Roll axis mechanism for aircraft gimbal and aircraft

Abstract

The present invention discloses a roll axis mechanism for an aircraft gimbal and an aircraft. The roll axis mechanism includes a support assembly, a guide member, a linkage member and a snap device. The guide member is rotatably arranged in the support assembly, and the guide member can be switched between a locked state and an unlocked state. The snap device is arranged in the support assembly, and the snap device is used to control the guide member to switch between a locked state and an unlocked state. The linkage member is detachably connected to the guide member, and the linkage member and the guide member rotate synchronously. When the guide member is in an unlocked state, the linkage member is suitable for separating from the guide member. According to the roll axis mechanism for an aircraft gimbal of the present invention, the linkage member or other components connected to the linkage member can be disassembled from the support assembly, thereby facilitating the disassembly of the linkage member, and facilitating the user to selectively use the linkage member or other components connected to the linkage member.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a rolling axis mechanism for an aircraft gimbal and an aircraft. Background Art

[0002] With the development of society, the application areas of unmanned aerial vehicles are constantly expanding. Both industrial and consumer aircraft have made great progress, especially small unmanned aerial vehicles represented by multi-propeller unmanned aerial vehicles and fixed-wing unmanned aerial vehicles, which have been widely used in various application fields, such as aerial photography, surveying and mapping.

[0003] In the related art, the gimbal can be used to carry the shooting components. The gimbal is generally fixedly connected to the aircraft, and most of the time it is fixed with screws. Most of the time, users will choose whether to assemble the gimbal according to their own needs. Therefore, when it is necessary to disassemble it, due to the complex disassembly structure, users cannot quickly disassemble the gimbal in time. Summary of the invention

[0004] The present application provides a roll axis mechanism for an aircraft gimbal and an aircraft that is easy to disassemble and has a simple structure.

[0005] According to an embodiment of the present invention, a roll axis mechanism for an aircraft gimbal includes: a support assembly; a guide member, wherein the guide member is arranged in the support assembly and is rotatable relative to the support assembly, and the guide member is switchable between a locked state and an unlocked state; a spring-lock device, wherein the spring-lock device is arranged in the support assembly and is used to control the guide member to switch between the locked state and the unlocked state; and a linkage member, wherein the linkage member is located outside the support assembly, the linkage member is detachably connected to the support assembly, the linkage member rotates synchronously with the guide member, and when the guide member is in the unlocked state, the linkage member is suitable for being separated from the guide member.

[0006] The roll axis mechanism for an aircraft gimbal according to an embodiment of the present invention is detachably connected to a support assembly by setting a linkage, and at the same time, the linkage and the guide member rotate synchronously, and a spring-lock device is used to control the locking state and the unlocking state of the guide member, thereby controlling the detachable state of the linkage and the support assembly, so that the linkage and other components connected to the linkage can be removed from or assembled on the support assembly when the guide member is in the unlocked state, thereby realizing the disassembly of the linkage, making it convenient for users to selectively use the linkage or replace other components connected to the linkage, and at the same time ensuring that the linkage and the support assembly are firmly connected when the guide member is in the locked state, thereby preventing the linkage from detaching from the support assembly.

[0007] In some embodiments, the support assembly has a mounting groove, and the guide member has a mounting limit groove; the snap-on device includes: a button member, the button member is arranged in the mounting groove, and the button member can be switched between a first position and a second position; a first elastic member, the first elastic member is clamped between the button member and the bottom wall of the mounting groove, and the first elastic member often pushes the button member to move toward the first position; a second elastic member, the second elastic member is arranged in the mounting limit groove; a positioning pin, the positioning pin is arranged in the mounting limit groove, and the second elastic member often pushes the positioning pin to move toward the mounting groove, so as to push the button member to move toward the first position;

[0008] When the snap device is in a locked state, the installation slot is opposite to and connected to the installation limit slot, a part of the structure of the positioning pin is located in the installation slot, and the button member is in the first position; when the snap device is in an unlocked state, in the circumferential direction of the rotation of the guide member, the installation slot and the installation limit slot are staggered, the positioning pin is located in the installation limit slot, and the button member is in the first position;

[0009] When it is necessary to switch the snap-fastener device from the locked state to the unlocked state, the button member is pressed and moved to the second position, and the positioning pin is located in the installation limit groove;

[0010] When it is necessary to switch the snap-fastener device from the unlocked state to the locked state, the guide member is rotated so that the installation slot is opposite to and connected with the installation limit slot.

[0011] In some embodiments, the snap-on device further includes: a locking member, which is connected to the support assembly to limit the travel of the button member.

[0012] In some embodiments, the button component includes a stop portion, a pressing portion and a pushing portion, the pressing portion is located on one side of the stop portion, the pushing portion is located on the other side of the stop portion, the pushing portion is passed through the mounting groove, the first elastic member is pressed between the stop portion and the bottom wall of the mounting groove, the stop portion stops at the locking member, and the pressing portion protrudes from the outer surface of the support assembly.

[0013] In some embodiments, the support assembly has a slide groove and a mating groove, both of which extend along the circumferential direction of the support assembly, the guide member is mated in the mating groove, the linkage member is mated in the slide groove, the slide groove has an inlet and outlet, and the linkage member is suitable for mating with or disengaging from the slide groove through the inlet and outlet.

[0014] In some embodiments, the support assembly includes: a seat body, the slide groove and the matching groove are both provided on the seat body; a base, the base is connected to the seat body, and the base and the seat body define an active cavity to provide an installation space for the connection between the guide member and the linkage member, the guide member is provided in the active cavity, and the linkage member is located outside the active cavity.

[0015] In some embodiments, the end face of the guide member has a positioning column, and the linkage member includes a connecting portion, a connecting protrusion and an annular convex strip. The connecting portion is columnar, and the connecting protrusion is arranged on the outer periphery of the connecting portion. The annular convex strip is spaced apart from the connecting protrusion along the axial direction of the connecting portion, and the annular convex strip is suitable for entering the slide groove through the inlet and outlet. The connecting portion has a positioning hole, and the positioning column is passed through the positioning hole so that the linkage member and the guide member rotate synchronously.

[0016] In some embodiments, the base includes a connecting substrate and a limiting protrusion, the connecting substrate is in the shape of a circular plate, the limiting protrusion is perpendicular to the connecting substrate, the connecting portion has a matching limiting groove, and the limiting protrusion is embedded in the matching limiting groove.

[0017] In some embodiments, the connection substrate is provided with an avoidance hole.

[0018] In some embodiments, the base is provided with a first limiting groove, the base body has a second limiting groove, the first limiting groove and the second limiting groove jointly define a limiting space, the limiting space is connected to the mating groove, the connecting flange has a limiting protrusion, the limiting protrusion is located in the limiting space, and the limiting protrusion is suitable for moving in the limiting space.

[0019] In some embodiments, the roll axis mechanism also includes a roll support frame and a roll motor, wherein the roll motor is connected to the support assembly, the roll motor is located on one side of the support assembly, and the roll support frame is located on the other side of the support assembly. The roll support frame is fixedly connected to the linkage member through the support assembly and is driven by the roll motor to achieve rotation in the roll direction.

[0020] The aircraft according to the embodiment of the present invention includes the roll axis mechanism for the aircraft gimbal as described above.

[0021] According to the aircraft embodiment of the present invention, a linkage is provided to be detachably connected to the support assembly. At the same time, the linkage and the guide member rotate synchronously, and a spring-loaded device is used to control the locking state and the unlocking state of the guide member, thereby controlling the detachable state of the linkage and the support assembly, so that the linkage and the support assembly can be removed from the support assembly or assembled to the support assembly when the guide member is in the unlocked state.

[0022] In some embodiments, the aircraft also includes a pitch axis mechanism and a shooting device, the pitch axis mechanism includes: a pitch bracket, the shooting device is arranged on the pitch bracket, the pitch bracket is connected to the roll mechanism, and the pitch bracket is rotatable relative to the roll mechanism; a pitch motor, the pitch motor is connected to the pitch bracket to drive the pitch bracket to rotate.

[0023] In some embodiments, the axis of rotation of the pitch bracket is the pitch axis, the axis of rotation of the linkage is the roll axis, and the pitch axis is perpendicular to the roll axis.

[0024] In some embodiments, the roll axis mechanism also includes a roll support frame, which is connected to the linkage member so as to rotate under the drive of the linkage member, and the pitch support includes a pitch support frame, which is connected to the pitch support frame, and the pitch support frame is rotatable relative to the roll support frame, and the roll support frame has two first pivot parts; the pitch support frame includes a suspension part and two second pivot parts, one of the second pivot parts is arranged at one end of the pitch support frame, and the second pivot part is connected to one of the first pivot parts through the pitch motor, and the other second pivot part is arranged at the other end of the pitch support frame, and the second pivot part is connected to the other of the first pivot parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 is a schematic structural diagram of an aircraft according to an embodiment of the present invention;

[0027] Figure 2 yes Figure 1 A local enlarged schematic diagram of the middle A;

[0028] Figure 3 is an exploded view of a roll axis mechanism for an aircraft gimbal according to an embodiment of the present invention;

[0029] Figure 4 yes Figure 3 A partial enlarged schematic diagram of point B in the middle;

[0030] Figure 5 yes Figure 3 A partial enlarged schematic diagram of point C in the middle;

[0031] Figure 6 is a schematic structural diagram of a base of an aircraft according to an embodiment of the present invention;

[0032] Figure 7is a schematic structural diagram of a base of an aircraft according to an embodiment of the present invention;

[0033] Figure 8 is a schematic structural diagram of a seat body of an aircraft according to an embodiment of the present invention;

[0034] Fig. 9 is a schematic structural diagram of a seat body of an aircraft according to an embodiment of the present invention;

[0035] Fig.10 is a schematic structural diagram of a guide member of an aircraft according to an embodiment of the present invention;

[0036] Fig.11 is a schematic structural diagram of a guide member of an aircraft according to an embodiment of the present invention;

[0037] Fig.12 is a schematic structural diagram of a linkage component of an aircraft according to an embodiment of the present invention;

[0038] Fig.13 is a schematic structural diagram of a rolling support frame of an aircraft according to an embodiment of the present invention;

[0039] Fig.14 is a schematic diagram of the assembly structure of the guide member and the seat body of an aircraft according to an embodiment of the present invention;

[0040] Fig.15 yes Fig.14 A partial enlarged schematic diagram of point D in the middle;

[0041] Fig.16 is an exploded view of a pitch axis mechanism of an aircraft according to an embodiment of the present invention;

[0042] Fig.17 is a schematic structural diagram of a pitch support frame of an aircraft according to an embodiment of the present invention;

[0043] Fig.18 It is an exploded view of a local structure of a gimbal for an aircraft according to an embodiment of the present invention.

[0044] Reference numerals:

[0045] PTZ 70,

[0046] Roll axis mechanism 71, roll motor 711, roll stator 7111, roll rotor 7112, roll bracket 712,

[0047] Support assembly 75, active cavity 751,

[0048] Base 7121, connecting substrate 71211, limiting convex column 71212, avoidance hole 71213,

[0049] The first limiting groove 71214, the avoidance groove 71215, the connecting groove 71216,

[0050] The seat body 7122, the peripheral wall 71221, the end wall 71222, the strip protrusion 71223, the slide groove 71224,

[0051] Inlet and outlet 71225, matching groove 71226, containing groove 712261, elastic member 712262,

[0052] The second limiting groove 71227, the mounting portion 71228,

[0053] Mounting slot 71229,

[0054] Guide member 7123, matching protrusion 71231, limiting protrusion 71232, positioning pin 71233, second elastic member 71234, positioning column 71235, installation limiting groove 71236,

[0055] Linkage member 7124, connection portion 71241, connection convex edge 71242, annular convex strip 71243, avoidance notch 71244,

[0056] The positioning hole 71246 cooperates with the limiting groove 71245.

[0057] Rolling support frame 7125, support bottom plate 71251, first pivoting portion 71252,

[0058] The snap-on device 7126, the button member 71261, the stop portion 712621, the pressing portion 712631, the pushing portion 71264,

[0059] first elastic member 71262, locking member 71263,

[0060] Pitch axis mechanism 72,

[0061] Pitch motor 721, pitch stator 7211, pitch rotor 7212,

[0062] Pitch bracket 722,

[0063] pitch support frame 7221, suspension portion 72211, second pivot portion 72212, first through hole 72213, second through hole 72214,

[0064] Limiting shaft 723,

[0065] Photographic device 73, camera 731, housing 732,

[0066] Shock absorbing device 74,

[0067] Aircraft 1,

[0068] Fuselage 10, fixed wing 20, first wing section 21, second wing section 22,

[0069] The first power assembly 30, the second power assembly 40, the tail 50, the battery 60,

[0070] First mounting opening 1401 . DETAILED DESCRIPTION

[0071] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0072] Reference below Figure 1-Figure 18 The roll axis mechanism 71 of the gimbal 70 for the aircraft 1 and the aircraft 1 according to the embodiment of the present invention are described.

[0073] It should be noted that if Figure 1 As shown, the aircraft 1 may include: a fuselage 10, fixed wings 20, a first power assembly 30, a second power assembly 40, a tail 50, a battery 60, a gimbal 70 and a control unit.

[0074] Reference Figure 1 The fuselage 10 is symmetrically arranged and has a symmetry plane. The axis of the fuselage 10 and the center of gravity of the unmanned aerial vehicle 1 are both located on the symmetry plane of the fuselage 10. The fuselage 10 is a carrier of the unmanned aerial vehicle 1, and an electrical installation part may be arranged on or inside the fuselage 10. Electronic components such as the battery 60, the gimbal 70, and the control unit may be arranged in the electrical installation part.

[0075] Reference Figure 1 The fuselage 10 also includes a shell. The shell of the fuselage 10 is streamlined to reduce air resistance during flight. In other embodiments, the shell can be in other shapes. The shell is wrapped around the outer side of the fuselage 10 frame. In other words, the fuselage 10 frame is embedded in the inner side of the shell. A first mounting port 1401 is provided on the shell to facilitate the disassembly and assembly of the battery 60 and the control unit.

[0076] Reference Figure 1, two fixed wings 20 are symmetrically mounted on both sides of the symmetry plane of the fuselage 10. When the aircraft 1 reaches a certain horizontal flight speed, the fixed wings 20 provide sufficient lift for the aircraft 1 to ensure that the aircraft can fly normally. Each fixed wing 20 includes a first wing section 21 and a second wing section 22 connected to each other. Of course, each fixed wing 20 is not limited to the first wing section 21 and the second wing section 22. According to the size design of the aircraft 1, each fixed wing 20 can also include a third wing section, a fourth wing section, etc. The connection between these wing sections is the same as the connection between the first wing section 21 and the second wing section 22.

[0077] The gimbal 70 of the aircraft 1 may be a two-axis gimbal 70, a three-axis gimbal 70, etc. The gimbal 70 includes a roll axis mechanism 71, a pitch axis mechanism 72, and a shooting device 73. The pitch axis mechanism 72 is used to carry the shooting device 73, and the shooting device 73 may be a camera 731, a lens, etc.

[0078] like Figure 2-Figure 17 As shown, the roll axis mechanism 71 for an aircraft gimbal according to an embodiment of the present invention comprises a support assembly 75, a guide member 7123, a snap device 7126 and a linkage member 7124. The linkage member 7124 is adapted to be detachably connected to the support assembly 75 of the roll axis mechanism 71.

[0079] like Figure 3 As shown, the guide member 7123 is disposed in the support assembly 75, and the guide member 7123 is rotatable relative to the support assembly 75, and the guide member 7123 can switch between a locked state and an unlocked state. The snap device 7126 is disposed in the support assembly 75, and the snap device 7126 is used to control the guide member 7123 to switch between a locked state and an unlocked state. It can be understood that the snap device 7126 can be used to control the switching of the state of the guide member 7123. Figure 3 , Fig.12 As shown, the linkage member 7124 is located outside the support assembly 75. When the guide member 7123 is in the unlocked state, the linkage member 7124 is detachably connected to the support assembly 75, and the guide member 7123 in the support assembly 75 can also rotate synchronously with the linkage member 7124. When the guide member 7123 is in the locked state, the linkage member 7124 cannot rotate synchronously with the guide member 7123, and the linkage member 7124 is fixedly connected to the support assembly 75.

[0080] That is, when the guide member 7123 is in the unlocked state, the operator can operate the linkage member 7124 to be rotatably connected to the support assembly 75, and at the same time, the guide member 7123 in the support assembly 75 rotates synchronously with the linkage member 7124 to switch from the unlocked state to the locked state. When the guide member 7123 is in the locked state, the guide member 7123 in the support assembly 75 cannot rotate synchronously with the linkage member 7124, and the linkage member 7124 is fixedly connected to the support assembly 75. At this time, the operator cannot rotate the linkage member 7124 to separate the linkage member 7124 from the support assembly 75.

[0081] According to the roll axis mechanism 71 for an aircraft gimbal according to an embodiment of the present invention, a linkage member 7124 is provided to be detachably connected to the support assembly 75. At the same time, the linkage member 7124 rotates synchronously with the guide member 712, and a spring-loaded device 7126 is used to control the locking state and the unlocking state of the guide member 7123, thereby controlling the detachable state of the linkage member 7124 and the support assembly 75, so that the linkage member 7124 and other components connected to the linkage member 7124 can be removed from or assembled to the support assembly 75 when the guide member 7123 is in the unlocked state, thereby realizing the disassembly of the linkage member 7124, making it convenient for users to selectively use the linkage member 7124 or replace other components connected to the linkage member 7124 (for example, the camera 731), and at the same time ensuring that the linkage member 7124 is firmly connected to the support assembly 75 when the guide member 7123 is in the locked state, thereby preventing the linkage member 7124 from being separated from the support assembly 75.

[0082] According to some embodiments of the present invention, Fig. 9 As shown, the support assembly 75 has a mounting groove 71229. Fig.11 As shown, the guide member 7123 has an installation limit groove 71236. Fig.14 , Fig.15 As shown, the snap-on device 7126 may include a button member 71261, a first elastic member 71262, a second elastic member 71234 and a positioning pin 71233. The button member 71261 is disposed in the mounting groove 71229, and the button member 71261 can be switched between a first position and a second position. The first elastic member 71262 is sandwiched between the button member 71261 and the bottom wall of the mounting groove 71229, and the first elastic member 71262 often pushes the button member 71261 to move toward the first position. The second elastic member 71234 is disposed in the mounting limit groove 71236, and the positioning pin 71233 is disposed in the mounting limit groove 71236, and the second elastic member 71234 often pushes the positioning pin 71233 to move toward the mounting groove 71229, so as to push the button member 71261 to move toward the first position.

[0083] When the spring-clip device 7126 is in a locked state, the installation groove 71229 is opposite to and connected with the installation limit groove 71236, part of the structure of the positioning pin 71233 is located in the installation groove 71229, and the button member 71261 is in the first position; when the spring-clip device 7126 is in an unlocked state, in the circumferential direction of rotation of the guide member 7123, the installation groove 71229 is staggered with the installation limit groove 71236, the positioning pin 71233 is located in the installation limit groove 71236, and the button member 71261 is in the first position.

[0084] When the snap device 7126 needs to be switched from the locked state to the unlocked state, the button member 71261 is pressed and moved to the second position, so that the positioning pin 71233 moves into the installation limit groove 71236 under the support of the button member 71261; when the snap device 7126 needs to be switched from the unlocked state to the locked state, the guide member 7123 is rotated so that the installation groove 71229 is opposite to and connected with the installation limit groove 71236. In this way, the guide member 7123 can be locked or unlocked by the snap device 7126, so that the linkage member 7124 can be easily removed from the support assembly 75.

[0085] According to some embodiments of the present invention, Fig.15 As shown, the snap-on device 7126 may further include a locking member 71263. The locking member 71263 is connected to the support assembly 75 to limit the travel of the button member 71261. Fig.15 As shown, the button component 71261 includes a stop portion 712621, a pressing portion 712631 and a pushing portion 71264, the pressing portion 712631 is located on one side of the stop portion 712621, and the pushing portion 71264 is located on the other side of the stop portion 712621, the pushing portion 71264 is penetrated through the mounting groove 71229, the first elastic component 71262 is pressed between the stop portion 712621 and the bottom wall of the mounting groove 71229, the stop portion 712621 stops at the locking component 71263, and the pressing portion 712631 protrudes from the outer surface of the support assembly 75.

[0086] In some embodiments, Figure 8 , Fig. 9As shown, the support assembly 75 has a slide groove 71224 and a matching groove 71226, the slide groove 71224 and the matching groove 71226 both extend along the circumferential direction of the support assembly 75, the guide member 7123 is matched in the matching groove 71226, the linkage member 7124 is matched in the slide groove 71224, the slide groove 71224 has an inlet and outlet 71225, and the linkage member 7124 is suitable for matching with or disengaging from the slide groove 71224 through the inlet and outlet 71225. It should be noted that when the linkage member 7124 rotates in the slide groove 71224, the linkage member 7124 can drive the guide member 7123 to rotate, and the guide member 7123 rotates in the matching groove 71226.

[0087] like Figure 3 As shown, the support assembly 75 may include a seat body 7122 and a base 7121. The slide groove 71224 and the matching groove 71226 are both provided on the seat body 7122, the base 7121 is connected to the seat body 7122, and the base 7121 and the seat body 7122 define an active cavity 751, the guide member 7123 is provided in the active cavity 751, and the linkage member 7124 is located outside the active cavity 751. It should be noted that by providing the active cavity 751, the active cavity 751 can be used to provide an installation space for the connection between the guide member 7123 and the linkage member 7124. The matching groove 71226 is formed on the inner peripheral wall of the active cavity 751, and the matching groove 71226 extends along the circumferential direction of the active cavity 751, and the opening of the matching groove 71226 faces the middle of the active cavity 751.

[0088] Furthermore, if Fig.10 , Fig.11 As shown, the end face of the guide member 7123 has a positioning column 71235, and the linkage member 7124 includes a connecting portion 71241, a connecting flange 71242 and an annular ridge 71243. The connecting portion 71241 is columnar, and the connecting flange 71242 is arranged on the outer periphery of the connecting portion 71241. The annular ridge 71243 is spaced apart from the connecting flange 71242 along the axial direction of the connecting portion 71241. The annular ridge 71243 is suitable for entering the slide groove 71224 through the inlet and outlet 71225. The connecting portion 71241 has a positioning hole 71246, and the positioning column 71235 is penetrated in the positioning hole 71246, so that the linkage member 7124 and the guide member 7123 can rotate synchronously.

[0089] like Figure 6 , Figure 7 As shown, in some embodiments, the base 7121 may include a connecting substrate 71211 and a limiting convex column 71212, the connecting substrate 71211 is in the shape of a circular plate, and the limiting convex column 71212 is perpendicular to the connecting substrate 71211. Fig.12 , Figure 3As shown, the connecting portion 71241 has a matching limiting groove 71245, and the limiting boss 71212 is embedded in the matching limiting groove 71245. In this way, the linkage member 7124 and the base 7121 can be connected together.

[0090] like Figure 3 As shown, a circuit board may be provided on the guide member 7123, and electrical components may be provided on the circuit board. In order to prevent the circuit board and the electrical components connected to the circuit board from interfering with the base 7121, an avoidance hole 71213 may be provided on the base 7121. Figure 6 , Figure 7 As shown, the connection substrate 71211 may be provided with an avoidance hole 71213, and the avoidance hole 71213 may be used to avoid the circuit board.

[0091] According to some embodiments of the present invention, Figure 6 As shown, the base 7121 is provided with a first limiting groove 71214; Fig. 9 As shown, the seat body 7122 has a second limiting groove 71227, and the first limiting groove 71214 and the second limiting groove 71227 together define a limiting space, and the limiting space is connected to the matching groove 71226. Fig.10 , Fig.11 The guide member 7123 is generally annular, and a circle of matching protrusions 71231 extend from the outer circumference of the guide member 7123. A limiting protrusion 71232 extends from one outer circumference of the matching protrusion 71231. Fig.10 As shown, the limiting protrusion 71232 is located in the limiting space, and the limiting protrusion 71232 is suitable for moving in the limiting space. Therefore, a mounting limiting groove 71236 can be set on the limiting protrusion 71232. The side wall of the limiting space in the circumferential direction of the seat body 7122 can be used to limit the movement area of ​​the limiting protrusion 71232.

[0092] like Figure 3 As shown, according to some embodiments of the present invention, the roll axis mechanism 71 may further include a roll support frame 7125 and a roll motor 711. The roll motor 711 is connected to the support assembly 75, the roll motor 711 is located on one side of the support assembly 75, the roll support frame 7125 is located on the other side of the support assembly 75, and the roll support frame 7125 is fixedly connected to the linkage member 7124. Specifically, the roll support frame 7125 is fixedly connected to the linkage member 7124 through the support assembly 75 and is driven by the roll motor 711 to achieve rotation in the roll direction, so that the rotation angle of the shooting device 73 can be adjusted. Furthermore, as Figure 3 As shown, the roll support frame 7125 is suitable for connecting with the pitch support frame 7221 of the gimbal 70 , and the pitch support frame 7221 is connected with the shooting device 73 .

[0093] The aircraft 1 according to the embodiment of the present invention comprises the roll axis mechanism 71 for the aircraft gimbal as described above.

[0094] According to the aircraft 1 of the embodiment of the present invention, the linkage member 7124 is detachably connected to the support assembly 75 by setting the linkage member 7124. At the same time, the linkage member 7124 rotates synchronously with the guide member 7123, and the spring-loaded device 7126 is used to control the locking state and the unlocking state of the guide member 7123, thereby controlling the detachable state of the linkage member 7124 and the support assembly 75, so that the linkage member 7124 and the support assembly 75 can be removed from the support assembly 75 or assembled to the support assembly 75 when the guide member 7123 is in the unlocked state.

[0095] According to some embodiments of the present invention, the aircraft 1 may further include a pitch axis mechanism 72 and a camera 73. Fig.18 As shown, the pitch axis mechanism 72 may include a pitch bracket 722 and a pitch motor 721. The shooting device 73 may be arranged on the pitch bracket 722, and the pitch bracket 722 is connected to the roll axis mechanism 71. For example, the pitch bracket 722 may be connected to the roll bracket 712 of the roll axis mechanism 71, and further, the pitch bracket 722 is rotatable relative to the roll axis mechanism 71, that is, the pitch bracket 722 is pivotally connected to the roll bracket 712, and the pitch motor 721 is connected between the pitch bracket 722 and the roll bracket 712 to drive the pitch bracket 722 to rotate. Furthermore, the axis of rotation of the pitch bracket 722 is the pitch axis, and the axis of rotation of the linkage 7124 is the roll axis, and the pitch axis is perpendicular to the roll axis. In this way, the shooting device 73 can be rotated in two directions, so that the angle of the shooting device 73 can be adjusted within a larger viewing angle range.

[0096] According to some embodiments of the present invention, Figure 3 As shown, the rolling axis mechanism 71 may further include a rolling support frame 7125, and the rolling support frame 7125 is connected to the linkage member 7124. Fig.13 As shown, the pitch bracket 722 may include a pitch support frame 7221, a roll support frame 7125 connected to the pitch support frame 7221, the pitch support frame 7221 is rotatable relative to the roll support frame 7125, and the roll support frame 7125 has two first pivot portions 71252; the pitch support frame 7221 includes a suspension portion 72211 and two second pivot portions 72212, one of the second pivot portions 72212 is disposed at one end of the pitch support frame 7221, and the second pivot portion 72212 is connected to one of the first pivot portions 71252 through a pitch motor 721, and the other second pivot portion 72212 is disposed at the other end of the pitch support frame 7221, and the second pivot portion 72212 is connected to another of the first pivot portions 71252.

[0097] Refer to the following Figure 1-Figure 18 The roll axis mechanism 71 for an aircraft gimbal according to an embodiment of the present invention is described in detail. It is worth noting that the following description is merely an exemplary description and is not a specific limitation of the present invention.

[0098] like Figure 3 As shown, the roll axis mechanism 71 may include a roll bracket 712 and a roll motor 711, wherein the roll motor 711 drives the roll bracket 712 to rotate, and the roll motor 711 may be a brushless motor or a brushed motor. In this embodiment, the roll motor 711 is a brushless motor, and includes a roll stator 7111 and a roll rotor 7112 rotatably connected to the roll stator 7111. The roll stator 7111 is suitable for being fixed to the fuselage 10, and the roll rotor 7112 is connected to the roll bracket 712.

[0099] Continue to refer to Figure 3 As shown, the rolling bracket 712 includes a support assembly 75, a guide member 7123, a snap device 7126, a linkage member 7124 and a rolling support frame 7125. The linkage member 7124 is suitable for being detachably connected to the support assembly 75, and the support assembly 75 is suitable for being connected to the rolling motor 711 of the rolling axis mechanism 71. Figure 3 As shown, the support assembly 75 may include a base 7121 and a seat body 7122 .

[0100] See also Figure 6 , Figure 7 The base 7121 includes a connecting substrate 71211 in the shape of a circular plate, and a limiting boss 71212 extending perpendicularly to the center of one end face of the connecting substrate 71211. An avoidance hole 71213 is provided on the connecting substrate 71211. A first limiting groove 71214 is provided on the end face of the connecting substrate 71211 located on one side of the limiting boss 71212. The avoidance hole 71213 and the first limiting groove 71214 are formed in a circular ring shape, and the curvature of the avoidance hole 71213 and the first limiting groove 71214 are the same, or the curvature of the avoidance hole 71213 is smaller than that of the first limiting groove 71214. An avoidance groove 71215 is also formed at the outer periphery of the avoidance hole 71213 for avoiding the circuit board on the linkage 7123, and the first limiting groove 71214 is formed at the outer edge of the end face of the connecting substrate 71211. A connection groove 71216 is formed in the limiting boss 71212, and its opening faces the other end surface of the connection substrate 71211. A connection column is provided on the inner wall of the connection groove 71216, and the base 7121 is connected to the roll rotor 7112 of the roll motor 711 through the connection column in the connection groove 71216. Furthermore, a connection lug is also formed on the outer peripheral surface of the connection substrate 71211.

[0101] See also Figure 8 , Fig. 9The seat body 7122 includes a peripheral wall 71221 and an annular end wall 71222 connected to the inner wall of the peripheral wall 71221. At least one strip protrusion 71223 is provided on the inner wall of the peripheral wall 71221 on one side of the end wall 71222, and the strip protrusion 71223 extends circumferentially along the inner wall of the peripheral wall 71221. Preferably, three strip protrusions 71223 are provided on the inner wall of the peripheral wall 71221, and the three strip protrusions 71223 are arc-shaped strips extending along the inner wall. The three strip protrusions 71223 include a first strip protrusion 71223 and two second strip protrusions 71223. The length of the first strip protrusion 71223 is greater than the length of the two second strip protrusions 71223. The three strip protrusions 71223 and the end wall 71222 together form a slide groove 71224.

[0102] In this embodiment, the slide groove 71224 is an annular groove extending circumferentially along the inner wall of the peripheral wall 71221. At least one inlet and outlet 71225 is provided at the end of the slide groove 71224, and the end surfaces of the three strip protrusions 71223 facing the end wall 71222 and adjacent to the inlet and outlet 71225 are formed as inclined surfaces. In this embodiment, there are three inlets and outlets 71225, and three inlets and outlets 71225 are formed between the three strip protrusions 71223, that is, three inlets and outlets 71225 are formed between the first strip protrusion and the two second strip protrusions, and the three inlets and outlets 71225 respectively include a first inlet and outlet and two second inlets and outlets, and the length of the first inlet and outlet corresponds to the length of the first strip protrusion, so the length of the first inlet and outlet is greater than the length of the second inlet and outlet.

[0103] like Figure 8 , Fig. 9 As shown, a matching groove 71226 is formed on the end surface of the end wall 71222 on the side away from the three strip-shaped protrusions 71223, and a second limiting groove 71227 is extended in the radial direction at one periphery of the matching groove 71226. The arc length of the second limiting groove 71227 is the same as the arc length of the first limiting groove 71214. Furthermore, a through hole corresponding to the position of the strip-shaped protrusion 71223 is also formed on the end surface of the end wall 71222. An elastic member is arranged in the through hole, and the elastic member penetrates into the slide groove 71224 along the through hole.

[0104] like Figure 3 , Fig. 9 As shown, the peripheral wall 71221 is further provided with a mounting portion 71228, the mounting portion 71228 is provided with a mounting groove 71229, and the mounting groove 71229 is provided with a through hole communicating with the second limiting groove 71227. The mounting groove 71229 is provided with a snap-fit ​​device 7126.

[0105] In this embodiment, Fig.14 , Fig.15As shown, the snap-fastener device 7126 includes a button member 71261, a first elastic member 71262 and a locking member 71263. The button member 71261 is movably arranged in the mounting groove 71229. Specifically, the button member 71261 includes a stop portion 712621, and a pressing portion 712631 and a pushing portion 71264 arranged on both sides of the stop portion 712621. The pushing portion 71264 is suitable for being inserted into the through hole between the mounting groove 71229 and the second limiting groove 71227, and the travel of the pushing portion 71264 is limited in the through hole. The first elastic member 71262 is pressed between the stop portion 712621 and the bottom wall of the mounting groove 71229. The locking member 71263 locks the button member 71261 in the mounting groove 71229 , so that the abutting portion 712621 of the button member 71261 abuts against the locking member 71263 , and the pressing portion 712631 passes through the button member 71261 along the through hole on the locking member 71263 .

[0106] Furthermore, a connecting pillar is provided on the end surface of the end wall 71222 away from the strip protrusion 71223. The seat body 7122 is fixed to the connecting lug of the base 7121 through the connecting pillar on the end wall 71222, so that the first limiting groove 71214 and the second limiting groove 71227 jointly define a limiting space.

[0107] See also Fig.10 , Fig.11 The guide member 7123 is roughly annular, and a circle of matching protrusions 71231 extend from the outer circumference of the guide member 7123. A limiting protrusion 71232 extends from one outer circumference of the matching protrusion 71231. An installation limiting groove 71236 is provided in the limiting protrusion 71232, and a positioning pin 71233 and a second elastic member 71234 are provided in the installation limiting groove 71236. The positioning pin 71233 pops out under the elastic force of the second elastic member 71234 but does not leave the installation limiting groove 71236. The end of the positioning pin 71233 is formed into an arc surface.

[0108] Furthermore, two positioning columns 71235 and a through hole are provided on the end surface of the guide member 7123. A circuit board is also fixed on the other end surface of the guide member 7123, and the circuit board is electrically connected to the electronic control unit on the fuselage 10. A first electrical connection terminal is formed on the circuit board, and the first electrical connection terminal is provided on the through hole on the end surface of the guide member 7123. The guide member 7123 is rotatably matched between the base 7121 and the base body 7122, and the limiting protrusion 71212 of the base 7121 is matched on the center hole of the guide member 7123. The matching protrusion 71231 extending on the outer circumference of the guide member 7123 is suitable for matching with the matching groove 71226 on the end wall 71222. And the limiting protrusion 71232 extending on the outer circumference of the matching protrusion 71231 is matched on the limiting space between the first limiting groove 71214 and the second limiting groove 71227.

[0109] See also Fig.12 The linkage member 7124 may include a columnar connection portion 71241 and a connection convex edge 71242 provided at one end of the peripheral wall 71221 of the connection portion 71241. Three annular convex strips 71243 extend from the other end of the peripheral wall 71221 of the connection portion 71241 toward the radial direction of the peripheral wall 71221 of the connection portion 71241, and an avoidance gap 71244 is formed between the three annular convex strips 71243. A matching limit groove 71245 and two positioning holes 71246 are recessed inward at the center of the end wall 71222 of the connection portion 71241. Further, a second electrical connection terminal suitable for matching with the first electrical connection terminal is provided on the linkage member 7124. The second electrical connection terminal is electrically connected to the pitch axis mechanism 72 and the shooting device 73.

[0110] like Figure 3 As shown, the linkage member 7124 is a detachable connecting seat body 7122, the guide member 7123 is provided with a first electrical connection terminal, and the linkage member 7124 is provided with a second electrical connection terminal. When the first electrical connection terminal is connected to the second electrical connection terminal, an electrical signal can be transmitted between the first electrical connection terminal and the second electrical connection terminal.

[0111] When connecting the linkage 7124 to the seat body 7122:

[0112] The linkage member 7124 is rotated until the three annular convex strips 71243 can slide into the slide groove 71224 along the three inlets and outlets 71225, so that the second electrical connection terminal on the linkage member 7124 is connected to the first electrical connection terminal on the guide member 7123. At the same time, the matching limit groove 71245 on the connecting portion 71241 is matched with the limit convex column 71212. The two positioning holes 71246 are respectively matched with the positioning columns 71235 on the end surface of the guide member 7123 to prevent the electrical connection terminal from being damaged during the relative rotation of the linkage member 7124 and the guide member 7123;

[0113] The linkage member 7124 is rotated to make the three annular protrusions 71243 slide into the slide groove 71224 formed between the three strip-shaped protrusions 71223 and the first end wall 71222. The three annular protrusions 71243 abut against the three strip-shaped protrusions 71223 under the abutment of the elastic member; for example, Fig. 9As shown, a receiving groove 712261 is provided on the side wall of the slide groove 71224, and the receiving groove 712261 penetrates the side wall of the slide groove 71224 along the thickness direction of the side wall of the slide groove 71224. An elastic member 712262 is embedded in the receiving groove 712261, and the middle part of the elastic member 712262 protrudes from the inner wall surface of the receiving groove 712261. When the linkage member 7124 is fitted into the inside of the slide groove 71224, the middle part of the elastic member 712262 abuts against the linkage member 7124, so that the linkage member 7124 can be stably fitted into the slide groove 71224. Further, when the linkage member 7124 is fitted into the inside of the slide groove 71224, the middle part of the elastic member 712262 abuts against the annular convex strip 71243 of the linkage member 7124.

[0114] At the same time, if Figure 3 As shown, under the drive of the linkage member 7124, the positioning pin 71233 in the installation groove 71229 of the guide member 7123 is penetrated into the through hole between the installation groove 71229 and the second limiting groove 71227 under the action of the second elastic member 71234 to prevent the linkage member 7124 from loosening.

[0115] When the linkage member 7124 is to be disassembled, the pressing portion 712631 of the button member 71261 is pressed, so that the pushing portion 71264 pushes the positioning pin 71233 out of the through hole between the installation groove 71229 and the second limiting groove 71227. The linkage member 7124 is rotated so that the three annular convex strips 71243 slide out of the sliding groove 71224, thereby realizing the locking and separation between the linkage member 7124 and the seat body 7122, and achieving the effect of quick disassembly and assembly.

[0116] See also Figure 3 , the rolling support frame 7125 is located on the other side of the support assembly 75, and the rolling support frame 7125 is fixedly connected to the linkage member 7124. Specifically, the rolling support frame 7125 is fixedly connected to the support assembly 75 through the linkage member 7124 and is driven by the rolling motor 711 to achieve rolling direction rotation, so that the rotation angle of the shooting device 73 can be adjusted. Figure 3 As shown, the roll support frame 7125 is suitable for connecting with the pitch support frame 7221 of the gimbal 70 , and the pitch support frame 7221 is connected with the shooting device 73 .

[0117] The rolling support frame 7125 includes a support bottom plate 71251 and two oppositely arranged first pivoting portions 71252 vertically connected to the support bottom plate 71251. The rolling support frame 7125 is connected to the connecting flange 71242 of the linkage member 7124 through the support bottom plate 71251.

[0118] See also Fig.16 , Fig.17The pitch axis mechanism 72 includes a pitch motor 721 and a pitch bracket 722. The pitch motor 721 may be a brushless motor or a brushed motor, and the pitch motor 721 includes a pitch stator 7211 and a pitch rotor 7212 rotatably connected to the pitch stator 7211. The pitch stator 7211 of the pitch motor 721 is connected to the first pivoting portion 71252 of the roll support bracket 7125.

[0119] See also Fig.16 , Fig.17 , Fig.18 , the pitch bracket 722 includes a pitch support frame 7221. The pitch support frame 7221 includes a hanging portion 72211 and two oppositely arranged second pivot portions 72212 extending vertically along the two ends of the hanging portion 72211. The two second pivot portions 72212 are respectively provided with a first through hole 72213 and a second through hole 72214 which are coaxially arranged. One of the second pivot portions 72212 is connected to the first pivot portion 71252 through the pitch motor 721, and the pitch stator 7211 of the pitch motor 721 is connected to the first pivot portion 71252. Specifically, a connecting support column is provided at the periphery of the first through hole 72213, and the second pivot portion 72212 is connected to the pitch rotor 7212 of the pitch motor 721 through the connecting support column. As Fig.18 As shown, another first pivoting portion 71252 is connected to the limiting axis 723. Fig.18 As shown, one end of the limiting shaft 723 is passed through the inner ring of the bearing on the second through hole 72214 so as to install the pitch support frame 7221 between the two first pivoting parts 71252 of the roll support frame 7125.

[0120] Continue reading Fig.16 The shooting device 73 includes a camera 731 and a housing 732. The camera 731 is connected to the suspension part 72211 through a shock absorbing device 74.

[0121] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as “center”, “bottom”, “inside”, “outside”, “axis”, “radial” and “circumferential” are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0122] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0123] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A roll axis mechanism for an aircraft gimbal, characterized in that: include: Support assembly; A guide member, the guide member is disposed in the support assembly, the guide member is rotatable relative to the support assembly, and the guide member is switchable between a locked state and an unlocked state; A snap-on device, the snap-on device being disposed on the support assembly and being used to control the guide member to switch between the locked state and the unlocked state; A linkage member, the linkage member is located outside the support assembly, the linkage member is detachably connected to the support assembly, and the linkage member rotates synchronously with the guide member. When the guide member is in the unlocked state, the linkage member is adapted to be separated from the guide member; The support assembly has a slide groove and a matching groove, and the slide groove and the matching groove both extend along the circumferential direction of the support assembly. The guide member is matched in the matching groove, The linkage piece is engaged with the slide slot, the slide slot has an inlet and outlet, and the linkage piece is suitable for engaging with or disengaging from the slide slot through the inlet and outlet; The support assembly comprises: A seat body, wherein the slide groove and the matching groove are both arranged on the seat body; A base, the base is connected to the base body, and the base and the base body define an active cavity to provide an installation space for the connection between the guide member and the linkage member, the guide member is arranged in the active cavity, and the linkage member is located outside the active cavity; The end surface of the guide member has a positioning column, The linkage member comprises a connecting portion, a connecting convex edge and an annular convex strip, the connecting portion is columnar, the connecting convex edge is arranged on the outer periphery of the connecting portion, the annular convex strip and the connecting convex edge are spaced apart along the axial direction of the connecting portion, the annular convex strip is suitable for entering the slide groove through the inlet and outlet, the connecting portion has a positioning hole, the positioning column is penetrated in the positioning hole, so that the linkage member and the guide member rotate synchronously; The base includes a connecting substrate and a limiting convex column, wherein the connecting substrate is in the shape of a circular plate, and the limiting convex column is perpendicular to the connecting substrate. The connecting portion has a matching limiting groove, and the limiting protrusion is embedded in the matching limiting groove; It also includes a roll support frame and a roll motor, wherein the roll motor is connected to the support assembly, the roll motor is located on one side of the support assembly, and the roll support frame is located on the other side of the support assembly. The roll support frame is fixedly connected to the linkage member through the support assembly and is driven by the roll motor to achieve rotation in the roll direction.

2. The roll axis mechanism for an aircraft gimbal according to claim 1, characterized in that: The support assembly has a mounting groove, The guide member has an installation limit groove; The snap-on device comprises: A button component, the button component is arranged in the mounting groove, and the button component can be switched between a first position and a second position; A first elastic member, wherein the first elastic member is sandwiched between the button member and the bottom wall of the mounting groove, and the first elastic member often pushes the button member to move toward the first position; A second elastic member, wherein the second elastic member is arranged in the installation limiting groove; A positioning pin, wherein the positioning pin is disposed in the installation limit groove, and the second elastic member often pushes the positioning pin to move toward the installation groove, so as to push the button member to move toward the first position; When the snap device is in a locked state, the installation slot is opposite to and connected to the installation limit slot, a part of the structure of the positioning pin is located in the installation slot, and the button member is in the first position; when the snap device is in an unlocked state, in the circumferential direction of the rotation of the guide member, the installation slot and the installation limit slot are staggered, the positioning pin is located in the installation limit slot, and the button member is in the first position; When it is necessary to switch the snap-fastener device from the locked state to the unlocked state, the button member is pressed and moved to the second position, and the positioning pin is located in the installation limit groove; When it is necessary to switch the snap-fastener device from the unlocked state to the locked state, the guide member is rotated so that the installation slot is opposite to and connected with the installation limit slot.

3. The roll axis mechanism for an aircraft gimbal according to claim 2, characterized in that: The snap-on device also includes: A locking member is connected to the support assembly to limit the stroke of the button member.

4. The roll axis mechanism for an aircraft gimbal according to claim 3, characterized in that: The button component includes a stop portion, a pressing portion and a pushing portion, the pressing portion is located on one side of the stop portion, the pushing portion is located on the other side of the stop portion, the pushing portion is passed through the mounting groove, the first elastic member is pressed between the stop portion and the bottom wall of the mounting groove, the stop portion stops at the locking member, and the pressing portion protrudes from the outer surface of the support assembly.

5. The roll axis mechanism for an aircraft gimbal according to claim 1, characterized in that: The connection substrate is provided with an avoidance hole.

6. The roll axis mechanism for an aircraft gimbal according to claim 1, characterized in that: The base is provided with a first limiting groove, and the seat body has a second limiting groove. The first limiting groove and the second limiting groove together define a limiting space, and the limiting space is communicated with the matching groove. The connecting protrusion has a limiting protrusion, the limiting protrusion is located in the limiting space, and the limiting protrusion is suitable for moving in the limiting space.

7. An aircraft, characterized in that: It comprises a roll axis mechanism for an aircraft gimbal according to any one of claims 1-6.

8. The aircraft according to claim 7, characterized in that It also includes a pitch axis mechanism and a shooting device. The pitch axis mechanism comprises: A pitch bracket, the shooting device is arranged on the pitch bracket, the pitch bracket is connected to the roll axis mechanism, and the pitch bracket is rotatable relative to the roll axis mechanism; A pitch motor is connected to the pitch bracket to drive the pitch bracket to rotate.

9. The aircraft according to claim 8, characterized in that The axis of rotation of the pitch bracket is the pitch axis, the axis of rotation of the linkage is the roll axis, and the pitch axis is perpendicular to the roll axis.

10. The aircraft according to claim 8, characterized in that The roll axis mechanism further includes a roll support frame, which is connected to the linkage member so as to rotate under the drive of the linkage member. The pitch bracket comprises a pitch support frame, the roll support frame is connected to the pitch support frame, the pitch support frame is rotatable relative to the roll support frame, and the roll support frame has two first pivoting parts; The pitch support frame includes a suspension portion and two second pivoting portions, wherein one of the second pivoting portions is disposed at one end of the pitch support frame, and the second pivoting portion is connected to one of the first pivoting portions via the pitch motor. Another second pivoting portion is disposed at the other end of the pitch support frame, and the second pivoting portion is connected to another one of the first pivoting portions.

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