting the circular circular platform, and the middle part of the circular circular platform is provided with a circular opening; the upper end surface of the fixed platform is symmetrically welded with four L-shaped brackets inside, and the upper ends of the four L-shaped brackets are installed with screws. The installation platform, four L-shaped brackets play the role of installing and fixing the installation platform, the lower end of the installation platform is equipped with a drive motor through the motor base, the output end of the drive motor is connected with the drive shaft through a coupling, and the lower end of the drive shaft passes through The bearings are mounted on a fixed table. The invention can realize the stable lifting and aerial photography function of the UAV, and has the advantages of simple structure, good stability of its own mechanical structure, good lifting and shrinking performance, and the like.

Description

A fixed platform for aerial photography of unmanned aerial vehicles

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to a fixed platform for aerial photography of unmanned aerial vehicles.

Background technique

The pan/tilt is a supporting device used to install and fix the camera equipment in the monitoring system. It does not directly receive the image, but the pan/tilt controls the rotation direction of the camera or other equipment. The UAV aerial photography platform belongs to the category of the platform, which is mainly used in practical aerial photography such as construction planning, engineering survey, disaster investigation, emergency rescue and disaster relief.

In the actual application process, due to the continuous change of the UAV's own attitude during the flight and the influence of external weather factors, a certain amount of vibration is brought to the entire UAV body, which seriously affects the quality of aerial photography; therefore, The stability of the aerial photography gimbal used to carry cameras and cameras directly determines the quality of the shooting. At present, the stability enhancement measures for aerial photography gimbals are generally realized through electronic equipment detection systems, but the electronic detection systems all have a certain lag, and cannot adjust the aerial photography gimbals in time according to the changes in the attitude of the UAV during flight. attitude to compensate. Therefore, there is an urgent need for a UAV aerial photography platform with good mechanical structure stability and no hysteresis performance.

Contents of the invention

In order to solve the above problems, the present invention provides a fixed platform for aerial photography of unmanned aerial vehicles, which can solve the problems caused by poor stability of the mechanical structure of the existing unmanned aerial vehicles, hysteresis in the adjustment of the electronic detection system, and external weather factors during the aerial photography of the existing unmanned aerial vehicles. The problem of poor aerial photography caused by shaking, using the advantages of good dynamic response, high rigidity, large carrying capacity, good stability and high motion precision of the parallel mechanism to realize the stable lifting and aerial photography function of the UAV, has a simple structure and stable mechanical structure Good and lifting shrinkage performance and other advantages.

In order to achieve the above object, the present invention adopts the following technical solutions: a fixed platform for aerial photography of a UAV, including a fixed frame, the fixed frame includes a fixed platform, and four supports are symmetrically welded on the outer side of the upper end surface of the fixed platform Panel, the upper ends of the four supporting panels are welded with circular circular platforms, the supporting panels play a role in supporting the circular circular platform, and the middle part of the circular circular platform is provided with a circular opening; the inner side of the upper end of the fixed platform is symmetrically welded with four L-shaped brackets, The upper ends of the four L-shaped brackets are installed with a mounting table through screws, and the four L-shaped brackets play the role of installing and fixing the mounting table. The drive shaft is connected with the drive shaft, and the lower end of the drive shaft is installed on the fixed platform through a bearing; the middle part of the drive shaft is equipped with a drive gear through a key, and the drive gear is respectively meshed with the four lifting branch chains, and the drive shaft is driven by the drive motor to rotate , the driving shaft drives the driving gear to rotate, and the driving gear drives the four lifting branch chains to move. The lifting branch chain includes a transmission gear meshed with the driving gear. The transmission gear is installed on the transmission shaft through a key, and the lower end of the transmission shaft is installed through a bearing. On the fixed platform, the upper end of the transmission shaft is welded with a lead screw, the top of the lead screw is installed on the lower end surface of the circular circular platform through the bearing, the middle part of the lead screw is threaded with a slider, and the outer wall of the slider is installed with a linear slide rail. The outer wall of the linear slide rail is installed on the support panel through screws, and the linear slide rail functions to limit the movement direction of the slider, so that the slider can move stably on the lead screw; the inner wall of each slider of the four lifting branch chains A parallel branch chain is respectively installed on the top of the parallel branch chain, and an operation table is installed on the top of the parallel branch chain; the parallel branch chain includes a No. The top of the hydraulic cylinder is installed on the No. 2 ear seat through the pin shaft, and the No. 2 ear seat is installed on the lower end surface of the console. When the seat rotates, the rotating pair R forms a parallel branch chain of RPR structure, and the fixed frame, four parallel branch chains of RPR structure and the operating table form a 4-RPR parallel mechanism. The 4-RPR parallel mechanism has good dynamic response and high rigidity. , large carrying capacity, good stability and high motion precision; the operating platform is used to install the photographic equipment for aerial photography of drones.

As a preferred technical solution of the present invention, both the fixed platform and the operating platform are of circular structure, and the central axis of the fixed platform coincides with the central axis of the operating platform, and the rigidity and stability of the 4-RPR parallel mechanism are high Such advantages can keep the fixed platform parallel to the operating platform at all times, so that the photographic equipment remains stable during the flight of the drone.

During work, at first the present invention is installed on the unmanned aerial vehicle, then the photographic equipment that unmanned aerial photography is used is installed on the operating table, when running into severe weather such as strong wind in the unmanned aerial photography process, photographic equipment is relative to unmanned aerial vehicle The height should not be too large, so as to reduce the airflow resistance suffered by the UAV and improve the stability of the UAV during aerial photography. The drive motor starts to work, the drive motor drives the drive shaft to rotate, the drive shaft drives the drive gear to rotate, and the drive The gears drive the four lifting chains through the transmission gear. The transmission gear first drives the screw to move. The rotation of the screw drives the slider to move. The slider drives the parallel branch to move under the auxiliary motion of the linear slide rail. Drive the photographic equipment on the operating table to shrink upwards, reducing the influence of airflow caused by external weather factors, and the fixed frame, four parallel branch chains of RPR structure and the operating table form a 4-RPR parallel mechanism, with the help of 4-RPR parallel The mechanism has the advantages of good dynamic response, high rigidity, large carrying capacity, good stability and high motion precision, so that the UAV can always maintain a stable state during the whole aerial photography process, eliminating the poor stability of the existing UAV's own mechanical structure, electronic There are problems such as hysteresis in the adjustment of the detection system, which leads to poor aerial photography effects due to jitter, and realizes the stable aerial photography function of the drone.

The beneficial effects of the present invention are:

1. The planetary gear mechanism of the present invention drives the four transmission gears to move through the drive gear, thereby driving the four parallel branch chains to move up and down stably on the slider, thereby realizing the lifting and contracting function of the present invention;

2. The fixed frame of the present invention, the parallel branch chains of four RPR structures and the operating platform form a 4-RPR parallel mechanism, which has good dynamic response, high rigidity, large bearing capacity and good stability by virtue of the 4-RPR parallel mechanism And the advantages of high motion precision make the UAV can always maintain a stable state during the whole aerial photography process;

3. The present invention solves the problem of poor aerial photography effect due to the poor stability of the mechanical structure of the existing UAV during the aerial photography process, the hysteresis in the adjustment of the electronic detection system, and the jitter caused by external weather factors. The drone's stable lifting aerial photography function has the advantages of simple structure, good stability of its own mechanical structure, and good lifting and shrinking performance.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a full sectional view of the present invention;

Fig. 3 is an A-A sectional view of Fig. 2 of the present invention.

specific embodiment

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

As shown in Figures 1 to 3, a fixed platform for aerial photography of an unmanned aerial vehicle includes a fixed frame 1, and the fixed frame 1 includes a fixed platform 11, and four supporting panels are symmetrically welded on the outer side of the upper end surface of the fixed platform 11. 12. The upper ends of the four supporting panels 12 are welded with annular round tables 13, and the supporting panels 12 play the role of supporting the annular round tables 13. The middle part of the annular round tables 13 is provided with a circular opening; the inner side of the upper end of the fixed table 11 is welded symmetrically with Four L-shaped brackets 14, the upper ends of the four L-shaped brackets 14 are installed with a mounting platform 15 through screws, the four L-shaped brackets 14 play the role of installing and fixing the mounting platform 15, and the lower end surface of the mounting platform 15 is installed through the motor base Drive motor 16 is arranged, and the output end of drive motor 16 links to each other with drive shaft 17 by shaft coupling, and the lower end of drive shaft 17 is installed on the fixed table 11 by bearing; The middle part of described drive shaft 17 is equipped with drive gear 18 by key, The driving gear 18 is respectively meshed with the four lifting branch chains 19, and the drive shaft 17 is driven by the drive motor 16 to rotate. The driving shaft 17 drives the driving gear 18 to rotate, and the driving gear 18 drives the four lifting branch chains 19 to move. 19 comprises the transmission gear 191 that meshes with drive gear 18, and transmission gear 191 is installed on the transmission shaft 192 by key, and the lower end of transmission shaft 192 is installed on the fixed table 11 by bearing, and the upper end of transmission shaft 192 is welded with leading screw 193, The top of leading screw 193 is installed on the lower end surface of annular circular table 13 by bearing, and the middle part of leading screw 193 is provided with slide block 194 by screw thread, and linear slide rail 195 is installed on the outer wall of slide block 194, and the outer wall of linear slide rail 195 passes screw Installed on the support panel 12, the linear slide rail 195 plays the function of limiting the moving direction of the slider 194, so that the slider 194 can move stably on the lead screw 193; the inner wall of each slider 194 of the four lifting branch chains 19 A parallel branch chain 2 is respectively installed on the top of the parallel branch chain 2, and an operation table 3 is installed on the top of the parallel branch chain 2; the parallel branch chain 2 includes a No. The pin shaft is equipped with a hydraulic cylinder 22, the top of the hydraulic cylinder 22 is installed on the No. 2 ear seat 23 through the pin shaft, and the No. 2 ear seat 23 is installed on the lower end surface of the console 3. 1. The moving pair P when the hydraulic cylinder 22 stretches and the rotating pair R when the No. 2 ear seat 23 rotates form a parallel branch chain 2 of the RPR structure, a fixed frame 1, four parallel branch chains 2 of the RPR structure and an operating table 3 A 4-RPR parallel mechanism is formed. The 4-RPR parallel mechanism has the advantages of good dynamic response, high rigidity, large load capacity, good stability and high motion precision; the operating platform 3 is used to install the photography equipment for aerial photography of drones.

Both the fixed table 11 and the operating table 3 are circular in structure, and the central axis of the fixed table 11 coincides with the central axis of the operating table 3. With the help of the advantages of high rigidity and good stability of the 4-RPR parallel mechanism, the The fixed platform 11 is kept parallel to the operating platform 3, so that the photographic equipment remains stable during the flight of the drone.

During work, at first the present invention is installed on the unmanned aerial vehicle, then the photographic equipment that unmanned aerial photography is installed on console 3, when running into bad weather such as gale in the unmanned aerial photography process, photographic equipment is relatively unmanned. The height of the drone should not be too large, so as to reduce the airflow resistance suffered by the drone and improve the stability of the drone during aerial photography. The drive motor 16 starts to work, and the drive motor 16 drives the drive shaft 17 to rotate, and the drive shaft 17 drives The driving gear 18 rotates, and the driving gear 18 drives the movement of the four lifting branch chains 19 through the transmission gear 191. The transmission gear 191 first drives the lead screw 193 to move, and the rotation of the lead screw 193 drives the slider 194 to move, and the slider 194 moves on the linear slide rail 195. The auxiliary movement of the parallel branch chain 2 drives the movement of the parallel branch chain 2, and the four parallel branch chains 2 drive the photographic equipment on the operating table 3 to shrink upward, which reduces the influence of airflow caused by external weather factors, and the fixed frame 1 and the four RPR structures The parallel branch chain 2 and the console 3 form a 4-RPR parallel mechanism. With the help of the 4-RPR parallel mechanism, it has the advantages of good dynamic response, high rigidity, large carrying capacity, good stability and high motion precision, making the UAV during the whole aerial photography process It can always maintain a stable state, eliminating the problems of poor stability of the existing UAV's own mechanical structure and hysteresis in the adjustment of the electronic detection system, etc. .

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the specification only illustrate the principles of the present invention, and without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (1)

1. A fixed cloud platform for unmanned aerial photography, it is characterized in that: comprise fixed frame (1), described fixed frame (1) comprises fixed platform (11), the upper end face outside of fixed platform (11) is welded symmetrically There are four supporting panels (12), and the upper ends of the four supporting panels (12) are welded with an annular circular platform (13), and the middle part of the annular circular platform (13) is provided with a circular opening; the inner side of the upper end surface of the fixed platform (11) Four L-shaped brackets (14) are symmetrically welded, and the upper ends of the four L-shaped brackets (14) are installed with a mounting platform (15) through screws, and the lower end of the mounting platform (15) is equipped with a drive motor (16) through a motor base. , the output end of the drive motor (16) is connected to the drive shaft (17) through a coupling, and the lower end of the drive shaft (17) is mounted on the fixed table (11) through a bearing; Drive gear (18) is installed, and drive gear (18) is meshed with four lifting branch chains (19) respectively, and described lifting branch chain (19) comprises the transmission gear (191) that is meshed with driving gear (18), Transmission gear (191) is installed on the transmission shaft (192) by key, and the lower end of transmission shaft (192) is installed on the fixed table (11) by bearing, and the upper end of transmission shaft (192) is welded with leading screw (193), and the The top of bar (193) is installed on the lower end surface of annular round platform (13) by bearing, and the middle part of leading screw (193) is equipped with slide block (194) by screw thread, and linear slide rail (194) is installed on the outer wall of slide block (194) 195), the outer wall of the linear slide rail (195) is installed on the support panel (12) by screws; a parallel branch chain ( 2), the top of the parallel branch chain (2) is equipped with an operating platform (3); Described parallel branch chain (2) comprises No. 1 lug seat (21) that is welded on the inner wall of slide block (194), hydraulic cylinder (22) is installed on the No. 1 lug seat (21) by pin shaft, hydraulic cylinder (22 ) is installed on the No. 2 ear seat (23) through the pin shaft, and the No. 2 ear seat (23) is installed on the lower end surface of the console (3); Both the fixed platform (11) and the operating platform (3) are circular in structure, and the central axis of the fixed platform (11) coincides with the central axis of the operating platform (3).