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WO2013033924A1 - 无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器 - Google Patents

无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器 Download PDF

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Publication number
WO2013033924A1
WO2013033924A1 PCT/CN2011/079703 CN2011079703W WO2013033924A1 WO 2013033924 A1 WO2013033924 A1 WO 2013033924A1 CN 2011079703 W CN2011079703 W CN 2011079703W WO 2013033924 A1 WO2013033924 A1 WO 2013033924A1
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WO
WIPO (PCT)
Prior art keywords
bracket
motor
link
fixed
link member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2011/079703
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English (en)
French (fr)
Inventor
汪滔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dajiang Innovations Technology Co Ltd
Original Assignee
Shenzhen Dajiang Innovations Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=46667299&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2013033924(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to CA2848221A priority Critical patent/CA2848221A1/en
Priority to EP11871956.6A priority patent/EP2759479B1/en
Priority to JP2014528828A priority patent/JP6362539B2/ja
Priority to KR1020147009446A priority patent/KR101749996B1/ko
Priority to MX2014002730A priority patent/MX352250B/es
Priority to RU2014113930/11A priority patent/RU2572946C2/ru
Priority to AU2011376582A priority patent/AU2011376582B2/en
Application filed by Shenzhen Dajiang Innovations Technology Co Ltd filed Critical Shenzhen Dajiang Innovations Technology Co Ltd
Priority to BR112014005378-2A priority patent/BR112014005378B1/pt
Publication of WO2013033924A1 publication Critical patent/WO2013033924A1/zh
Priority to US14/045,606 priority patent/US8938160B2/en
Anticipated expiration legal-status Critical
Priority to US14/564,016 priority patent/US9648240B2/en
Priority to US15/487,172 priority patent/US10321060B2/en
Priority to US16/392,868 priority patent/US11140322B2/en
Ceased legal-status Critical Current

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Classifications

    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • 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
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance

Definitions

  • the invention relates to the field of unmanned aerial vehicles, and particularly relates to a two-axis pan/tilt for a drone, a three-axis gimbal for a drone, and a multi-rotor aircraft for aerial photography or monitoring.
  • the drone has the characteristics of small size, light weight, low cost, flexible operation and high safety. It can be widely used in aerial photography, monitoring, search and rescue, resource exploration and other fields. Since the UAV itself has high-frequency vibration and low-frequency jitter, it is necessary to configure an aerial stabilization platform for carrying cameras and cameras for stable shooting.
  • the aerial stability platform mostly detects the change of the attitude of the camera or the camera through the electronic device, and controls the reverse compensation of the servo to realize the stability of the camera or the camera.
  • pan/tilt heads use mechanical gear drives for the purpose of two-, three- or multi-axis rotation of a camera or camera. Due to the hysteresis of the gear transmission, the unmanned aerial vehicle has a long response time in the various postures such as turning, hovering, ascending, descending or tilting, and the steering gear is adjusted slowly, which makes it difficult for the camera or camera to adjust the angle in time. Adapting to the adjustment of the UAV's attitude, the image quality of the camera or camera is affected. At the same time, most of the two-axis or three-axis heads of the drone have insufficient stability. The camera shakes during the posture change of the drone, and the impact of the low-frequency sway or the tilt of the body cannot be eliminated. Quality images cannot meet professional needs.
  • the technical problem to be solved by the present invention is to provide a two-axis pan/tilt and a drone for a drone for the defects of the prior art in which the stability of the unmanned aerial vehicle has insufficient stability and affects the shooting quality of the shooting unit.
  • the three-axis pan/tilt and multi-rotor aircraft can solve the above problems well.
  • the technical solution adopted by the present invention to solve the technical problem thereof is: constructing a two-axis pan/tilt head for a drone, comprising: a frame assembly, a transmission assembly and a photographing assembly, the rack assembly comprising a first bracket, a second bracket and a third bracket, the photographing assembly is fixed on the first bracket, the first bracket is rotated and disposed on the second bracket, and the second bracket is rotated and disposed on the third bracket;
  • the transmission assembly includes a first motor that drives the first bracket to rotate about its rotation axis relative to the second bracket, and a second motor that drives the second bracket about its rotation axis Rotating relative to the third bracket; further comprising a link member, the two free ends of the link member are respectively rotatably disposed at two open ends of the second bracket, and the link member is fixed at the third by a fastener On the stand.
  • the invention provides a The two-axis gimbal is used in the drone.
  • the link member includes a first link, a second link, and a third link that are hingedly connected in sequence; the free end of the first link is hingedly disposed at the One end of the second bracket, the free end of the third link is hingedly disposed at the other end of the second bracket; the middle portion of the second link is positioned on the third bracket by the fastener on.
  • the invention provides a The two-axis pan/tilt head of the drone, further comprising a mounting arm, one end of the mounting arm is fixed on the third bracket, and the other end is provided with a positioning hole adapted to the fastener.
  • the second link is secured to the mounting arm by a fastener.
  • the invention provides a The two-axis pan/tilt head is used for the drone.
  • the stator of the first motor is fixed on the first bracket, and the rotor of the first motor is fixedly disposed with the second bracket;
  • the stator is fixed on the third bracket, and the rotor of the second motor is fixedly disposed with the second bracket.
  • the invention provides a
  • the drone uses a two-axis pan/tilt head.
  • the center of gravity of the first bracket and the photographing assembly falls on the rotating shaft of the first bracket.
  • the invention provides a The two-axis pan/tilt head is used for the drone.
  • the center of gravity of the first bracket, the second bracket and the entire photographing assembly falls on the rotating shaft of the second bracket.
  • the invention constructs a three-axis gimbal for a drone
  • the rack assembly includes a first bracket, a second bracket, a third bracket, and a connecting bracket for external fixation, and the photographing assembly is fixed on the first bracket
  • the first bracket and the second bracket are rotatably disposed, and the second bracket is rotatably disposed with the third bracket
  • the transmission component includes a first motor, a second motor, and a third motor, the first The motor drives the first bracket to rotate about its rotation axis relative to the second bracket, the second motor drives the second bracket to rotate about its rotation axis relative to the third bracket, and the third motor drives the The third bracket rotates around its axis
  • the Z axis rotates relative to the connecting frame; further comprising a link member, wherein the two free ends of the link member are respectively rotatably disposed at two open ends of the second bracket, and the link member is fixed by a fastener On the three brackets.
  • the invention provides a three-axis gimbal for a drone, specifically,
  • the link member includes a first link, a second link, and a third link that are hingedly connected in sequence; a free end of the first link is hingedly disposed at one end of the second bracket, the third A free end of the link is hingedly disposed at the other end of the second bracket; a middle portion of the second link is positioned on the third bracket by the fastener.
  • the invention provides a three-axis gimbal for a drone, further,
  • the utility model further includes a mounting arm, one end of the mounting arm is fixed on the third bracket, and the other end is provided with a positioning hole adapted to the fastener, and the second link is fixed by a fastener On the mounting arm.
  • the present invention also constructs a multi-rotor aircraft, including the above a three-axis pan/tilt head, a multi-rotor mounting bracket, and a circuit component for a drone, the multi-rotor mounting bracket including a base, at least three support arms fixedly fastened to the base, and fixed to the support arm a rotor member at the end, and a plurality of support frames extending along the base for external positioning; the unmanned aerial platform is fixedly disposed on the base by the connecting frame.
  • the invention also constructs A sun platform for a drone, comprising a frame assembly, a transmission assembly and a photographing assembly, the frame assembly comprising a first bracket, a second bracket, a third bracket and a link member, wherein the photographing assembly is fixed a first bracket, the first bracket and the second bracket are rotatably disposed, the second bracket is rotatably disposed with the third bracket, and the link member and the second bracket form a four-bar mechanism;
  • the transmission assembly includes a first motor and a fourth motor, the first motor directly drives the first bracket to rotate relative to the second bracket, and the fourth motor directly drives the link member to drive the first The two brackets rotate relative to the third bracket.
  • the unmanned aerial vehicle uses a pan/tilt head.
  • the link member includes a first link, a second link, and a third link that are hingedly connected in sequence; the free end of the first link is hingedly disposed at the first An end of the second bracket, the free end of the third link is hingedly disposed at the other end of the second bracket; and the second link is positioned on the third bracket by the fourth motor.
  • the utility model relates to a cloud platform for an unmanned aerial vehicle, further comprising a mounting arm, one end of the mounting arm is fixed on the third bracket, and the other end is fixedly connected with the stator of the fourth motor; a rotor of the four motor is fixedly connected to the second link; or one end of the mounting arm is fixed on the third bracket, and the other end is fixedly connected to the rotor of the fourth motor; The stator is fixedly coupled to the second link.
  • the utility model relates to a cloud platform for an unmanned aerial vehicle.
  • the second bracket has an open 'U' The free end of the first link and the free end of the third link are respectively rotatably disposed on the two open ends of the second bracket.
  • the unmanned aerial vehicle uses a pan/tilt head.
  • the frame assembly further includes a connecting frame for external fixation
  • the transmission assembly further includes a third motor; and the third motor drives the third bracket relative to the connection The frame rotates.
  • the unmanned aerial vehicle uses a pan/tilt. Further, the transmission assembly further includes a second motor, and the second motor directly drives the second bracket to rotate relative to the third bracket.
  • the second end of the connecting rod member is hingedly disposed on the second bracket, and the two together form a parallelogram.
  • the connecting rod The member will rotate with an equal angle without affecting the rotation trajectory of the second bracket; at the same time, the link member is fixed to the third bracket by a fastener, and the link member is the two open ends of the second bracket in the vertical direction.
  • the effective support is provided to increase the load capacity and rigidity of the second bracket.
  • the second bracket has a large load capacity, it is effective to reduce the deformation amount; at the same time, the weight of the second bracket is reduced, and the diameter of the second motor is reduced.
  • FIG. 1 is a schematic structural view of a two-axis pan/tilt head for a drone according to a first embodiment of the present invention
  • FIG. 2 is a schematic exploded view 1 of a three-axis gimbal for a drone according to a second embodiment of the present invention
  • FIG. 3 is a second exploded view of a three-axis pan/tilt head for a drone according to a second embodiment of the present invention
  • FIG. 4 is a second exploded view of a three-axis gimbal for a drone according to a second embodiment of the present invention
  • FIG. 5 is a schematic structural view 1 of a three-axis gimbal for a drone according to a second embodiment of the present invention
  • FIG. 6 is a schematic structural view 2 of a three-axis gimbal for a drone according to a second embodiment of the present invention.
  • FIG. 7 is a schematic exploded view of a multi-rotor aircraft provided in Embodiment 3 of the present invention.
  • FIG. 8 is a second exploded view of a multi-rotor aircraft according to Embodiment 3 of the present invention.
  • FIG. 9 is a schematic structural view 1 of a multi-rotor aircraft provided in Embodiment 3 of the present invention.
  • FIG. 10 is a second schematic structural view of a multi-rotor aircraft according to Embodiment 3 of the present invention.
  • FIG. 11 is a schematic structural view 1 of a gimbal for a drone according to a fourth embodiment of the present invention.
  • FIG. 12 is a second structural diagram of a gimbal for a drone according to a fourth embodiment of the present invention.
  • FIG. 13 is a schematic structural view 3 of a gimbal for a drone according to a fourth embodiment of the present invention.
  • FIG. 14 is a fourth structural diagram of a gimbal for a drone according to a fourth embodiment of the present invention.
  • an embodiment of the present invention provides a two-axis pan/tilt head for a drone, including a frame assembly, a transmission assembly, and a photographing assembly.
  • the frame assembly includes a first bracket 2, a second bracket 4, and a third bracket 6.
  • the photographing assembly 1 is fixed on the first bracket 2, and the first bracket 2 and the second bracket 4 are rotated, and the second bracket 4 is disposed. Rotate the setting with the third bracket 6 .
  • the shape of the photographing assembly 1 here is not limited to the square shape shown in Fig. 1, but may be a circular, ellipsoidal or other shape that is common on the market.
  • the transmission assembly includes the first motor 3 And a second motor 5, the first motor 3 drives the first bracket 2 to rotate about the rotation axis thereof relative to the second bracket 4, and the second motor 5 drives the second bracket 4 about the rotation axis thereof relative to the third bracket 6 Turn.
  • the power source provided by the embodiment is a motor, and the use of a small motor drive has the following advantages: (1) the direct drive of the motor consumes less energy, and is energy-saving and environmentally friendly; (2) The response time is short, and can be quickly adjusted in time to adapt to various flight attitudes of the unmanned aerial vehicle, so that the shooting stability of the shooting component is high.
  • the two free ends of the second bracket 4 extend outward, the first bracket 2 and the photographing assembly 1
  • the overall rotation is arranged between the two free ends, and the second motor 5 drives the second bracket 4.
  • the longer the two free ends of the second bracket 4 are, the first bracket 2 and the photographing assembly 1
  • the present invention is hingedly disposed on the second bracket 4 by the free end of the link member 12, which together form a parallelogram, according to the principle of the parallelogram, when the second bracket 4 is opposed to the third bracket 6
  • the link member 12 When rotated at a certain angle, the link member 12 will rotate by an equal angle without affecting the rotational trajectory of the second bracket 4; and the link member 12 is fixed to the third bracket by the fastener 13 Upper, thereby providing support positioning for the two open ends of the second bracket 4, increases the stability of the second bracket 4.
  • the present invention is hingedly disposed on the second bracket 4 by the free end of the link member 12. In the above, the two together form a parallelogram link.
  • the link member 12 when the second bracket 4 is rotated by a certain angle with respect to the third bracket 6, the link member 12 will rotate by an equal angle without affecting the second bracket 4
  • the rotation path of the link member 12 is fixed to the third bracket 6 by the fastener 13, and the link member 12 provides effective support for the two open ends of the second bracket 4 in the vertical direction, and the second bracket is enlarged.
  • the load capacity and rigidity of the fourth bracket 4 are effective to reduce the deformation amount when the second bracket 4 has a large load capacity; at the same time, the production process reduces the weight of the second bracket 4 and reduces the diameter of the second motor 5.
  • the link member 12 includes a first link 121 and a second link 122 that are hingedly connected in sequence. And a third link 123.
  • the free end of the first link 121 is hingedly disposed at one end of the second bracket 4, and the free end of the third link 123 is hingedly disposed at the other end of the second bracket 4, thereby causing the link member 12 Together with the second bracket 4, it forms a parallelogram.
  • the middle portion of the second link 122 is positioned on the third bracket 6 by the fasteners 13.
  • the mounting arm 10 and the mounting arm are further included.
  • One end of the 10 is fixed to the third bracket 6, and the other end is provided with a positioning hole 11 adapted to the fastener 13, and the second link 122 is fixed to the mounting arm 10 by the fastener 13.
  • the rotation axis X of the first bracket 2 and the rotation axis Y of the second bracket 4 The axis is set vertically.
  • the stator of the first motor 3 is fixed on the first bracket 2, the rotor of the first motor 3 is fixedly disposed with the second bracket 4, and the first motor 3 directly drives the second bracket 4, so that the first bracket 2 Relative rotation occurs with respect to the second bracket 4.
  • the stator of the second motor 5 is fixed on the third bracket 6, the rotor of the second motor 5 is fixedly disposed with the second bracket 4, and the second motor 5 directly drives the second bracket 4 Thereby, the second bracket 4 is relatively rotated relative to the third bracket 6.
  • the center of gravity of the first bracket 2 and the photographing component 1 falls on the first bracket 2 rotation axis.
  • the first bracket 2 When turning to any angle, no turning moment will be generated, that is, the first bracket 2 will not sway back and forth due to the torque, and the shooting assembly during the rotation is increased. Stability.
  • the unmanned aerial vehicle runs smoothly, that is, without the motor driving condition, the first bracket 2 and the photographing assembly 1 are also in a dynamic equilibrium state.
  • the pan/tilt provided by the embodiment is suitable for aerial or monitoring small unmanned aerial vehicles, and the first motor 3
  • the second motor 5 is preferably a brushless DC motor.
  • the advantages of using DC brushless motors for unmanned aerial vehicles are: (1) Electronic commutation instead of traditional mechanical commutation, reliable performance, no wear, low failure rate, life expectancy is about 6 times higher than brush motor; (2) static motor, no-load current is small; (3) high efficiency ( 4 )small volume.
  • the transmission assembly further includes a circuit board, an inertial sensor, a microprocessor, and a signal line.
  • the inertial sensor includes a gyroscope for detecting an angular velocity signal and an accelerometer for detecting an acceleration signal, and the microprocessor according to the angular velocity signal and the acceleration signal To control the first motor 3.
  • FIG. 2 another embodiment of the present invention provides a three-axis gimbal for a drone, including a frame assembly, a transmission assembly, and a photographing assembly 1.
  • the frame assembly includes a first bracket 2 and a second bracket 4 , the third bracket 6 and the connecting bracket 8 for external fixing.
  • the shooting unit 1 is attached to the first bracket 2, in order to achieve the shooting unit 1 along the X axis (ie: the first bracket 2
  • the rotation axis is rotated, and the first bracket 2 and the second bracket 4 are rotated, and the rotating structure can realize the photographing component 1 Head up or bow down.
  • the camera 1 is correspondingly rotated to the right or left to ensure the stability of the camera or camera, as shown in Figure 5 and Figure 6.
  • the second bracket 4 and the third bracket 6 are rotatably disposed, and the second bracket 4 is rotated left and right to drive the first bracket 2 and the photographing assembly 1 to rotate integrally.
  • the connecting frame 8 is fixed to the helicopter or the multi-rotor aircraft, and the third bracket 6 is rotatable relative to the connecting frame 8 about the Z axis.
  • the transmission assembly includes a first motor 3 and a second motor 5 and a third motor 7, the first motor 3 drives the first bracket 2 to rotate about its rotation axis relative to the second bracket 4, and the second motor 5 drives the second bracket 4 about its rotation axis relative to the third bracket 6 Rotating, the third motor 7 drives the third bracket 6 to rotate about its rotation axis Z axis relative to the connecting frame 8.
  • the power source provided in this embodiment is a motor, and the use of a small motor drive has the following advantages: (1) The direct drive of the motor consumes less energy, saves energy and protects the environment; (2) The response time is short, and it can be adjusted quickly and in time to adapt to various flight attitudes of the unmanned aerial vehicle, so that the shooting stability of the shooting component is high.
  • the two free ends are respectively disposed at the two open ends of the second bracket 4, and the link member 12 is fixed to the third bracket 6 by the fasteners 13.
  • the present invention passes through the link member 12
  • the free ends are hingedly disposed on the second bracket 4, which together form a parallelogram. According to the principle of the parallelogram, when the second bracket 4 is rotated by a certain angle with respect to the third bracket 6, the link member 12 It will rotate with an equal angle without affecting the rotation trajectory of the second bracket 4; at the same time, the link member 12 is fixed to the third bracket 6 by the fastener 13, thereby being the second bracket 4
  • the two open ends provide support positioning and increase the stability of the second bracket 4.
  • the present invention is hingedly disposed on the second bracket 4 by the free end of the link member 12.
  • the link member 12 will rotate by an equal angle without affecting the second bracket 4
  • the rotation path of the link member 12 is fixed to the third bracket 6 by the fastener 13, and the link member 12 provides effective support for the two open ends of the second bracket 4 in the vertical direction, and the second bracket is enlarged.
  • the load capacity and rigidity of the fourth bracket 4 are effective to reduce the deformation amount when the second bracket 4 has a large load capacity; at the same time, the production process reduces the weight of the second bracket 4 and reduces the diameter of the second motor 5.
  • the link member 12 includes a first link 121 that is hingedly connected in sequence.
  • the second link 122 and the third link 123 The free end of the first link 121 is hingedly disposed at one end of the second bracket 4, and the free end of the third link 123 is hingedly disposed at the second bracket 4 The other end is such that the link member 12 and the second bracket 4 together form a parallelogram.
  • the middle portion of the second link 122 passes through the fastener 13 Positioned on the third bracket 6.
  • FIG. 2 Preferably, in order to achieve a fixed connection between the link member 12 and the third bracket 6, as shown in FIG. 2, FIG. 3, FIG. Also shown is a mounting arm 10 having one end secured to the third bracket 6 and having a locating hole 11 adapted to the fastener 13 at the other end, the second link 122 passing the fastener 13 is attached to the mounting arm 10.
  • the rotation axis X axis of the first bracket 2, the rotation axis Y axis of the second bracket 4, and the rotation axis Z of the third bracket 6 are arranged perpendicular to each other.
  • the stator of the first motor 3 is fixed on the first bracket 2, and the rotor of the first motor 3 and the second bracket 4 are fixedly disposed, and the first motor 3
  • the second bracket 4 is directly driven to cause relative rotation of the first bracket 2 relative to the second bracket 4.
  • the stator of the second motor 5 is fixed on the third bracket 6, and the second motor 5
  • the rotor is fixedly disposed with the second bracket 4, and the second motor 5 directly drives the second bracket 4 to relatively rotate the second bracket 4 relative to the third bracket 6.
  • the third motor The stator of 7 is fixed to the connecting frame 8, the rotor is fixedly connected with the third bracket 6, and the third motor 7 directly drives the third bracket 6, so that the third bracket 6 is rotated relative to the connecting bracket 8 about the Z-axis.
  • Connection bracket 8 The upper fixed position is provided with a positioning frame 9 for positioning the third motor 7 .
  • the center of gravity of the first bracket 2 and the photographing component 1 falls on the first bracket 2 rotation axis.
  • the first bracket 2 When turning to any angle, no turning moment will be generated, that is, the first bracket 2 will not sway back and forth due to the torque, and the shooting assembly during the rotation is increased. Stability.
  • the unmanned aerial vehicle runs smoothly, that is, without the motor driving condition, the first bracket 2 and the photographing assembly 1 are also in a dynamic equilibrium state.
  • the pan/tilt provided by the embodiment is suitable for aerial or monitoring small unmanned aerial vehicles, and the first motor 3
  • the second motor 5 is preferably a brushless DC motor.
  • the advantages of using DC brushless motors for unmanned aerial vehicles are: (1) Electronic commutation instead of traditional mechanical commutation, reliable performance, no wear, low failure rate, life expectancy is about 6 times higher than brush motor; (2) static motor, no-load current is small; (3) high efficiency ( 4 )small volume.
  • the transmission assembly further includes a circuit board, an inertial sensor, a microprocessor, and a signal line.
  • the inertial sensor includes a gyroscope for detecting an angular velocity signal and an accelerometer for detecting an acceleration signal, and the microprocessor according to the angular velocity signal and the acceleration signal To control the first motor 3.
  • FIG. 7-10 another embodiment of the present invention provides a multi-rotor aircraft including the above-described three-axis gimbal for a drone. 100, multi-rotor mount 200 and circuit components.
  • the multi-rotor mount 200 includes a base 21, at least three support arms 22 that are fixedly attached to the base 21, and are fixed to the support arm 22 An end rotor member 23, and a plurality of support brackets 24 extending along the base 21 for external positioning.
  • the support arm 22 The number is not limited to three shown in the figure, and may be four, six or eight.
  • the support arm 22 can be fixed to the base 21 by means of plugging, welding, screwing or riveting.
  • Three-axis pan/tilt for drones 100 It is fixed to the base 21 by the connecting bracket 8.
  • the structure of the three-axis pan/tilt 100 of the multi-rotor aircraft adopts the related structure of the three-axis pan/tilt head for the drone provided in the second embodiment. , do not repeat here, see the above description.
  • an embodiment of the present invention provides a gimbal for a drone, which is a two-axis pan/tilt head, and specifically includes a rack assembly, a transmission assembly, and a photographing assembly 1 .
  • the frame assembly includes a first bracket 2 and a second bracket 4
  • the third bracket 6 and the link member 12 the photographing assembly 1 is fixed on the first bracket 2, the first bracket 2 and the second bracket 4 are rotated, and the second bracket 4 and the third bracket 6 are provided.
  • the link member 12 and the second bracket 4 constitute a four-bar mechanism.
  • the transmission assembly includes a first motor 3 and a fourth motor 25, and the first motor 3 directly drives the first bracket 2 relative to the second bracket 4 Turn.
  • the difference from the first embodiment, the second embodiment and the third embodiment is that the fastener 13 is replaced by the fourth motor 25, and the fourth motor 25 directly drives the link member 12 to drive the second bracket 4
  • the second motor 5, which is rotated relative to the third bracket 6 instead of the first embodiment, the second embodiment, and the third embodiment, directly drives the second bracket 4.
  • the link member 12 and the second bracket 4 of the present invention Cooperating to form a four-bar mechanism, the fourth motor 25 directly drives the link member 12 to rotate to drive the second bracket 4 to rotate around the third bracket 6, the link member 12 and the second bracket 4 Rotating the equal angle does not affect the rotation trajectory of the second bracket 4; at the same time, the link member 12 provides effective support for the two open ends of the second bracket 4 in the vertical direction, and the second bracket 4 is enlarged.
  • the load capacity and rigidity are effective to reduce the deformation amount and reduce the weight of the second bracket 4 itself.
  • the pan/tilt head is a three-axis pan/tilt head, and FIG. 11
  • the two-axis pan/tilt described in the difference is that the frame assembly of the pan/tilt for the useless aircraft further includes a connecting frame 8 for external fixation, the transmission assembly further includes a third motor 7; and the third motor 7 drives the third bracket 6 Rotate relative to the connector 8.
  • the connecting frame 8 is fixed to the helicopter or the multi-rotor aircraft, and the third bracket 6 can be wound around Z. The shaft rotates relative to the connecting frame 8.
  • a gimbal for a drone is a two-axis pan/tilt, and the pan/tilt and FIG. 11
  • the described pan/tilt is different in that the transmission assembly of the unmanned aerial vehicle has a second motor 5, and the second motor 5 directly drives the second bracket 4 to rotate relative to the third bracket 6.
  • Second motor 5 It can be used as an auxiliary power source to drive the second bracket 4 to rotate together with the fourth motor 25. Since the link member 12 and the second bracket 4 together constitute a four-bar mechanism, the second motor 5 and the fourth motor 25 Use the synchronous drive to rotate the second bracket 4. It can be understood that the second motor 5 and the fourth motor 25 also individually drive the second bracket 4 to rotate.
  • the unmanned aerial vehicle uses a pan/tilt head as a three-axis pan/tilt head, and the three-axis pan/tilt head and the figure 13
  • the rack assembly of the unmanned aerial vehicle includes a connecting frame 8 for external fixation
  • the transmission assembly further includes a third motor 7
  • the third motor 7 drives the third Bracket 6 Rotate relative to the connector 8.
  • the connecting frame 8 is fixed to the helicopter or the multi-rotor aircraft, and the third bracket 6 can be wound around Z.
  • the shaft rotates relative to the connecting frame 8.
  • the link member 12 of the pan/tilt head and the second bracket 4 together form a four-bar mechanism, and the fourth motor 25 directly drives the link member. 12 rotating to drive the second bracket 4 to rotate around the third bracket 6, the link member 12 and the second bracket 4 are rotated at an equal angle without affecting the rotation trajectory of the second bracket 4; meanwhile, the link member 12 Providing effective support for the two open ends of the second bracket 4 in the vertical direction, increasing the load capacity and rigidity of the second bracket 4, effectively reducing the deformation amount and reducing the second bracket 4 Its own weight.
  • the motor is used as the power source of the direct pan/tilt frame assembly, which consumes less energy and saves energy.
  • the motor drive can realize stepless adjustment, short response time, and can quickly start, stop or adjust the speed in time to adapt to the unmanned. Various flight attitudes of the aircraft, thereby improving the shooting stability of the camera assembly.

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Abstract

一种无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器，包括机架组件、传动组件以及拍摄组件，机架组件包括第一支架(2)、第二支架(4)以及第三支架(6)，传动组件包括第一电机(3)以及第二电机(5)，还包括连杆构件(12)，连杆构件(12)的两自由端分别转动设置在第二支架(4)的两开口端，连杆构件(12)通过紧固件(13)固定在第三支架(6)上。通过连杆构件(12)的自由端铰接设置在第二支架(4)上，两者共同构成平行四边形连杆，当第二支架(4)相对第三支架(6)转动一定角度时，连杆构件(12)会随之转动相等角度，不影响第二支架(4)的转动轨迹；连杆构件(12)通过紧固件(13)固定在第三支架(6)上，连杆构件(12)在竖直方向上为其有效支撑，增大第二支架(4)的载重量和刚度，有效地减小其形变量。

Description

无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器
技术领域
本发明涉及无人飞行器领域，尤其涉及一种用于航拍或监测的无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器。
背景技术
无人机具有体积小、重量轻、费用低、操作灵活和安全性高的特点，可广泛应用于航拍、监测、搜救、资源勘查等领域。由于无人机本身存在高频震动和低频抖动，需要配置航拍稳定平台用来搭载摄像机、照相机以实现稳定拍摄。航拍稳定平台多是通过电子设备检测摄像机或照相机的姿态变化，控制舵机反向补偿来实现摄像机或照相机的稳定。
现有技术中，大多数云台采用机械齿轮驱动来实现摄像机或照相机的两轴、三轴或多轴转动的目的。由于齿轮传动都存在滞后性，无人飞行器在转弯、悬停、上升、下降或倾斜等各种姿态下，云台响应时间长，舵机调整慢，从而使摄像机或照相机很难及时调整角度以适应无人飞行器姿态的调整，导致摄像机或照相机图像质量受到影响。同时，大多无人机两轴或三轴云台存在稳定性能不够，无人机发生姿势变化过程中相机晃动较为剧烈，不能消除由于低频晃动或机体倾斜造成的影响，因此也很难拍摄出高质量的图像，无法满足专业需求。
发明内容
本发明要解决的技术问题在于，针对现有技术中无人机用云台存在稳定性能不够，影响拍摄组件的拍摄质量的缺陷，提供一种无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器，能够很好解决上述问题。
本发明解决其技术问题所采用的技术方案是：构造一种无人机用两轴云台，其特征在于，包括机架组件、传动组件以及拍摄组件，所述机架组件包括第一支架、第二支架以及第三支架，所述拍摄组件固定在所述第一支架上，所述第一支架与所述第二支架转动设置，所述第二支架与所述第三支架转动设置；所述传动组件包括第一电机以及第二电机，所述第一电机驱动所述第一支架绕其旋转轴相对所述第二支架转动，所述第二电机驱动所述第二支架绕其旋转轴相对所述第三支架转动；还包括连杆构件，所述连杆构件的两自由端分别转动设置在所述第二支架的两开口端，所述连杆构件通过紧固件固定在第三支架上。
本发明提供一种 无人机用两轴云台，具体的，所述连杆构件包括依次铰接连接的第一连杆、第二连杆以及第三连杆；所述第一连杆的自由端铰接设置在所述第二支架的一端部，所述第三连杆的自由端铰接设置在所述第二支架的另一端；所述第二连杆的中部通过所述紧固件定位在所述第三支架上。
本发明提供一种 无人机用两轴云台，进一步的，还包括安装臂，所述安装臂的一端固定在所述第三支架上，另一端上开设有与所述紧固件相适配的定位孔，所述第二连杆通过紧固件固定在所述安装臂上。
本发明提供一种 无人机用两轴云台，优选的，所述第一电机的定子固定在所述第一支架上，所述第一电机的转子与所述第二支架固定设置；所述第二电机的定子固定在所述第三支架上，所述第二电机的转子与所述第二支架固定设置。
本发明提供一种 无人机用两轴云台，优选的，所述第一支架与所述拍摄组件的重心落在所述第一支架的旋转轴上。
本发明提供一种 无人机用两轴云台，优选的，所述第一支架、所述第二支架与所述拍摄组件整体的重心落在所述第二支架的旋转轴上。
本发明构造一种 无人机用三轴云台 ，包括机架组件、传动组件以及拍摄组件，所述机架组件包括第一支架、第二支架、第三支架以及用于对外固定的连接架，所述拍摄组件固定在所述第一支架上，所述第一支架与所述第二支架转动设置，所述第二支架与所述第三支架转动设置；所述传动组件包括第一电机、第二电机以及第三电机，所述第一电机驱动所述第一支架绕其旋转轴相对所述第二支架转动，所述第二电机驱动所述第二支架绕其旋转轴相对所述第三支架转动，所述第三电机驱动所述第三支架绕其旋转轴 Z 轴相对所述连接架转动；还包括连杆构件，所述连杆构件的两自由端分别转动设置在所述第二支架的两开口端，所述连杆构件通过紧固件固定在第三支架上。
本发明提供一种 无人机用三轴云台 ，具体的 , 所述连杆构件包括依次铰接连接的第一连杆、第二连杆以及第三连杆；所述第一连杆的自由端铰接设置在所述第二支架的一端部，所述第三连杆的自由端铰接设置在所述第二支架的另一端；所述第二连杆的中部通过所述紧固件定位在所述第三支架上。
本发明提供一种 无人机用三轴云台 ，进一步的 , 还包括安装臂，所述安装臂的一端固定在所述第三支架上，另一端上开设有与所述紧固件相适配的定位孔，所述第二连杆通过紧固件固定在所述安装臂上。
本发明还构造一种 多旋翼飞行器，包括上述 无人机用三轴云台、多旋翼安装架以及电路元器件，所述多旋翼安装架包括基座、插接固定在所述基座上的至少三个支撑臂、固定在所述支撑臂端部的旋翼构件、以及沿所述基座延伸设置的用于对外定位的多个支撑架；所述无人机用三轴云台通过所述连接架固定设置在所述基座。
本发明还构造 一种无人机用云台，包括机架组件、传动组件以及拍摄组件，所述机架组件包括第一支架、第二支架、第三支架以及连杆构件，所述拍摄组件固定在所述第一支架上，所述第一支架与所述第二支架转动设置，所述第二支架与所述第三支架转动设置，所述连杆构件与所述第二支架构成四杆机构；
所述传动组件包括第一电机以及第四电机，所述第一电机直接驱动所述第一支架相对所述第二支架转动，所述第四电机直接驱动所述连杆构件从而带动所述第二支架相对所述第三支架转动。
本发明一种 无人飞行器用云台，具体的，所述连杆构件包括依次铰接连接的第一连杆、第二连杆以及第三连杆；所述第一连杆的自由端铰接设置在所述第二支架的一端部，所述第三连杆的自由端铰接设置在所述第二支架的另一端；所述第二连杆通过所述第四电机定位在所述第三支架上。
本发明一种无人飞行器用云台，进一步的，还包括安装臂，所述安装臂的一端固定在所述第三支架上，另一端与所述第四电机的定子固定连接；所述第四电机的转子与所述第二连杆固定连接；或者，所述安装臂的一端固定在所述第三支架上，另一端与所述第四电机的转子固定连接；所述第四电机的定子与所述第二连杆固定连接。
本发明一种 无人飞行器用云台，进一步的，所述第二支架呈开口的 'U' 形，所述第一连杆的自由端、所述第三连杆的自由端分别转动设置在所述第二支架的两开口端上。
本发明一种 无人飞行器用云台，进一步的，所述机架组件还包括用于对外固定的连接架，所述传动组件还包括第三电机；所述第三电机驱动所述第三支架相对所述连接架转动。
本发明一种 无人飞行器用云台，进一步的，所述传动组件还包括第二电机，所述第二电机直接驱动所述第二支架相对所述第三支架转动。
本发明可达到以下有益效果：通过连杆构件的自由端铰接设置在第二支架上，两者共同构成平行四边形，根据平行四边形原理，当第二支架相对第三支架转动一定角度时，连杆构件会随之转动相等角度，不会影响第二支架的转动轨迹；同时连杆构件通过紧固件固定在第三支架上，连杆构件在竖直方向上为第二支架的两个开口端提供有效支撑，增大第二支架的载重量和刚度，当第二支架载重量较大时，有效其减小形变量；同时减轻第二支架的自身重量，减小第二电机的直径大小。
附图说明
下面将结合附图及实施例对本发明作进一步说明，附图中：
图 1 是本发明实施例一提供的 无人机用两轴云台的结构示意图；
图 2 是本发明实施例二提供的 无人机用三轴云台的爆炸示意图一；
图 3 是本发明实施例二提供的 无人机用三轴云台的爆炸示意图二；
图 4 是本发明实施例二提供的 无人机用三轴云台的爆炸示意图二；
图 5 是本发明实施例二提供的 无人机用三轴云台的结构示意图一；
图 6 是本发明实施例二提供的 无人机用三轴云台的结构示意图二；
图 7 是本发明实施例三提供的 多旋翼飞行器的爆炸示意图一；
图 8 是本发明实施例三提供的 多旋翼飞行器的爆炸示意图二；
图 9 是本发明实施例三提供的 多旋翼飞行器的结构示意图一；
图 10 是本发明实施例三提供的 多旋翼飞行器的结构示意图二。
图 11 是本发明实施例四提供的无人机用云台的结构示意图一；
图 12 是本发明实施例四提供的无人机用云台的结构示意图二；
图 13 是本发明实施例四提供的无人机用云台的结构示意图三；
图 14 是本发明实施例四提供的无人机用云台的结构示意图四。
附图标号说明：
100 、云台 200 、多旋翼安装架
1 、拍摄组件 2 、第一支架
3 、第一电机 4 、第二支架
5 、第二电机 6 、第三支架
7 、第三电机 8 、连接架
9 、定位架 10 、安装臂
11 、定位孔 12 、连杆构件
121 、第一连杆 122 、第二连杆
123 、第三连杆 13 、紧固件
21 、基座 22 、支撑臂
23 、旋翼构件 24 、支撑架
25 、第四电机
具体实施方式
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图详细说明本发明的具体实施方式。
实施例一
如图 1 所示，为本发明提供的一个实施例，一种无人机用两轴云台，包括机架组件、传动组件以及拍摄组件 1 。机架组件包括第一支架 2 、第二支架 4 以及第三支架 6 ，拍摄组件 1 固定在第一支架 2 上，第一支架 2 与第二支架 4 转动设置，第二支架 4 与第三支架 6 转动设置。此处拍摄组件 1 的形状不局限于图 1 中所示的方形，还可以为市面上常见的圆形、椭球形或其它形状。传动组件包括第一电机 3 以及第二电机 5 ，第一电机 3 驱动第一支架 2 绕其旋转轴相对第二支架 4 转动，第二电机 5 驱动第二支架 4 绕其旋转轴相对第三支架 6 转动。本实施例提供的动力源为电机，采用小型电机驱动具有以下优点：（ 1 ）电机直接驱动耗能较小，节能环保；（ 2 ）响应时间短、能够及时快速调整以适应无人飞行器各种飞行姿态，从而使拍摄组件的拍摄稳定性高。第二支架 4 的两个自由端向外延伸，第一支架 2 和拍摄组件 1 整体转动设置在两个自由端之间，第二电机 5 驱动第二支架 4 转动过程中，第二支架 4 的两个自由端的长度越长，第一支架 2 和拍摄组件 1 的重心越远离第二支架 4 的定位点，从而导致第二支架 4 的晃动性越大，拍摄组件 1 越不稳定，为了降低第二支架 4 的晃动性，提高稳定性，如图 1 所示，还包括连杆构件 12 ，连杆构件 12 的两自由端分别转动设置在第二支架 4 的两开口端，连杆构件 12 通过紧固件 13 固定在第三支架 6 上。本发明通过连杆构件 12 的自由端铰接设置在第二支架 4 上，两者共同构成平行四边形，根据平行四边形原理，当第二支架 4 相对第三支架 6 转动一定角度时，连杆构件 12 会随之转动相等角度，不会影响第二支架 4 的转动轨迹；同时连杆构件 12 通过紧固件 13 固定在第三支架 6 上，从而为第二支架 4 的两个开口端提供支撑定位，增加了第二支架 4 的稳定性。本发明通过连杆构件 12 的自由端铰接设置在第二支架 4 上，两者共同构成平行四边形连杆，根据平行四边形原理，当第二支架 4 相对第三支架 6 转动一定角度时，连杆构件 12 会随之转动相等角度，不会影响第二支架 4 的转动轨迹；同时连杆构件 12 通过紧固件 13 固定在第三支架 6 上，连杆构件 12 在竖直方向上为第二支架 4 的两个开口端提供有效支撑，增大第二支架 4 的载重量和刚度，当第二支架 4 载重量较大时，有效其减小形变量；同时生产工艺上减轻第二支架 4 的自身重量，减小第二电机 5 的直径大小。
在上述技术方案的基础上，具体的，连杆构件 12 包括依次铰接连接的第一连杆 121 、第二连杆 122 以及第三连杆 123 。第一连杆 121 的自由端铰接设置在第二支架 4 的一端部，第三连杆 123 的自由端铰接设置在第二支架 4 的另一端，从而使连杆构件 12 与第二支架 4 共同构成平行四边形。为了定位该平行四边形，提高其稳定性能，第二连杆 122 的中部通过紧固件 13 定位在第三支架 6 上。
优选的，为了实现连杆构件 12 与第三支架 6 的固定连接，如图 1 所示，还包括安装臂 10 ，安装臂 10 的一端固定在第三支架 6 上，另一端上开设有与紧固件 13 相适配的定位孔 11 ，第二连杆 122 通过紧固件 13 固定在安装臂 10 上。
为了便于电机及时调整转动角度，作为优选，第一支架 2 的旋转轴 X 轴与第二支架 4 的旋转轴 Y 轴垂直设置。第一电机 3 的定子固定在第一支架 2 上，第一电机 3 的转子与第二支架 4 固定设置，第一电机 3 直接驱动第二支架 4 ，从而使第一支架 2 相对第二支架 4 发生相对转动。第二电机 5 的定子固定在第三支架 6 上，第二电机 5 的转子与第二支架 4 固定设置，第二电机 5 直接驱动第二支架 4 ，从而使第二支架 4 相对第三支架 6 发生相对转动。
进一步的，为了增大拍摄组件 1 拍摄过程中的稳定性能，第一支架 2 与拍摄组件 1 的重心落在第一支架 2 的旋转轴。通过力学分析，当第一支架 2 与拍摄组件 1 的重心落在第一支架 2 的旋转轴 X 轴上时，第一支架 2 转动至任意角度，均不会产生转动力矩，即第一支架 2 不会因为力矩而来回晃动，增加转动过程中的拍摄组件 1 的稳定性。当无人飞行器平稳运行时，即无需电机驱动状况下，第一支架 2 和拍摄组件 1 也处于动态平衡状态。
同样道理，通过力学分析，为了增加稳定性能，避免绕 Y 轴旋转的整体组件产生转动力矩，作为优选方案，如图 1 所示，第一支架 2 、第二支架 4 与拍摄组件 1 整体的重心落在第二支架 4 的旋转轴上。
在上述技术方案的基础上，作为优选，本实施例提供的云台适用于航拍或监测的小型无人飞行器，第一电机 3 、第二电机 5 优选为直流无刷电机。无人飞行器用云台采用直流无刷电机的好处在于：（ 1 ）电子换向来代替传统的机械换向，性能可靠、永无磨损、故障率低，寿命比有刷电机提高了约 6 倍；（ 2 ）属静态电机，空载电流小；（ 3 ）效率高（ 4 ）体积小。
进一步的，传动组件还包括电路板、惯性传感器、微处理器以及信号线，惯性传感器包括用于检测角速度信号的陀螺仪以及用于检测加速度信号的加速度计，微处理器根据角速度信号与加速度信号来控制第一电机 3 、第二电机 5 的正转、反转以及转速大小。通过设置惯性传感器来及时动态监测无人飞行器的姿态，并快速及时控制电机的正反转动， 从而提高拍摄组件的拍摄稳定性。
实施例二
如图 2- 图 6 所示，为本发明提供的另外一个实施例，一种无人机用三轴云台，包括机架组件、传动组件以及拍摄组件 1 。如图 2 所示，机架组件包括第一支架 2 、第二支架 4 、第三支架 6 以及用于对外固定的连接架 8 。拍摄组件 1 固定在第一支架 2 上，为了实现拍摄组件 1 沿 X 轴（即：第一支架 2 的旋转轴）旋转，第一支架 2 与第二支架 4 转动设置，这种转动结构能够实现拍摄组件 1 的抬头或低头旋转。为了适应无人飞行器在飞行过程中的左倾或右倾飞行，拍摄组件 1 相对应的进行右倾或左倾转动，以保证拍照或摄像的平稳性，如图 5 、图 6 所示，第二支架 4 与第三支架 6 转动设置，第二支架 4 的左右转动从而带动第一支架 2 和拍摄组件 1 整体转动。为了实现拍摄组件 1 的周向旋转以进行 360 度范围内转动拍摄，连接架 8 对外固定在直升机或多旋翼飞行器上，第三支架 6 可绕 Z 轴相对连接架 8 转动。传动组件包括第一电机 3 、第二电机 5 以及第三电机 7 ，第一电机 3 驱动第一支架 2 绕其旋转轴相对第二支架 4 转动，第二电机 5 驱动第二支架 4 绕其旋转轴相对第三支架 6 转动，第三电机 7 驱动第三支架 6 绕其旋转轴 Z 轴相对连接架 8 转动。本实施例提供的动力源为电机，采用小型电机驱动具有以下优点：（ 1 ）电机直接驱动耗能较小，节能环保；（ 2 ）响应时间短、能够及时快速调整以适应无人飞行器各种飞行姿态，从而使拍摄组件的拍摄稳定性高。如图 2 、图 3 、图 4 所示，第二支架 4 的两个自由端向外延伸，第一支架 2 和拍摄组件 1 整体转动设置在两个自由端之间，第二电机 5 驱动第二支架 4 转动过程中，第二支架 4 的两个自由端的长度越长，第一支架 2 和拍摄组件 1 的重心越远离第二支架 4 的定位点，从而导致第二支架 4 的晃动性越大，拍摄组件 1 越不稳定，为了降低第二支架 4 的晃动性，提高稳定性，如图 2 、图 3 、图 4 所示，还包括连杆构件 12 ，连杆构件 12 的两自由端分别转动设置在第二支架 4 的两开口端，连杆构件 12 通过紧固件 13 固定在第三支架 6 上。本发明通过连杆构件 12 的自由端铰接设置在第二支架 4 上，两者共同构成平行四边形，根据平行四边形原理，当第二支架 4 相对第三支架 6 转动一定角度时，连杆构件 12 会随之转动相等角度，不会影响第二支架 4 的转动轨迹；同时连杆构件 12 通过紧固件 13 固定在第三支架 6 上，从而为第二支架 4 的两个开口端提供支撑定位，增加了第二支架 4 的稳定性。本发明通过连杆构件 12 的自由端铰接设置在第二支架 4 上，两者共同构成平行四边形连杆，根据平行四边形原理，当第二支架 4 相对第三支架 6 转动一定角度时，连杆构件 12 会随之转动相等角度，不会影响第二支架 4 的转动轨迹；同时连杆构件 12 通过紧固件 13 固定在第三支架 6 上，连杆构件 12 在竖直方向上为第二支架 4 的两个开口端提供有效支撑，增大第二支架 4 的载重量和刚度，当第二支架 4 载重量较大时，有效其减小形变量；同时生产工艺上减轻第二支架 4 的自身重量，减小第二电机 5 的直径大小。
在上述技术方案的基础上，具体的，如图 2 所示，连杆构件 12 包括依次铰接连接的第一连杆 121 、第二连杆 122 以及第三连杆 123 。第一连杆 121 的自由端铰接设置在第二支架 4 的一端部，第三连杆 123 的自由端铰接设置在第二支架 4 的另一端，从而使连杆构件 12 与第二支架 4 共同构成平行四边形。为了定位该平行四边形，提高其稳定性能，第二连杆 122 的中部通过紧固件 13 定位在第三支架 6 上。
优选的，为了实现连杆构件 12 与第三支架 6 的固定连接，如图 2 、图 3 、图 4 所示，还包括安装臂 10 ，安装臂 10 的一端固定在第三支架 6 上，另一端上开设有与紧固件 13 相适配的定位孔 11 ，第二连杆 122 通过紧固件 13 固定在安装臂 10 上。
作为优选，第一支架 2 的旋转轴 X 轴、第二支架 4 的旋转轴 Y 轴以及第三支架 6 的旋转轴 Z 轴三者相互垂直设置。如图 3 、图 4 所示，第一电机 3 的定子固定在第一支架 2 上，第一电机 3 的转子与第二支架 4 固定设置，第一电机 3 直接驱动第二支架 4 ，从而使第一支架 2 相对第二支架 4 发生相对转动。如图 5 、图 6 所示，第二电机 5 的定子固定在第三支架 6 上，第二电机 5 的转子与第二支架 4 固定设置，第二电机 5 直接驱动第二支架 4 ，从而使第二支架 4 相对第三支架 6 发生相对转动。如图 5 、图 6 所示，第三电机 7 的定子固定在连接架 8 上，转子与第三支架 6 固定连接，第三电机 7 直接驱动第三支架 6 ，从而使第三支架 6 相对连接架 8 绕 Z 轴转动。连接架 8 上固定设置有定位架 9 ，用于定位第三电机 7 。
进一步的，为了增大拍摄组件 1 拍摄过程中的稳定性能，第一支架 2 与拍摄组件 1 的重心落在第一支架 2 的旋转轴。通过力学分析，当第一支架 2 与拍摄组件 1 的重心落在第一支架 2 的旋转轴 X 轴上时，第一支架 2 转动至任意角度，均不会产生转动力矩，即第一支架 2 不会因为力矩而来回晃动，增加转动过程中的拍摄组件 1 的稳定性。当无人飞行器平稳运行时，即无需电机驱动状况下，第一支架 2 和拍摄组件 1 也处于动态平衡状态。
同样道理，通过力学分析，为了增加稳定性能，避免绕 Y 轴旋转的整体组件产生转动力矩，作为优选方案，如图 1 所示，第一支架 2 、第二支架 4 与拍摄组件 1 整体的重心落在第二支架 4 的旋转轴上。
同样，为了避免绕 Z 轴转动的整体组件产生转动力矩，如图 5 、图 6 所示，第一支架 2 、第二支架 4 、第三支架 6 与拍摄组件 1 整体的重心落在第三支架 6 的旋转轴 Z 轴上。
在上述技术方案的基础上，作为优选，本实施例提供的云台适用于航拍或监测的小型无人飞行器，第一电机 3 、第二电机 5 优选为直流无刷电机。无人飞行器用云台采用直流无刷电机的好处在于：（ 1 ）电子换向来代替传统的机械换向，性能可靠、永无磨损、故障率低，寿命比有刷电机提高了约 6 倍；（ 2 ）属静态电机，空载电流小；（ 3 ）效率高（ 4 ）体积小。
进一步的，传动组件还包括电路板、惯性传感器、微处理器以及信号线，惯性传感器包括用于检测角速度信号的陀螺仪以及用于检测加速度信号的加速度计，微处理器根据角速度信号与加速度信号来控制第一电机 3 、第二电机 5 的正转、反转以及转速大小。通过设置惯性传感器来及时动态监测无人飞行器的姿态，并快速及时控制电机的正反转动， 从而提高拍摄组件的拍摄稳定性。
实施例三
如图 7- 图 10 所示，为发明提供的另一个实施例，一种 多旋翼飞行器，包括上述 无人机用三轴云台 100 、多旋翼安装架 200 以及电路元器件。多旋翼安装架 200 包括基座 21 、插接固定在基座 21 上的至少三个支撑臂 22 、固定在支撑臂 22 端部的旋翼构件 23 、以及沿基座 21 延伸设置的用于对外定位的多个支撑架 24 。此处需注意，支撑臂 22 的数量不局限于图中所示的三个，可以为四个、六个或八个。支撑臂 22 可通过插接、焊接、螺接或铆接等方式固定在基座 21 上。无人机用三轴云台 100 通过连接架 8 固定设置在基座 21 。
此处须知， 多旋翼飞行器的三轴云台 100 的结构采用实施例二中提供的 无人机用三轴云台的相关结构 ，在此不做累述，具体参见上述说明。
实施例四
如图 11 所示，为本发明提供的一个实施例，一种无人机用云台，该云台为两轴云台，具体包括机架组件、传动组件以及拍摄组件 1 。机架组件包括第一支架 2 、第二支架 4 、第三支架 6 以及连杆构件 12 ，拍摄组件 1 固定在第一支架 2 上，第一支架 2 与第二支架 4 转动设置，第二支架 4 与第三支架 6 转动设置，连杆构件 12 与第二支架 4 构成四杆机构。传动组件包括第一电机 3 以及第四电机 25 ，第一电机 3 直接驱动第一支架 2 相对第二支架 4 转动。与实施例一、实施例二、实施例三的区别在于，紧固件 13 由第四电机 25 代替，第四电机 25 直接驱动连杆构件 12 从而带动第二支架 4 相对第三支架 6 转动，而非实施例一、实施例二、实施例三描述的第二电机 5 直接驱动第二支架 4 。本发明的连杆构件 12 与第二支架 4 共同构成四杆机构，第四电机 25 直接驱动连杆构件 12 转动从而带动第二支架 4 绕第三支架 6 转动，连杆构件 12 与第二支架 4 转动相等角度，不会影响第二支架 4 的转动轨迹；同时，连杆构件 12 在竖直方向上为第二支架 4 的两个开口端提供有效支撑，增大第二支架 4 的载重量和刚度，有效其减小形变量，减轻第二支架 4 的自身重量。
如图 12 所示，为本发明提供的另一种实施方式，该云台为三轴云台，与图 11 中描述的两轴云台不同之处在于：该无用飞行器用云台的机架组件还包括用于对外固定的连接架 8 ，传动组件还包括第三电机 7 ；第三电机 7 驱动第三支架 6 相对连接架 8 转动。为了实现拍摄组件 1 的周向旋转以进行 360 度范围内转动拍摄，连接架 8 对外固定在直升机或多旋翼飞行器上，第三支架 6 可绕 Z 轴相对连接架 8 转动。
如图 13 所示，为本发明提供的另一个实施方式，一种无人机用云台为两轴云台，该云台与图 11 所描述的云台的不同之处在于：该无人飞行器用云台的传动组件还包括第二电机 5 ，第二电机 5 直接驱动第二支架 4 相对第三支架 6 转动。第二电机 5 可以作为辅助动力源，与第四电机 25 配合一起驱动第二支架 4 转动。由于 连杆构件 12 与第二支架 4 共同构成四杆机构，因此，第二电机 5 与第四电机 25 配合使用同步驱动第二支架 4 的转动。可以理解，第二电机 5 与第四电机 25 也单独驱动第二支架 4 转动。
如图 14 所示，为本发明提供的另一种实施方式，该无人飞行器用云台为三轴云台，该三轴云台与图 13 中所描述的云台的不同之处在于：该无人飞行器用云台的机架组件还包括用于对外固定的连接架 8 ，传动组件还包括第三电机 7 ；第三电机 7 驱动第三支架 6 相对连接架 8 转动。为了实现拍摄组件 1 的周向旋转以进行 360 度范围内转动拍摄，连接架 8 对外固定在直升机或多旋翼飞行器上，第三支架 6 可绕 Z 轴相对连接架 8 转动。
本发明实施例四云台的连杆构件 12 与第二支架 4 共同构成四杆机构，第四电机 25 直接驱动连杆构件 12 转动从而带动第二支架 4 绕第三支架 6 转动，连杆构件 12 与第二支架 4 转动相等角度，不会影响第二支架 4 的转动轨迹；同时，连杆构件 12 在竖直方向上为第二支架 4 的两个开口端提供有效支撑，增大第二支架 4 的载重量和刚度，有效其减小形变量，减轻第二支架 4 的自身重量。同时，采用电机作为原动力直接云台的机架组件，耗能较小、节省电能；同时电机驱动能够实现无级调节，动作响应时间短，能够快速启动、停止或及时调整转速大小以适应无人飞行器各种飞行姿态，从而提高摄像组件的拍摄稳定性。
上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些均属于本发明的保护之内。

Claims (16)

  1. 一种 无人机用两轴云台，包括机架组件、传动组件以及拍摄组件（ 1 ），其特征在于：
    所述机架组件包括第一支架（ 2 ）、第二支架（ 4 ）以及第三支架（ 6 ），所述拍摄组件（ 1 ）固定在所述第一支架（ 2 ）上，所述第一支架（ 2 ）与所述第二支架（ 4 ）转动设置，所述第二支架（ 4 ）与所述第三支架（ 6 ）转动设置；
    所述传动组件包括第一电机（ 3 ）以及第二电机（ 5 ），所述第一电机（ 3 ）驱动所述第一支架（ 2 ）相对所述第二支架（ 4 ）转动，所述第二电机（ 5 ）驱动所述第二支架（ 4 ）相对所述第三支架（ 6 ）转动；
    还包括连杆构件（12），所述连杆构件（12）的两自由端分别转动设置在所述第二支架（4）的两开口端，所述连杆构件（12）通过紧固件（13）固定在第三支架（6）上。
  2. 根据权利要求1所述的无人机用两轴云台，其特征在于，所述连杆构件（12）包括依次铰接连接的第一连杆（121）、第二连杆（122）以及第三连杆（123）；所述第一连杆（121）的自由端铰接设置在所述第二支架（4）的一端部，所述第三连杆（123）的自由端铰接设置在所述第二支架（4）的另一端；所述第二连杆（122）的中部通过所述紧固件（13）定位在所述第三支架（6）上。
  3. 根据权利要求2所述的无人机用两轴云台，其特征在于，还包括安装臂（10），所述安装臂（10）的一端固定在所述第三支架（6）上，另一端上开设有与所述紧固件（13）相适配的定位孔（11），所述第二连杆（122）通过紧固件（13）固定在所述安装臂（10）上。
  4. 根据权利要求1所述的无人机用两轴云台，其特征在于，所述第一电机（3）的定子固定在所述第一支架（ 2）上，所述第一电机（3）的转子与所述第二支架（4）固定设置；所述第二电机（5）的定子固定在所述第三支架（6）上，所述第二电机（5）的转子与所述第二支架（4）固定设置。
  5. 根据权利要求1所述的无人机用两轴云台，其特征在于，所述第一支架（2）与所述拍摄组件（1）的重心落在所述第一支架（2）的旋转轴上。
  6. 根据权利要求1所述的无人机用两轴云台，其特征在于，所述第一支架（2）、所述第二支架（4）与所述拍摄组件（1）整体的重心落在所述第二支架（4）的旋转轴上。
  7. 一种 无人机用三轴云台 ，包括机架组件、传动组件以及拍摄组件（ 1 ），其特征在于：
    所述机架组件包括第一支架（ 2 ）、第二支架（ 4 ）、第三支架（ 6 ）以及用于对外固定的连接架（ 8 ），所述拍摄组件（ 1 ）固定在所述第一支架（ 2 ）上，所述第一支架（ 2 ）与所述第二支架（ 4 ）转动设置，所述第二支架（ 4 ）与所述第三支架（ 6 ）转动设置；
    所述传动组件包括第一电机（ 3 ）、第二电机（ 5 ）以及第三电机（ 7 ），所述第一电机（ 3 ）驱动所述第一支架（ 2 ）相对所述第二支架（ 4 ）转动，所述第二电机（ 5 ）驱动所述第二支架（ 4 ）相对所述第三支架（ 6 ）转动，所述第三电机（ 7 ）驱动所述第三支架（ 6 ）相对所述连接架（ 8 ）转动；
    还包括连杆构件（12），所述连杆构件（12）的两自由端分别转动设置在所述第二支架（4）的两开口端，所述连杆构件（12）通过紧固件（13）固定在第三支架（6）上。
  8. 根据权利要求7所述的无人机用三轴云台，其特征在于,所述连杆构件（12）包括依次铰接连接的第一连杆（121）、第二连杆（122）以及第三连杆（123）；所述第一连杆（121）的自由端铰接设置在所述第二支架（4）的一端部，所述第三连杆（123）的自由端铰接设置在所述第二支架（4）的另一端；所述第二连杆（122）的中部通过所述紧固件（13）定位在所述第三支架（6）上。
  9. 根据权利要求8所述的无人机用三轴云台，其特征在于,还包括安装臂（10），所述安装臂（10）的一端固定在所述第三支架（6）上，另一端上开设有与所述紧固件（13）相适配的定位孔（11），所述第二连杆（122）通过紧固件（13）固定在所述安装臂（10）上。
  10. 一种 多旋翼飞行器，其特征在于，包括权利要求 7-9 任一项所述的 无人机用三轴云台（ 100 ）、多旋翼安装架（ 200 ）以及电路元器件，所述多旋翼安装架（ 200 ）包括基座（ 21 ）、插接固定在所述基座（ 21 ）上的至少三个支撑臂（ 22 ）、固定在所述支撑臂（ 22 ）端部的旋翼构件（ 23 ）、以及沿所述基座（ 21 ）延伸设置的用于对外定位的多个支撑架（ 24 ）；所述无人机用三轴云台（ 100 ）通过所述连接架（ 8 ）固定设置在所述基座（ 21 ）。
  11. 一种无人机用云台，包括机架组件、传动组件以及拍摄组件（ 1 ），其特征在于：
    所述机架组件包括第一支架（2）、第二支架（4）、第三支架（6）以及连杆构件（12），所述拍摄组件（1）固定在所述第一支架（ 2 ）上，所述第一支架（ 2 ）与所述第二支架（4）转动设置，所述第二支架（ 4 ）与所述第三支架（6）转动设置，所述连杆构件（ 12 ）与所述第二支架（4）构成四杆机构；
    所述传动组件包括第一电机（ 3 ）以及第四电机（ 25 ），所述第一电机（ 3 ）直接驱动所述第一支架（ 2 ）相对所述第二支架（ 4 ）转动，所述第四电机（ 25 ）直接驱动所述连杆构件（ 12 ）从而带动所述第二支架（ 4 ）相对所述第三支架（ 6 ）转动。
  12. 根据权利要求 11 所述的无人机用云台，其特征在于，所述连杆构件（ 12 ）包括依次铰接连接的第一连杆（ 121 ）、第二连杆（ 122 ）以及第三连杆（ 123 ）；所述第一连杆（ 121 ）的自由端铰接设置在所述第二支架（ 4 ）的一端部，所述第三连杆（ 123 ）的自由端铰接设置在所述第二支架（ 4 ）的另一端；所述第二连杆（ 122 ）通过所述第四电机（ 25 ）定位在所述第三支架（ 6 ）上。
  13. 根据权利要求 12 所述的无人机用云台，其特征在于，还包括安装臂（ 10 ），所述安装臂（ 10 ）的一端固定在所述第三支架（ 6 ）上，另一端与所述第四电机（ 25 ）的定子固定连接；所述第四电机（ 25 ）的转子与所述第二连杆（ 122 ）固定连接；
    或者，所述安装臂（10）的一端固定在所述第三支架（6）上，另一端与所述第四电机（ 25 ）的转子固定连接；所述第四电机（25）的定子与所述第二连杆（122）固定连接。
  14. 根据权利要求 12 所述的无人机用云台，其特征在于，所述第二支架（4）呈开口的 'U' 形，所述第一连杆（121）的自由端、所述第三连杆（123）的自由端分别转动设置在所述第二支架（ 4 ）的两开口端上。
  15. 根据权利要求 11 所述的无人机用云台，其特征在于，所述机架组件还包括用于对外固定的连接架（8），所述传动组件还包括第三电机（7）；所述第三电机（7）驱动所述第三支架（ 6 ）相对所述连接架（8）转动。
  16. 根据权利要求11-15任一项所述的无人机用云台，其特征在于，所述传动组件还包括第二电机（5），所述第二电机（5）直接驱动所述第二支架（4）相对所述第三支架（6）转动。
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