High-speed high-precision unmanned aerial vehicle tracking turntable with composite damping structure

Abstract

The application aims to provide a high-speed high-precision unmanned aerial vehicle tracking turntable with a composite damping structure, which adopts the composite damping structure, sets high-damping rubber shock absorbers, and sets metal rubber vibration isolators between the azimuth drive motor and the support, so as to realize efficient isolation of wide-band vibration, the azimuth shaft system adopts integrated design of frameless torque motor direct drive and integrated electromagnetic brake, eliminates transmission gap, and optimizes the inertia overshoot problem during high-speed emergency stop.

Description

Technical Field

[0001] This invention relates to the field of visual tracking and monitoring, and more specifically to a high-speed, high-precision UAV tracking turntable with a composite shock absorption structure. Background Technology

[0002] With the rapid development of modern industry, many applications of existing technologies have been implemented in the field of visual tracking, focusing on motion recognition, capture, and prediction.

[0003] For example, CN119756221A discloses a tracking and scanning measurement system and platform. This system includes a two-dimensional angle measurement drive device, a contact laser tracker, a non-contact laser scanner, and a control device. The control device is connected to the contact laser tracker, the non-contact laser scanner, and the two-dimensional angle measurement drive device. In tracking coordinate measurement mode, it controls the two-dimensional angle measurement drive device to drive the laser tracker to track a set cooperative target in real time. The coordinate data of the contact point between the cooperative target and the surface to be measured is obtained by combining two-dimensional angle measurement with laser interferometric ranging data. In scanning measurement mode, it controls the two-dimensional angle measurement drive device to drive the non-contact laser scanner to scan the surface to be measured. The scanned point cloud data of the surface to be measured is obtained by combining two-dimensional angle measurement with absolute ranging data. This invention can achieve high-precision tracking coordinate measurement and high-efficiency scanning measurement with a single instrument, significantly improving detection efficiency. However, the high-precision tracking measurement device described in this invention is a single-loop tracking monitoring system, applicable to a limited range of scenarios.

[0004] For example, CN119687829A discloses a tracking and scanning measurement integrated system, method, and platform. In tracking measurement mode, the control device controls a laser emission source to emit a ranging laser towards a contact laser tracking device. Based on the optical ranging signal fed back from the contact laser tracking device, it controls a two-dimensional angle measuring drive device and a laser ranging device to drive the contact laser tracking device to track a set cooperative target in real time, thereby acquiring the coordinate data of the contact point between the cooperative target and the surface to be measured. In scanning measurement mode, the control device controls a laser emission source to emit a ranging laser towards a non-contact laser scanning device. Based on the optical ranging signal fed back from the non-contact laser scanning device, it controls a two-dimensional angle measuring drive device and a laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanned point cloud data. This invention can achieve high-precision tracking coordinate measurement and high-efficiency scanning measurement with a single instrument, significantly improving detection efficiency. However, the high-precision tracking measurement device described in this invention is a single-loop tracking monitoring system, applicable to a limited range of scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a high-speed, high-precision UAV tracking turntable with a composite vibration damping structure. The composite vibration damping structure is achieved by setting high-damping rubber vibration dampers and setting metal rubber vibration isolators between the azimuth drive motor and the support, which realizes efficient isolation of wide-band vibration. The azimuth axis system adopts an integrated design of frameless torque motor direct drive and integrated electromagnetic brake, which eliminates transmission backlash and optimizes the inertial overshoot problem during high-speed emergency stop.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A high-speed, high-precision UAV tracking turntable with a composite shock absorption structure is characterized by comprising a composite shock-absorbing UAV and an integrated drive device, wherein the composite shock-absorbing UAV is connected to the integrated drive device.

[0008] As a further optimization of this technical solution, the present invention provides a high-speed, high-precision UAV tracking turntable with a composite shock absorption structure. The composite shock absorption UAV includes a UAV support A, a battery assembly, a flight assembly, a high-damping rubber shock absorber, a lighting assembly, a control motherboard, a bottom positioning cover, a gear support, a motor, gears A, B, C, D, and E, a gear shaft, pulley A, a belt, pulley B, and a flange shaft. The battery assembly, flight assembly, high-damping rubber shock absorber, control motherboard, bottom positioning cover, and gear support are all fixedly connected to the UAV support A. The lighting assembly is rotatably connected to the UAV support A. The gear support is fixedly connected to the motor. The motor output shaft is fixedly connected to gear A. Gear A meshes with gear B. Gear B meshes with gear B. Gear C meshes with gear D. Gear D meshes with gear E. Gear E meshes with the gear shaft. The gear shaft is fixedly connected to pulley A. Pulley A is fixedly connected to pulley B via a belt. Pulley B is fixedly connected to the flange shaft. The flange shaft is rotatably connected to the UAV support A and the bottom positioning cover.

[0009] As a further optimization of this technical solution, the present invention provides a high-speed, high-precision UAV tracking turntable with a composite shock absorption structure. The integrated drive device includes a connecting base plate, a pipe joint block A, a Z-shaped pipe, a joint bracket A, a metal rubber shock absorber A, a frameless torque motor A, a connecting flange A, a yaw and pitch adapter, a drive arm A, a drive arm B, an integrated electromagnetic brake A, a metal rubber shock absorber B, a frameless torque motor B, a connecting flange B, an integrated electromagnetic brake B, a pitch bracket, a rotating bolt, a guide rail mounting plate, a guide rail, a slider, a camera main support plate, a camera adjustment plate A, a camera adjustment plate B, an adjustment bolt, and a camera. The connecting base plate is fixedly connected to the pipe joint block A. The pipe joint block A and the joint bracket A are both fixedly connected to the Z-shaped pipe. The metal rubber shock absorber A and the integrated electromagnetic brake A are both fixedly connected to the joint bracket A. The metal rubber shock absorber A is fixedly connected to the frameless torque motor A. The output shaft of the frameless torque motor A is connected to the connecting plate A. The frameless torque motor A is fixedly connected to the integrated electromagnetic brake A. The connecting flange A is fixedly connected to the yaw and pitch adapter. Both drive arms A and B are fixedly connected to the yaw and pitch adapter. The metal rubber shock absorber B and the integrated electromagnetic brake B are fixedly connected to the drive arm B. The metal rubber shock absorber B is fixedly connected to the frameless torque motor B. The output shaft of the frameless torque motor B is fixedly connected to the connecting flange B. The output shaft of the frameless torque motor B is connected to the integrated electromagnetic brake B. The connecting flange B is fixedly connected to the pitch bracket. The rotating bolt is rotatably connected to drive arm A. The pitch bracket is fixedly connected to the rotating bolt. The pitch bracket is fixedly connected to the guide rail mounting plate. The guide rail mounting plate is fixedly connected to the guide rail. The guide rail is fixedly connected to the slider. The slider is fixedly connected to the camera main support plate. The camera main support plate is fixedly connected to the camera adjustment plate A. Both camera adjustment plates A and B are engaged with adjustment bolts. The camera is fixedly connected to the camera adjustment plate B.

[0010] The present invention discloses a high-speed, high-precision UAV tracking turntable with a composite vibration damping structure, which has the following advantages: 1. By adopting a composite vibration damping structure and setting a high-damping rubber vibration damper, and setting a metal rubber vibration isolator between the azimuth drive motor and the support, efficient isolation of wide-band vibration is achieved; 2. The azimuth axis system adopts an integrated design of frameless torque motor direct drive and integrated electromagnetic brake, which eliminates transmission gap and optimizes the inertial overshoot problem during high-speed emergency stop. Attached Figure Description

[0011] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0013] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0014] Figure 3 This is a schematic diagram of the composite shock-absorbing UAV structure of the present invention. Figure 1 ;

[0015] Figure 4 This is a schematic diagram of the composite shock-absorbing UAV structure of the present invention. Figure 2 ;

[0016] Figure 5 This is a schematic diagram of the composite shock-absorbing UAV structure of the present invention. Figure 3 ;

[0017] Figure 6 This is a schematic diagram of the composite shock-absorbing UAV structure of the present invention. Figure 4 ;

[0018] Figure 7 This is a schematic diagram of the integrated drive device structure of the present invention. Figure 1 ;

[0019] Figure 8 This is a schematic diagram of the integrated drive device structure of the present invention. Figure 2 ;

[0020] Figure 9 This is a schematic diagram of the integrated drive device structure of the present invention. Figure 3 ;

[0021] In the diagram: Composite shock-absorbing UAV 1; UAV bracket A101; Battery assembly 102; Flight assembly 103; High-damping rubber shock absorber 104; Lighting assembly 105; Control mainboard 106; Bottom positioning cover 107; Gear bracket 108; Motor 109; Gear A110; Gear B111; Gear C112; Gear D113; Gear E114; Gear shaft 115; Pulley A116; Belt 117; Pulley B118; Flange shaft 119; Integrated drive device 2; Connecting base plate 201; Pipe joint block A202; Z-shaped pipe 203; Joint bracket A204 Metal rubber shock absorber A205; Frameless torque motor A206; Connecting flange A207; Yaw and pitch adapter 208; Drive arm A209; Drive arm B210; Integrated electromagnetic brake A211; Metal rubber shock absorber B212; Frameless torque motor B213; Connecting flange B214; Integrated electromagnetic brake B215; Pitch bracket 216; Rotating bolt 217; Guide rail mounting plate 218; Guide rail 219; Slider 220; Camera main support plate 221; Camera adjustment plate A222; Camera adjustment plate B223; Adjusting bolt 224; Camera 225. Specific Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings. Specific Implementation Example 1:

[0024] The following is combined Figure 1-9 This embodiment describes a high-speed, high-precision UAV tracking turntable with a composite shock absorption structure, comprising a composite shock-absorbing UAV 1 and an integrated drive device 2, wherein the composite shock-absorbing UAV 1 is connected to the integrated drive device 2. Specific Implementation Example 2:

[0026] The following is combined Figure 1-9 This embodiment further describes Example 1. The composite shock-absorbing drone 1 includes a drone support A101, a battery assembly 102, a flight assembly 103, a high-damping rubber shock absorber 104, a lighting assembly 105, a control motherboard 106, a bottom positioning cover 107, a gear support 108, a motor 109, gears A110, B111, C112, D113, and E114, a gear shaft 115, a pulley A116, a belt 117, a pulley B118, and a flange shaft 119. The battery assembly 102, flight assembly 103, high-damping rubber shock absorber 104, control motherboard 106, bottom positioning cover 107, and gear support 108 are all connected to the drone support A101. 01 Fixed connection, lighting component 105 is rotatably connected to drone bracket A101, gear bracket 108 is fixedly connected to motor 109, output shaft of motor 109 is fixedly connected to gear A110, gear A110 is meshed with gear B111, gear B111 is meshed with gear B112, gear C112 is meshed with gear D113, gear D113 is meshed with gear E114, gear E114 is meshed with gear shaft 115, gear shaft 115 is fixedly connected to pulley A116, pulley A116 is fixedly connected to pulley B118 via belt 117, pulley B118 is fixedly connected to flange shaft 119, flange shaft 119 is rotatably connected to drone bracket A101 and bottom positioning cover plate 107. Specific Implementation Example 3:

[0028] 1. The following is combined with Figure 1-9This embodiment further describes Example 1. The integrated drive device 2 includes a connecting base plate 201, a pipe joint block A202, a Z-shaped pipe 203, a joint bracket A204, a metal rubber shock absorber A205, a frameless torque motor A206, a connecting flange A207, a yaw and pitch adapter 208, a drive arm A209, a drive arm B210, an integrated electromagnetic brake A211, a metal rubber shock absorber B212, a frameless torque motor B213, a connecting flange B214, an integrated electromagnetic brake B215, a pitch bracket 216, a rotating bolt 217, and a guide rail mounting plate 21. 8. Guide rail 219, slider 220, camera main support plate 221, camera adjustment plate A222, camera adjustment plate B223, adjustment bolt 224, camera 225. The connecting base plate 201 is fixedly connected to the pipe joint block A202. The pipe joint block A202 and the joint bracket A204 are both fixedly connected to the Z-shaped pipe 203. The metal rubber shock absorber A205 and the integrated electromagnetic brake A211 are both fixedly connected to the joint bracket A204. The metal rubber shock absorber A205 is fixedly connected to the frameless torque motor A206. The output shaft of the frameless torque motor A206 is fixedly connected to the connecting flange A207. The output shaft of the frame torque motor A206 is connected to the integrated electromagnetic brake A211. The connecting flange A207 is fixedly connected to the yaw / pitch adapter 208. Drive arms A209 and B210 are both fixedly connected to the yaw / pitch adapter 208. The metal rubber shock absorber B212 and the integrated electromagnetic brake B215 are both fixedly connected to the drive arm B210. The metal rubber shock absorber B212 is fixedly connected to the frameless torque motor B213. The output shaft of the frameless torque motor B213 is fixedly connected to the connecting flange B214. The output shaft of the frameless torque motor B213 is connected to the integrated electromagnetic brake B215. Connecting flange B207... 14 is fixedly connected to the pitch bracket 216, the rotating bolt 217 is rotatably connected to the drive arm A209, the pitch bracket 216 is fixedly connected to the rotating bolt 217, the pitch bracket 216 is fixedly connected to the guide rail mounting plate 218, the guide rail mounting plate 218 is fixedly connected to the guide rail 219, the guide rail 219 is fixedly connected to the slider 220, the slider 220 is fixedly connected to the camera main support plate 221, the camera main support plate 221 is fixedly connected to the camera adjustment plate A222, the camera adjustment plate A222 and the camera adjustment plate B223 are both engaged with the adjustment bolt 224, and the camera 225 is fixedly connected to the camera adjustment plate B223.

[0029] The present invention discloses a high-speed, high-precision UAV tracking turntable with a composite vibration damping structure. Its working principle is as follows: the turntable's workflow is a closed-loop process of "vibration isolation → precise drive → stable tracking." Its core is to create a stable working environment free from external interference for the precision photoelectric load. Before the composite vibration-damped UAV 1 starts, the integrated drive device 2 is in standby and initialized. The turntable is powered on, the control system performs a self-check, the pitch axis returns to center, the azimuth axis is in standby mode, and the integrated electromagnetic brakes A211 and B215 are released, allowing the frameless torque motors A206 and B213 to rotate freely. Several sets of high-damping rubber shock absorbers are provided in the middle of the UAV support A101 within the composite vibration-damped UAV 1. 104, serving as the main load-bearing point and the first line of defense, is a high-damping rubber shock absorber that primarily absorbs and attenuates high-frequency, low-amplitude vibrations from the installation foundation. Its high damping performance rapidly dissipates vibration energy, preventing resonance. The control motherboard 106 acts as the brain of the entire device, responsible for calculation, decision-making, and command issuance. It receives target commands from the host computer and real-time position information from sensors. Through complex control algorithms, it calculates the current required for the drive motor and the timing of brake action, forming a highly dynamic closed-loop servo system. Ultimately, this achieves stable, smooth, and precise tracking. When the composite shock-absorbing UAV 1 is operating, the control motherboard 106 receives UAV target information, such as coordinates and video streams, and the control system calculates the target's azimuth and pitch relative to the turntable. The system generates motion commands, controlling the mainboard 106 to send drive signals to the frameless torque motors A206 and B213 in the integrated drive device 2. The rotors of frameless torque motors A206 and B213 directly drive the azimuth axis and the entire pitch frame above it to rotate rapidly and smoothly, aligning with the target azimuth. When frameless torque motor A206 starts, its output shaft drives the yaw and pitch adapter 208 to rotate via connecting flange A207. The yaw and pitch adapter 208 drives the camera 225 to rotate left and right along the lens axis via drive arms A209 and B210. When frameless torque motor B213 starts, its output shaft drives the connecting flange B214 to rotate, which in turn drives the pitch bracket 216 and the rotating... When the movable bolt 217 rotates, it rotates along the drive arm A209. When the pitch bracket 216 rotates, it drives the guide rail mounting plate 218 to rotate as well, causing the pitch axis system to move simultaneously. This drives the photoelectric load to pitch in the vertical plane, aligning it with the target height. The guide rail 219 and slider 220 adjust the camera height. The guide rail 219 is fixed to the guide rail mounting plate 218, and the slider 220 is adjusted and fixed within the guide rail 219 by a set screw. This allows for the adaptation of cameras 225 of different sizes and models. If the overall orientation of the integrated drive device 2 needs adjustment, the motor 109 is started. The output shaft of the motor 109 drives gear A110 to rotate, gear A110 drives gear B111 to rotate, and gear B111 drives gear C112 to rotate.Gear C112 drives gear D113 to rotate, gear D113 drives gear E114 to rotate, gear E114 drives gear shaft 115 to rotate, gear shaft 115 drives pulley A116 to rotate, pulley A116 drives pulley B118 to rotate via belt 117, and pulley B118 drives integrated drive device 2 to rotate via flange shaft 119. At this time, the azimuth and pitch axis systems work together to achieve smooth and continuous tracking of the UAV trajectory. During movement and stationary processes, vibrations from the ground, wind loads, or internal equipment are absorbed and isolated step by step by the composite damping structure, ensuring that the vibration transmitted to the core drive components and photoelectric loads is minimized. When an emergency stop is required or the tracking trajectory becomes abnormal, the system can provide a safe and reliable solution. During sharp turns, the integrated electromagnetic brake activates rapidly, providing a massive braking torque to overcome system inertia and achieve millisecond-level precise braking, preventing target overshoot and loss. The metal-rubber shock absorber, installed between the drive motor and the connecting base, acts as a second line of defense, primarily isolating low-to-medium frequency vibrations and electromagnetic vibrations and torque pulsations generated by the motor itself. The metal-rubber combines the strength of metal with the elasticity of rubber, exhibiting excellent environmental resistance and effectively preventing vibrations from being transmitted through the motor to the entire motion mechanism. The photoelectric load feeds the acquired images / data back to the control motherboard 106. The control motherboard 106 then fine-tunes the turntable angle in real time based on the target's position deviation within the field of view, forming a high-precision closed-loop tracking circuit.

[0030] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention are also within the protection scope of the present invention.

Claims

1. A high-speed, high-precision UAV tracking turntable with a composite vibration damping structure, characterized in that: It includes a composite shock-absorbing UAV (1) and an integrated drive device (2), with the composite shock-absorbing UAV (1) and the integrated drive device (2) connected together; The composite shock-absorbing UAV (1) includes a UAV support A (101), a battery assembly (102), a flight assembly (103), a high-damping rubber shock absorber (104), a lighting assembly (105), a control motherboard (106), a bottom positioning cover plate (107), a gear support (108), a motor (109), gear A (110), gear B (111), gear C (112), gear D (113), gear E (114), a gear shaft (115), pulley A (116), a belt (117), pulley B (118), and a flange shaft (119). The battery assembly (102), flight assembly (103), high-damping rubber shock absorber (104), control motherboard (106), bottom positioning cover (107), and gear bracket (108) are all fixedly connected to the drone bracket A (101). The lighting assembly (105) is rotatably connected to the drone bracket A (101). The gear bracket (108) is fixedly connected to the motor (109). The output shaft of the motor (109) is fixedly connected to gear A (110). Gear A (110) meshes with gear B (111). Gear B (111) meshes with gear B. Gear C (112) meshes with gear D (113), gear D (113) meshes with gear E (114), gear E (114) meshes with gear shaft (115), gear shaft (115) is fixedly connected to pulley A (116), pulley A (116) is fixedly connected to pulley B (118) via belt (117), pulley B (118) is fixedly connected to flange shaft (119), flange shaft (119) is rotatably connected to UAV bracket A (101) and bottom positioning cover plate (107); The integrated drive device (2) includes a connecting base plate (201), a pipe joint block A (202), a Z-shaped pipe (203), a joint bracket A (204), a metal rubber shock absorber A (205), a frameless torque motor A (206), a connecting flange A (207), a yaw and pitch adapter (208), a drive arm A (209), a drive arm B (210), an integrated electromagnetic brake A (211), a metal rubber shock absorber B (212), a frameless torque motor B (213), a connecting flange B (214), an integrated electromagnetic brake B (215), a pitch bracket (216), a rotating bolt (217), a guide rail mounting plate (218), a guide rail (219), and a slider (220). The camera includes a main support plate (221), a camera adjustment plate A (222), a camera adjustment plate B (223), an adjustment bolt (224), and a camera (225). The connecting base plate (201) is fixedly connected to the pipe joint block A (202). The pipe joint block A (202) and the joint bracket A (204) are both fixedly connected to the Z-shaped pipe (203). The metal rubber shock absorber A (205) and the integrated electromagnetic brake A (211) are both fixedly connected to the joint bracket A (204). The metal rubber shock absorber A (205) is fixedly connected to the frameless torque motor A (206). The output shaft of the frameless torque motor A (206) is fixedly connected to the connecting flange A (207). The output shaft is connected to the integrated electromagnetic brake A (211), the connecting flange A (207) is fixedly connected to the yaw and pitch adapter (208), the drive arm A (209) and drive arm B (210) are both fixedly connected to the yaw and pitch adapter (208), the metal rubber shock absorber B (212) and the integrated electromagnetic brake B (215) are both fixedly connected to the drive arm B (210), the metal rubber shock absorber B (212) is fixedly connected to the frameless torque motor B (213), the output shaft of the frameless torque motor B (213) is fixedly connected to the connecting flange B (214), the output shaft of the frameless torque motor B (213) is connected to the integrated electromagnetic brake B (215), and the connecting flange B (214) is connected to the pitch support ( 216) Fixed connection, rotating bolt (217) is rotatably connected to drive arm A (209), pitch bracket (216) is fixedly connected to rotating bolt (217), pitch bracket (216) is fixedly connected to guide rail mounting plate (218), guide rail mounting plate (218) is fixedly connected to guide rail (219), guide rail (219) is fixedly connected to slider (220), slider (220) is fixedly connected to camera main support plate (221), camera main support plate (221) is fixedly connected to camera adjustment plate A (222), camera adjustment plate A (222) and camera adjustment plate B (223) are both engaged with adjustment bolt (224), camera (225) is fixedly connected to camera adjustment plate B (223).

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